Skip to content

Update TIAGo finger joint names #6108

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 3 commits into from
Apr 27, 2023
Merged

Update TIAGo finger joint names #6108

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
7464bb2
Update TiagoGripper.proto
ygoumaz Apr 26, 2023
d9398ef
fix test suite
ygoumaz Apr 27, 2023
e933b70
Merge branch 'develop' into fix-tiago-finger-joint-names
omichel Apr 27, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions projects/robots/pal_robotics/tiago_extensions/protos/TiagoGripper.proto
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -364,13 +364,13 @@ PROTO TiagoGripper [
}
device [
LinearMotor {
name %<= '"' + side + 'gripper_finger_joint::left"' >%
name %<= '"' + side + 'gripper_left_finger_joint"' >%
maxVelocity 0.05
maxPosition 0.045
maxForce 16
}
PositionSensor {
name %<= '"' + side + 'gripper_finger_joint::left_sensor"' >%
name %<= '"' + side + 'gripper_left_sensor_finger_joint"' >%
}
]
endPoint DEF LEFT_GRIPPER Solid {
Expand Down Expand Up @@ -474,13 +474,13 @@ PROTO TiagoGripper [
}
device [
LinearMotor {
name %<= '"' + side + 'gripper_finger_joint::right"' >%
name %<= '"' + side + 'gripper_right_finger_joint"' >%
maxVelocity 0.05
maxPosition 0.045
maxForce 16
}
PositionSensor {
name %<= '"' + side + 'gripper_finger_joint::right_sensor"' >%
name %<= '"' + side + 'gripper_right_sensor_finger_joint"' >%
}
]
endPoint DEF RIGHT_GRIPPER Solid {
Expand Down
8 changes: 4 additions & 4 deletions tests/api/controllers/robot_urdf/tiago_reference.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -908,7 +908,7 @@
<child link="left"/>
<origin xyz="0.016 0 0" rpy="-2.356193 1.570792 0.785393"/>
</joint>
<joint name="left_hand_gripper_finger_joint::right" type="prismatic">
<joint name="left_hand_gripper_right_finger_joint" type="prismatic">
<parent link="left"/>
<child link="gripper_right_finger_link"/>
<axis xyz="1 0 0"/>
Expand Down Expand Up @@ -953,7 +953,7 @@
</geometry>
</collision>
</link>
<joint name="left_hand_gripper_finger_joint::left" type="prismatic">
<joint name="left_hand_gripper_left_finger_joint" type="prismatic">
<parent link="left"/>
<child link="gripper_left_finger_link"/>
<axis xyz="1 0.000093 0"/>
Expand Down Expand Up @@ -1510,7 +1510,7 @@
<child link="right"/>
<origin xyz="0.016 0 0" rpy="-2.356193 1.570792 0.785393"/>
</joint>
<joint name="right_hand_gripper_finger_joint::right" type="prismatic">
<joint name="right_hand_gripper_right_finger_joint" type="prismatic">
<parent link="right"/>
<child link="gripper_right_finger_link_3"/>
<axis xyz="1 0 0"/>
Expand Down Expand Up @@ -1555,7 +1555,7 @@
</geometry>
</collision>
</link>
<joint name="right_hand_gripper_finger_joint::left" type="prismatic">
<joint name="right_hand_gripper_left_finger_joint" type="prismatic">
<parent link="right"/>
<child link="gripper_left_finger_link_4"/>
<axis xyz="1 0.000093 0"/>
Expand Down