ahendrix
commented
11 years ago [wim] Fix checked in into trunk.
[wim@nhx ~/cturtle_wg_all/stacks/pr2_common] $ svn diff
Index: pr2_description/urdf/gripper_v0/gripper.urdf.xacro
--- pr2_description/urdf/gripper_v0/gripper.urdf.xacro (revision 39433) +++ pr2_description/urdf/gripper_v0/gripper.urdf.xacro (working copy) @@ -362,12 +362,19 @@ k_velocity was recently raised from 500.0 to 5000.0. Tested on beta -->
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<xacro:pr2_gripper_transmission_v0 side="${side}" [wim@nhx ~/cturtle_wg_all/stacks/pr2_common] $ svn ci -m "attach gripper joint to finger tips, ticket 4448" Sending pr2_description/urdf/gripper_v0/gripper.urdf.xacro Transmitting file data . Committed revision r39434.
The pr2 urdf uses a floating link for the gripper. The urdf spec does not support this (the parser does, but that is a 'bug' we hope to fix). The solution we discussed for the pr2 urdf is to attach the gripper link to one of the finger tips, and create an extra link for the other finger tip. The name of this extra link will be the same as the existing link, but with the string 'link' replaced by 'frame'. Patch is on the way.
trac data: