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fix: remove space from joint name

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This commit is contained in:
David Sharpe
2025-08-19 12:49:53 -05:00
committed by David
parent fa10027e2d
commit 0d09c81802
9 changed files with 34 additions and 34 deletions
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32
src/astra_arm_moveit_config/config/joint_limits.yaml
View File

@@ -10,41 +10,41 @@ default_acceleration_scaling_factor: 1
joint_limits: joint_limits:
Axis_0_Joint: Axis_0_Joint:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 0.3141593 max_velocity: 3.141593
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 0.1 max_acceleration: 0.5
Axis_1_Joint: Axis_1_Joint:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 0.3141593 max_velocity: 3.141593
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 0.1 max_acceleration: 0.5
Axis_2_Joint: Axis_2_Joint:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 0.3141593 max_velocity: 3.141593
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 0.1 max_acceleration: 0.5
Axis_3_Joint: Axis_3_Joint:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 0.3141593 max_velocity: 3.141593
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 0.1 max_acceleration: 0.5
Gripper_Slider_Left: Gripper_Slider_Left:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 0.3141593 max_velocity: 3.141593
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 0.1 max_acceleration: 0.5
Gripper_Slider_Right: Gripper_Slider_Right:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 0.3141593 max_velocity: 3.141593
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 0.1 max_acceleration: 0.5
Wrist_Differential_Joint: Wrist_Differential_Joint:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 0.3141593 max_velocity: 3.141593
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 0.1 max_acceleration: 0.5
Wrist-EF_Roll_Joint: Wrist-EF_Roll_Joint:
has_velocity_limits: true has_velocity_limits: true
max_velocity: 0.3141593 max_velocity: 3.141593
has_acceleration_limits: true has_acceleration_limits: true
max_acceleration: 0.1 max_acceleration: 0.5

2
src/astra_arm_moveit_config/config/kinematics.yaml
View File

@@ -1,4 +1,4 @@
astra_arm: astra_arm:
kinematics_solver: pick_ik/PickIkPlugin kinematics_solver: pick_ik/PickIkPlugin
kinematics_solver_search_resolution: 0.0050000000000000001 kinematics_solver_search_resolution: 0.0050000000000000001
kinematics_solver_timeout: 0.0050000000000000001 kinematics_solver_timeout: 0.010000000000000001

14
src/rover_urdf_pkg/urdf/ASTRA_Arm.urdf
View File

@@ -103,7 +103,7 @@
lower="-3.14" lower="-3.14"
upper="3.14" upper="3.14"
effort="0" effort="0"
velocity="0.05" /> velocity="3.1415963" />
</joint> </joint>
<link <link
@@ -163,7 +163,7 @@
lower="-1.05" lower="-1.05"
upper="1.6" upper="1.6"
effort="0" effort="0"
velocity="0.05" /> velocity="3.1415963" />
</joint> </joint>
<link <link
@@ -223,7 +223,7 @@
lower="-2.0" lower="-2.0"
upper="2.0" upper="2.0"
effort="0" effort="0"
velocity="0.05" /> velocity="3.1415963" />
</joint> </joint>
<link <link
@@ -283,7 +283,7 @@
lower="-1.6" lower="-1.6"
upper="1.9" upper="1.9"
effort="0" effort="0"
velocity="0.05" /> velocity="3.1415963" />
</joint> </joint>
<link <link
@@ -343,7 +343,7 @@
lower="-1.6" lower="-1.6"
upper="1.6" upper="1.6"
effort="0" effort="0"
velocity="0.05" /> velocity="3.1415963" />
</joint> </joint>
<link <link
@@ -458,7 +458,7 @@
lower="-0.025" lower="-0.025"
upper="0.04" upper="0.04"
effort="0" effort="0"
velocity="0.05" /> velocity="3.1415963" />
</joint> </joint>
<link <link
@@ -518,7 +518,7 @@
lower="-0.04" lower="-0.04"
upper="0.025" upper="0.025"
effort="0" effort="0"
velocity="0.05" /> velocity="3.1415963" />
</joint> </joint>
</robot> </robot>