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Merge remote-tracking branch 'bp/master'

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YunfeiBai
2016-09-28 13:54:35 -07:00
parent 032156fbf2 3bb5e02b18
commit dacca09614
8 changed files with 63 additions and 21 deletions
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4
data/gripper/wsg50_one_motor_gripper_free_base.sdf
View File

@@ -302,7 +302,7 @@
</joint>
<link name='finger_right'>
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
<pose frame=''>0.042 0 0.145 0 0 1.5708</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@@ -342,7 +342,7 @@
</joint>
<link name='finger_left'>
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
<pose frame=''>-0.042 0 0.145 0 0 4.71239</pose>
<inertial>
<mass>0.2</mass>
<inertia>

2
data/kuka_iiwa/model.urdf
View File

@@ -174,7 +174,7 @@
<child link="lbr_iiwa_link_4"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<limit effort="300" lower=".29439510239" upper="2.09439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_4">