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Move end-coords of single panda and dual_panda to the center of the fingers #3

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merged 2 commits into from
Oct 12, 2023
Merged

Move end-coords of single panda and dual_panda to the center of the fingers #3

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408bce5
[panda_eus] Change dual_panda's end-coords to the same as single panda
pazeshun Jul 31, 2023
5f3c673
[panda_eus] Move end-coords of single panda and dual_panda to the cen…
pazeshun Aug 4, 2023
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2 changes: 1 addition & 1 deletion jsk_panda_robot/README.md
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Expand Up @@ -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
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8 changes: 4 additions & 4 deletions jsk_panda_robot/panda_eus/models/dual_panda.urdf.xacro
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Expand Up @@ -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>
12 changes: 6 additions & 6 deletions jsk_panda_robot/panda_eus/models/dual_panda.yaml
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Expand Up @@ -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,
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6 changes: 3 additions & 3 deletions jsk_panda_robot/panda_eus/models/panda.yaml
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Expand Up @@ -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,
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