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Thuc Long Ha
tiago_data
Commits
9255abed
Commit
9255abed
authored
Jun 04, 2019
by
Joseph Mirabel
Committed by
olivier stasse
Jun 18, 2019
Browse files
Wheel joints are revolute.
parent
f3cdf2d8
Changes
1
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Inline
Side-by-side
robots/tiago_steel.urdf
View file @
9255abed
...
...
@@ -562,12 +562,12 @@
<dynamics
damping=
"100"
/>
<safety_controller
k_position=
"0"
k_velocity=
"10"
soft_lower_limit=
"-0.005"
soft_upper_limit=
"0.005"
/>
</joint>
<joint
name=
"wheel_right_joint"
type=
"
fixed
"
>
<joint
name=
"wheel_right_joint"
type=
"
revolute
"
>
<parent
link=
"suspension_right_link"
/>
<child
link=
"wheel_right_link"
/>
<origin
rpy=
"-1.57079632679 0 0"
xyz=
"0 -0.2022 0"
/>
<axis
xyz=
"0 0 1"
/>
<limit
effort=
"6.0"
velocity=
"10.152284264"
/>
<limit
effort=
"6.0"
velocity=
"10.152284264"
lower=
"-inf"
upper=
"inf"
/>
</joint>
<transmission
name=
"wheel_right_trans"
>
<type>
transmission_interface/SimpleTransmission
</type>
...
...
@@ -630,12 +630,12 @@
<dynamics
damping=
"100"
/>
<safety_controller
k_position=
"0"
k_velocity=
"10"
soft_lower_limit=
"-0.005"
soft_upper_limit=
"0.005"
/>
</joint>
<joint
name=
"wheel_left_joint"
type=
"
fixed
"
>
<joint
name=
"wheel_left_joint"
type=
"
revolute
"
>
<parent
link=
"suspension_left_link"
/>
<child
link=
"wheel_left_link"
/>
<origin
rpy=
"-1.57079632679 0 0"
xyz=
"0 0.2022 0"
/>
<axis
xyz=
"0 0 1"
/>
<limit
effort=
"6.0"
velocity=
"10.152284264"
/>
<limit
effort=
"6.0"
velocity=
"10.152284264"
lower=
"-inf"
upper=
"inf"
/>
</joint>
<transmission
name=
"wheel_left_trans"
>
<type>
transmission_interface/SimpleTransmission
</type>
...
...
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