gkjohnson / urdf-loaders

URDF Loaders for Unity and THREE.js with example ATHLETE URDF Files open sourced from NASA JPL

https://gkjohnson.github.io/urdf-loaders/javascript/example/bundle/index.html

Apache License 2.0

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Fix prismatic joint axes #277

Closed noah-wardlow closed 1 year ago

noah-wardlow commented 1 year ago

I'm quite certain this isn't the most correct or elegant solution, but before this code change I had multiple prismatic joints moving on the wrong axis.

After changes prismatic joints match RVIZ positions

(deleted screenshots as possibly NDA material)

Very open to feedback

noah-wardlow commented 1 year ago

271

gkjohnson commented 1 year ago

(deleted screenshots as possibly NDA material)

Also note that you have to delete the offending revision from the edit history in order to make sure it's completely gone. I've done it for you but just for future note:

EzraBrooks commented 1 year ago

@gkjohnson as mentioned in #271 I unfortunately don't have the URDF on hand from the client - our on-site development replica of their system doesn't have the same gripper. I think this change is probably the right approach, though - I pointed @noah-wardlow in this direction (he and I work at the same company).

gkjohnson commented 1 year ago

Okay great, thanks! I'll publish a new release.