Merge pull request #3 from pazeshun/change-end-coords

Move end-coords of single panda and dual_panda to the center of the fingers
jsk-ros-pkg · Oct 12, 2023 · b555196 · b555196
2 parents 653bb9b + 5f3c673
commit b555196
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Showing 4 changed files with 14 additions and 14 deletions.
diff --git a/jsk_panda_robot/README.md b/jsk_panda_robot/README.md
@@ -107,7 +107,7 @@
       ```
       - Notice
         - `(send *ri* :recover-error)` is required every time when you press and release the black switch (`activated` -> `monitored stop` -> `activated`).
-        - `dual_panda`'s `end-coords`, `reset-pose`, and `reset-manip-pose` are different from single `panda`'s ones for historical reasons.
+        - `dual_panda`'s `reset-pose` and `reset-manip-pose` are different from single `panda`'s ones for historical reasons.
 #### Record/play rosbag
 ```bash
 roslaunch jsk_panda_startup dual_panda1_record.launch  # Or roslaunch jsk_panda_startup dual_panda2_record.launch

diff --git a/jsk_panda_robot/panda_eus/models/dual_panda.urdf.xacro b/jsk_panda_robot/panda_eus/models/dual_panda.urdf.xacro
@@ -109,17 +109,17 @@
   <link name="$(arg arm_id_1)_end_effector" >
   </link>
   <joint name="$(arg arm_id_1)_end_effector_joint" type="fixed">
-    <parent link="$(arg arm_id_1)_link7"/>
+    <parent link="$(arg arm_id_1)_hand_tcp"/>
     <child link="$(arg arm_id_1)_end_effector"/>
-    <origin xyz="0 0 0.2" rpy="0 -1.570796327 -0.785398163"/>
+    <origin xyz="0 0 0" rpy="0 -1.570796327 0"/>
   </joint>
 
   <link name="$(arg arm_id_2)_end_effector" >
   </link>
   <joint name="$(arg arm_id_2)_end_effector_joint" type="fixed">
-    <parent link="$(arg arm_id_2)_link7"/>
+    <parent link="$(arg arm_id_2)_hand_tcp"/>
     <child link="$(arg arm_id_2)_end_effector"/>
-    <origin xyz="0 0 0.2" rpy="0 -1.570796327 -0.785398163"/>
+    <origin xyz="0 0 0" rpy="0 -1.570796327 0"/>
   </joint>
 
 </robot>
diff --git a/jsk_panda_robot/panda_eus/models/dual_panda.yaml b/jsk_panda_robot/panda_eus/models/dual_panda.yaml
@@ -20,13 +20,13 @@ larm:
 #  - pan_tilt_JOINT1 : head-neck-p
 
 rarm-end-coords:
-  parent: rarm_link7
-  translate: [0, 0, 0.2]
-  rotate : [-0.35740972270209, -0.86285515644477, -0.35740630816298, 98.42112728719206]
+  parent: rarm_hand_tcp
+  translate: [0, 0, 0]
+  rotate : [0, -1, 0, 90]
 larm-end-coords:
-  parent: larm_link7
-  translate: [0, 0, 0.2]
-  rotate : [-0.35740972270209, -0.86285515644477, -0.35740630816298, 98.42112728719206]
+  parent: larm_hand_tcp
+  translate: [0, 0, 0]
+  rotate : [0, -1, 0, 90]
 
 angle-vector:
   reset-pose: [ 0.0, 15.0, 0.0, -135.0, 0.0, 150.0, 45.0,

diff --git a/jsk_panda_robot/panda_eus/models/panda.yaml b/jsk_panda_robot/panda_eus/models/panda.yaml
@@ -8,9 +8,9 @@ rarm:
   - panda_joint7 : rarm-wrist-y
 
 rarm-end-coords:
-  parent: panda_link8
-  translate: [0, 0, 0.1]
-  rotate : [-0.35740972270209, -0.86285515644477, -0.35740630816298, 98.42112728719206]
+  parent: panda_hand_tcp
+  translate: [0, 0, 0]
+  rotate : [0, -1, 0, 90]
 
 angle-vector:
   reset-pose: [ 0.0, -45.0, 0.0, -135.0, 0.0, 90.0, 45.0,