Currently, all models use the same kinematic description. However, the ur3 and ur3e do have an infinite wrist3 joint.
Our description should probably reflect that to some point. That means that should probably be modeled as a continuous joint rather than a revolute joint.
I would like to keep the one parametrized file approach though, in order to avoid too much code duplication.
Also, this will probably affect the ros2_control integration.
URJala
commented
4 months ago
Currently, all models use the same kinematic description. However, the ur3 and ur3e do have an infinite wrist3 joint.
Our description should probably reflect that to some point. That means that should probably be modeled as a continuous joint rather than a revolute joint.
I would like to keep the one parametrized file approach though, in order to avoid too much code duplication.
Also, this will probably affect the ros2_control integration.