Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Control two orientation components for kuka.

Browse Source
This commit is contained in:
YunfeiBai
2016-09-27 14:10:20 -07:00
parent 2837958bca
commit 61fccba5be
3 changed files with 103 additions and 200 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
data/gripper/wsg50_one_motor_gripper_new.sdf
View File

@@ -19,24 +19,9 @@
</inertial>
</link>
<joint name='base_joint' type='prismatic'>
<joint name='base_joint' type='fixed'>
<parent>world</parent>
<child>base_link</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.0001</lower>
<upper>0.0001</upper>
<effort>1</effort>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='base_link'>
@@ -99,7 +84,7 @@
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.055</lower>
<lower>-0.047</lower>
<upper>0.001</upper>
<effort>10.0</effort>
<velocity>10.0</velocity>
@@ -245,8 +230,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1.0</lower>
<upper>1.0</upper>
<lower>-4.0</lower>
<upper>4.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
@@ -301,8 +286,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1.0</lower>
<upper>1.0</upper>
<lower>-4.0</lower>
<upper>4.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>