I have integrated the rod plate urdf model in my current branch ioannis-payload from the .doc file that Lorenzo sent us.
Today I realized there was probably a mistake because of incosistency between the frame orientation of the current repo and Lorenzo's .doc. As a result, the center of gravity was defined wrongly.
With my recent commits I tried to correct this. @alaurenzi , can you do a check and let me know if the rod plate is well integrated in the urdf model? Please find the rod_plate.urdf.xacro and .doc.
P.S Notice that I also changed the arm*_8 frame to be identical to the center of gravity. This is for controlling the EE using the CoG frame which is usefull for the needs of my payload project.
I have integrated the rod plate urdf model in my current branch
ioannis-payloadfrom the.docfile that Lorenzo sent us.Today I realized there was probably a mistake because of incosistency between the frame orientation of the current repo and Lorenzo's .doc. As a result, the center of gravity was defined wrongly.
With my recent commits I tried to correct this. @alaurenzi , can you do a check and let me know if the rod plate is well integrated in the urdf model? Please find the rod_plate.urdf.xacro and .doc.
P.S Notice that I also changed the
arm*_8frame to be identical to the center of gravity. This is for controlling the EE using the CoG frame which is usefull for the needs of my payload project.