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constrained planning, robot segmentation

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This commit is contained in:
Balakumar Sundaralingam
2024-02-22 21:45:47 -08:00
parent 88eac64edc
commit bafdf80c05
102 changed files with 12440 additions and 8112 deletions
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11
src/curobo/content/assets/robot/franka_description/franka_panda.urdf
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@@ -172,7 +172,7 @@
<dynamics damping="10.0"/>
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
</joint>
<!--
<link name="panda_link8"/>
<joint name="panda_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107"/>
@@ -180,18 +180,11 @@
<child link="panda_link8"/>
<axis xyz="0 0 0"/>
</joint>
Removing this joint seems to help with some stability things
-->
<joint name="panda_hand_joint" type="fixed">
<!--
<parent link="panda_link8"/>
-->
<parent link="panda_link7"/>
<child link="panda_hand"/>
<origin rpy="0 0 -0.785398163397" xyz="0 0 0.107"/>
<!--
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
-->
</joint>
<link name="panda_hand">
<visual>