Skip to content

robotiq_2f_85_gripper_visualization: fix mimic joint limits and mesh error #166

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 2 commits into
base: kinetic-devel
Choose a base branch
from
Open

robotiq_2f_85_gripper_visualization: fix mimic joint limits and mesh error #166

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
e8e705d
robotiq_2f_85_gripper_visualization: fix mimic joint limits and mesh …
Sep 21, 2019
b591fca
Update robotiq_arg2f_85_model_macro.xacro
onionsflying Aug 7, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_base_link.dae" scale="0.001 0.001 0.001"/>
<mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_base_link.stl" scale="1 1 1"/>
</geometry>
<material name="">
<color rgba="0.1 0.1 0.1 1" />
Expand Down
22 changes: 11 additions & 11 deletions robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_model_macro.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,11 +4,11 @@

<xacro:macro name="outer_knuckle" params="prefix fingerprefix stroke">
<link name="${prefix}${fingerprefix}_outer_knuckle">
<!--<inertial>
<inertial>
<origin xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331" rpy="0 0 0" />
<mass value="0.00853198276973456" />
<inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06" />
</inertial> -->
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
Expand All @@ -29,11 +29,11 @@

<xacro:macro name="outer_finger" params="prefix fingerprefix stroke">
<link name="${prefix}${fingerprefix}_outer_finger">
<!--<inertial>
<inertial>
<origin xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385" rpy="0 0 0" />
<mass value="0.022614240507152" />
<inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05" />
</inertial> -->
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
Expand All @@ -54,11 +54,11 @@

<xacro:macro name="inner_knuckle" params="prefix fingerprefix stroke">
<link name="${prefix}${fingerprefix}_inner_knuckle">
<!--<inertial>
<inertial>
<origin xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166" rpy="0 0 0" />
<mass value="0.0271177346495152" />
<inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05" />
</inertial> -->
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
Expand All @@ -79,11 +79,11 @@

<xacro:macro name="inner_finger" params="prefix fingerprefix stroke">
<link name="${prefix}${fingerprefix}_inner_finger">
<!--<inertial>
<inertial>
<origin xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257" rpy="0 0 0" />
<mass value="0.0104003125914103" />
<inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06" />
</inertial> -->
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
Expand Down Expand Up @@ -142,7 +142,7 @@
<parent link="${prefix}robotiq_arg2f_base_link" />
<child link="${prefix}${fingerprefix}_inner_knuckle" />
<axis xyz="1 0 0" />
<limit lower="0" upper="0.8757" velocity="2.0" effort="1000" />
<limit lower="-0.8757" upper="0" velocity="2.0" effort="1000" />
<mimic joint="${prefix}finger_joint" multiplier="1" offset="0" />
</joint>
</xacro:macro>
Expand All @@ -153,7 +153,7 @@
<parent link="${prefix}${fingerprefix}_outer_finger" />
<child link="${prefix}${fingerprefix}_inner_finger" />
<axis xyz="1 0 0" />
<limit lower="0" upper="0.8757" velocity="2.0" effort="1000" />
<limit lower="-0.8757" upper="0" velocity="2.0" effort="1000" />
<mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
</joint>
</xacro:macro>
Expand Down Expand Up @@ -186,7 +186,7 @@
<parent link="${prefix}robotiq_arg2f_base_link" />
<child link="${prefix}right_outer_knuckle" />
<axis xyz="1 0 0" />
<limit lower="0" upper="0.81" velocity="2.0" effort="1000" />
<limit lower="-0.81" upper="0" velocity="2.0" effort="1000" />
<mimic joint="${prefix}finger_joint" multiplier="1" offset="0" />
</joint>
<xacro:finger_joints prefix="${prefix}" fingerprefix="right" reflect="-1.0"/>
Expand Down