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update lock joints in yaml and velocity in urdf

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hofee
2025-12-11 17:09:08 +08:00
parent 9b9078ca9f
commit d0cb67e008
2 changed files with 7 additions and 9 deletions
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12
src/curobo/content/assets/robot/franka_robotiq_2f85_zedmini/franka_robotiq_2f85.urdf
View File

@@ -470,14 +470,14 @@
<child link="robotiq_85_left_knuckle_link"/> <child link="robotiq_85_left_knuckle_link"/>
<axis xyz="0 -1 0"/> <axis xyz="0 -1 0"/>
<origin rpy="0 0 0" xyz="0.03060114 0.0 0.05490452"/> <origin rpy="0 0 0" xyz="0.03060114 0.0 0.05490452"/>
<limit effort="50" lower="-1" upper="1" velocity="0.5"/> <limit effort="50" lower="-1" upper="1" velocity="100"/>
</joint> </joint>
<joint name="robotiq_85_right_knuckle_joint" type="revolute"> <joint name="robotiq_85_right_knuckle_joint" type="revolute">
<parent link="robotiq_85_base_link"/> <parent link="robotiq_85_base_link"/>
<child link="robotiq_85_right_knuckle_link"/> <child link="robotiq_85_right_knuckle_link"/>
<axis xyz="0 -1 0"/> <axis xyz="0 -1 0"/>
<origin rpy="0 0 0" xyz="-0.03060114 0.0 0.05490452"/> <origin rpy="0 0 0" xyz="-0.03060114 0.0 0.05490452"/>
<limit effort="50" lower="-1" upper="1" velocity="0.5"/> <limit effort="50" lower="-1" upper="1" velocity="100"/>
</joint> </joint>
<joint name="robotiq_85_left_finger_joint" type="fixed"> <joint name="robotiq_85_left_finger_joint" type="fixed">
<parent link="robotiq_85_left_knuckle_link"/> <parent link="robotiq_85_left_knuckle_link"/>
@@ -494,7 +494,7 @@
<child link="robotiq_85_left_inner_knuckle_link"/> <child link="robotiq_85_left_inner_knuckle_link"/>
<axis xyz="0 -1 0"/> <axis xyz="0 -1 0"/>
<origin rpy="0 0 0" xyz="0.0127 0.0 0.06142"/> <origin rpy="0 0 0" xyz="0.0127 0.0 0.06142"/>
<limit effort="50" lower="-1" upper="1" velocity="0.5"/> <limit effort="50" lower="-1" upper="1" velocity="100"/>
</joint> </joint>
<joint name="robotiq_85_right_inner_knuckle_joint" type="revolute"> <joint name="robotiq_85_right_inner_knuckle_joint" type="revolute">
@@ -502,21 +502,21 @@
<child link="robotiq_85_right_inner_knuckle_link"/> <child link="robotiq_85_right_inner_knuckle_link"/>
<axis xyz="0 -1 0"/> <axis xyz="0 -1 0"/>
<origin rpy="0 0 0" xyz="-0.0127 0.0 0.06142"/> <origin rpy="0 0 0" xyz="-0.0127 0.0 0.06142"/>
<limit effort="50" lower="-1" upper="1" velocity="0.5"/> <limit effort="50" lower="-1" upper="1" velocity="100"/>
</joint> </joint>
<joint name="robotiq_85_left_finger_tip_joint" type="revolute"> <joint name="robotiq_85_left_finger_tip_joint" type="revolute">
<parent link="robotiq_85_left_finger_link"/> <parent link="robotiq_85_left_finger_link"/>
<child link="robotiq_85_left_finger_tip_link"/> <child link="robotiq_85_left_finger_tip_link"/>
<axis xyz="0 -1 0"/> <axis xyz="0 -1 0"/>
<origin rpy="0 0 0" xyz="0.00563134 0.0 0.04718515"/> <origin rpy="0 0 0" xyz="0.00563134 0.0 0.04718515"/>
<limit effort="50" lower="-1" upper="1" velocity="0.5"/> <limit effort="50" lower="-1" upper="1" velocity="100"/>
</joint> </joint>
<joint name="robotiq_85_right_finger_tip_joint" type="revolute"> <joint name="robotiq_85_right_finger_tip_joint" type="revolute">
<parent link="robotiq_85_right_finger_link"/> <parent link="robotiq_85_right_finger_link"/>
<child link="robotiq_85_right_finger_tip_link"/> <child link="robotiq_85_right_finger_tip_link"/>
<axis xyz="0 -1 0"/> <axis xyz="0 -1 0"/>
<origin rpy="0 0 0" xyz="-0.00563134 0.0 0.04718515"/> <origin rpy="0 0 0" xyz="-0.00563134 0.0 0.04718515"/>
<limit effort="50" lower="-1" upper="1" velocity="0.5"/> <limit effort="50" lower="-1" upper="1" velocity="100"/>
</joint> </joint>
<link name="gripper_center"/> <link name="gripper_center"/>

4
src/curobo/content/configs/robot/franka_robotiq2f85.yml
View File

@@ -294,9 +294,7 @@ robot_cfg:
"joint_name": "attach_joint"} "joint_name": "attach_joint"}
} # TODO } # TODO
lock_joints: { lock_joints: {
"robotiq_85_left_knuckle_joint":0, "robotiq_85_right_knuckle_joint": 0, "robotiq_85_left_knuckle_joint":0
"robotiq_85_left_inner_knuckle_joint": 0,"robotiq_85_right_inner_knuckle_joint":0,
"robotiq_85_left_finger_tip_joint":0,"robotiq_85_right_finger_tip_joint":0,
} }
cspace: cspace: