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robotiq_2f_85_gripper_visualization: fix mimic joint limits and mesh error #166

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robotiq_2f_85_gripper_visualization: fix mimic joint limits and mesh error #166

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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
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2 changes: 1 addition & 1 deletion robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f.xacro
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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" />
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22 changes: 11 additions & 11 deletions robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_model_macro.xacro
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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}${fingerprefix}_inner_knuckle" />
<axis xyz="1 0 0" />
<limit lower="0" upper="0.8757" velocity="2.0" effort="1000" />
<limit lower="-0.8757" upper="0.8757" velocity="2.0" effort="1000" />
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<mimic joint="${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="0.8757" velocity="2.0" effort="1000" />
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<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="${prefix}right_outer_knuckle" />
<axis xyz="1 0 0" />
<limit lower="0" upper="0.81" velocity="2.0" effort="1000" />
<limit lower="-0.81" upper="0.81" velocity="2.0" effort="1000" />
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<mimic joint="${prefix}finger_joint" multiplier="1" offset="0" />
</joint>
<xacro:finger_joints prefix="${prefix}" fingerprefix="right" reflect="-1.0"/>
Expand Down