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kdl_parser
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use pr2 dscription with fixed gripper joint

This commit is contained in:
wim 2010-06-22 22:12:29 +00:00
parent 217a5ba757
commit 4232496f32
1 changed files with 6 additions and 0 deletions
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6
urdf/test/pr2_desc.urdf
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@ -2311,11 +2311,14 @@
<material value="PR2/Red"/> <material value="PR2/Red"/>
</gazebo> </gazebo>
<joint name="r_gripper_joint" type="prismatic"> <joint name="r_gripper_joint" type="prismatic">
<parent link="r_gripper_r_finger_tip_link"/>
<child link="r_gripper_l_finger_tip_frame"/>
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<dynamics damping="100.0"/> <dynamics damping="100.0"/>
<limit effort="1000.0" lower="0.0" upper="0.09" velocity="0.2"/> <limit effort="1000.0" lower="0.0" upper="0.09" velocity="0.2"/>
<safety_controller k_position="20.0" k_velocity="5000.0" soft_lower_limit="-0.01" soft_upper_limit="0.088"/> <safety_controller k_position="20.0" k_velocity="5000.0" soft_lower_limit="-0.01" soft_upper_limit="0.088"/>
</joint> </joint>
<link name="r_gripper_l_finger_tip_frame"/>
<gazebo reference="r_gripper_palm_link"> <gazebo reference="r_gripper_palm_link">
<turnGravityOff>true</turnGravityOff> <turnGravityOff>true</turnGravityOff>
<sensor:contact name="r_gripper_palm_contact_sensor"> <sensor:contact name="r_gripper_palm_contact_sensor">
@ -3202,11 +3205,14 @@
<material value="PR2/Red"/> <material value="PR2/Red"/>
</gazebo> </gazebo>
<joint name="l_gripper_joint" type="prismatic"> <joint name="l_gripper_joint" type="prismatic">
<parent link="l_gripper_r_finger_tip_link"/>
<child link="l_gripper_l_finger_tip_frame"/>
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<dynamics damping="100.0"/> <dynamics damping="100.0"/>
<limit effort="1000.0" lower="0.0" upper="0.09" velocity="0.2"/> <limit effort="1000.0" lower="0.0" upper="0.09" velocity="0.2"/>
<safety_controller k_position="20.0" k_velocity="5000.0" soft_lower_limit="-0.01" soft_upper_limit="0.088"/> <safety_controller k_position="20.0" k_velocity="5000.0" soft_lower_limit="-0.01" soft_upper_limit="0.088"/>
</joint> </joint>
<link name="l_gripper_l_finger_tip_frame"/>
<gazebo reference="l_gripper_palm_link"> <gazebo reference="l_gripper_palm_link">
<turnGravityOff>true</turnGravityOff> <turnGravityOff>true</turnGravityOff>
<sensor:contact name="l_gripper_palm_contact_sensor"> <sensor:contact name="l_gripper_palm_contact_sensor">