From 7ad8982f0243c735da32831745023027846c4068 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Wed, 9 Oct 2019 11:18:40 +0200
Subject: [PATCH] Fix passive tranmission to have the passive joints in the
state of the robot.
---
urdf/leg/leg_passive.urdf.xacro | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/urdf/leg/leg_passive.urdf.xacro b/urdf/leg/leg_passive.urdf.xacro
index a061f15..c9d0ec3 100644
--- a/urdf/leg/leg_passive.urdf.xacro
+++ b/urdf/leg/leg_passive.urdf.xacro
@@ -73,9 +73,9 @@
<transmission name="leg_${prefix}_1_passive_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="leg_${prefix}_1_motor" >
- <mechanicalReduction>${reduction}</mechanicalReduction>
+ <mechanicalReduction>1.0</mechanicalReduction>
</actuator>
- <joint name="leg_${prefix}_1_joint">
+ <joint name="leg_${prefix}_1_joint_passive">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
--
GitLab