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Fix gripper_joint issue #314 #317

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merged 1 commit into from
Mar 25, 2024
Merged

Fix gripper_joint issue #314 #317

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8 changes: 5 additions & 3 deletions ariac_description/urdf/vacuum_gripper/vacuum_gripper_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -32,14 +32,16 @@
</link>

<!-- Gripper Joint -->
<joint name="${prefix}_gripper_joint" type="revolute">
<axis xyz="0 0 1"/>
<joint name="${prefix}_gripper_joint" type="fixed">
<parent link="${prefix}_${parent}"/>
<child link="${prefix}_gripper"/>
<limit lower="-.001" upper=".001" effort="1000" velocity="0" />
<origin xyz="0.0 0.0 0.01" rpy="0.0 0.0 0.0"/>
</joint>

<gazebo reference='${prefix}_gripper_joint'>
<preserveFixedJoint>true</preserveFixedJoint>
</gazebo>

<!-- Add a contact sensor to the gripper -->
<gazebo reference="${prefix}_gripper">
<sensor type="contact" name="bumper">
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7 changes: 1 addition & 6 deletions ariac_moveit_config/config/ariac_robots.srdf
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Expand Up @@ -26,8 +26,7 @@
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="home" group="floor_robot">
<joint name="floor_elbow_joint" value="1.571"/>
<joint name="floor_gripper_joint" value="0"/>
<joint name="floor_elbow_joint" value="1.571"/>>
<joint name="floor_shoulder_lift_joint" value="-1.571"/>
<joint name="floor_shoulder_pan_joint" value="0"/>
<joint name="floor_wrist_1_joint" value="-1.571"/>
Expand All @@ -37,7 +36,6 @@
</group_state>
<group_state name="home" group="ceiling_robot">
<joint name="ceiling_elbow_joint" value="1.571"/>
<joint name="ceiling_gripper_joint" value="0"/>
<joint name="ceiling_shoulder_lift_joint" value="-1.571"/>
<joint name="ceiling_shoulder_pan_joint" value="0"/>
<joint name="ceiling_wrist_1_joint" value="3.14"/>
Expand All @@ -47,9 +45,6 @@
<joint name="gantry_y_axis_joint" value="0"/>
<joint name="gantry_rotation_joint" value="-1.571"/>
</group_state>
<!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
<passive_joint name="floor_gripper_joint"/>
<passive_joint name="ceiling_gripper_joint"/>

<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="agv1_base" link2="agv1_tray" reason="Adjacent"/>
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10 changes: 0 additions & 10 deletions ariac_moveit_config/config/joint_limits.yaml
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Expand Up @@ -20,11 +20,6 @@ joint_limits:
floor_wrist_3_joint:
has_acceleration_limits: true
max_acceleration: 5.0
floor_gripper_joint:
has_velocity_limits: true
max_velocity: 1.0
has_acceleration_limits: true
max_acceleration: 0.5
gantry_x_axis_joint:
has_acceleration_limits: true
max_acceleration: 0.5
Expand Down Expand Up @@ -52,8 +47,3 @@ joint_limits:
ceiling_wrist_3_joint:
has_acceleration_limits: true
max_acceleration: 5.0
ceiling_gripper_joint:
has_velocity_limits: true
max_velocity: 1.0
has_acceleration_limits: true
max_acceleration: 0.5