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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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4
src/astra_arm_moveit_config/config/ASTRA_Arm.ros2_control.xacro
View File

@@ -56,11 +56,11 @@
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="Gripper _Slider_Right">
<joint name="Gripper_Slider_Right">
<command_interface name="position"/>
<command_interface name="velocity"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Gripper _Slider_Right']}</param>
<param name="initial_value">${initial_positions['Gripper_Slider_Right']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>

4
src/astra_arm_moveit_config/config/ASTRA_Arm.srdf
View File

@@ -45,12 +45,12 @@
<joint name="Wrist_Differential_Joint" value="0"/>
</group_state>
<group_state name="Open" group="Hand">
<joint name="Gripper _Slider_Right" value="0.04"/>
<joint name="Gripper_Slider_Right" value="0.04"/>
<joint name="Gripper_Slider_Left" value="-0.04"/>
<joint name="Wrist-EF_Roll_Joint" value="0"/>
</group_state>
<group_state name="Close" group="Hand">
<joint name="Gripper _Slider_Right" value="-0.0215"/>
<joint name="Gripper_Slider_Right" value="-0.0215"/>
<joint name="Gripper_Slider_Left" value="0.0215"/>
<joint name="Wrist-EF_Roll_Joint" value="0"/>
</group_state>

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

@@ -5,7 +5,7 @@ initial_positions:
Axis_1_Joint: 0
Axis_2_Joint: 0
Axis_3_Joint: 0
Gripper _Slider_Right: 0
Gripper_Slider_Right: 0
Gripper_Slider_Left: 0
Wrist-EF_Roll_Joint: 0
Wrist_Differential_Joint: 0

34
src/astra_arm_moveit_config/config/joint_limits.yaml
View File

@@ -10,41 +10,41 @@ default_acceleration_scaling_factor: 1
joint_limits:
Axis_0_Joint:
has_velocity_limits: true
max_velocity: 0.3141593
max_velocity: 3.141593
has_acceleration_limits: true
max_acceleration: 0.1
max_acceleration: 0.5
Axis_1_Joint:
has_velocity_limits: true
max_velocity: 0.3141593
max_velocity: 3.141593
has_acceleration_limits: true
max_acceleration: 0.1
max_acceleration: 0.5
Axis_2_Joint:
has_velocity_limits: true
max_velocity: 0.3141593
max_velocity: 3.141593
has_acceleration_limits: true
max_acceleration: 0.1
max_acceleration: 0.5
Axis_3_Joint:
has_velocity_limits: true
max_velocity: 0.3141593
max_velocity: 3.141593
has_acceleration_limits: true
max_acceleration: 0.1
max_acceleration: 0.5
Gripper_Slider_Left:
has_velocity_limits: true
max_velocity: 0.3141593
max_velocity: 3.141593
has_acceleration_limits: true
max_acceleration: 0.1
Gripper _Slider_Right:
max_acceleration: 0.5
Gripper_Slider_Right:
has_velocity_limits: true
max_velocity: 0.3141593
max_velocity: 3.141593
has_acceleration_limits: true
max_acceleration: 0.1
max_acceleration: 0.5
Wrist_Differential_Joint:
has_velocity_limits: true
max_velocity: 0.3141593
max_velocity: 3.141593
has_acceleration_limits: true
max_acceleration: 0.1
max_acceleration: 0.5
Wrist-EF_Roll_Joint:
has_velocity_limits: true
max_velocity: 0.3141593
max_velocity: 3.141593
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:
kinematics_solver: pick_ik/PickIkPlugin
kinematics_solver_search_resolution: 0.0050000000000000001
kinematics_solver_timeout: 0.0050000000000000001
kinematics_solver_timeout: 0.010000000000000001

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

@@ -22,6 +22,6 @@ moveit_simple_controller_manager:
joints:
- Wrist-EF_Roll_Joint
- Gripper_Slider_Left
- Gripper _Slider_Right
- Gripper_Slider_Right
action_ns: gripper_cmd
default: true

2
src/rover_urdf_pkg/config/joint_names_URDF v2 - axes added.yaml
View File

@@ -1 +1 @@
controller_joint_names: ['', 'Axis_0_Joint', 'Axis_1_Joint', 'Axis_2_Joint', 'Axis_3_Joint', 'Wrist_Differential_Joint', 'Wrist-EF_Roll_Joint', 'Gripper _Slider_Right', 'Gripper_Slider_Left', ]
controller_joint_names: ['', 'Axis_0_Joint', 'Axis_1_Joint', 'Axis_2_Joint', 'Axis_3_Joint', 'Wrist_Differential_Joint', 'Wrist-EF_Roll_Joint', 'Gripper_Slider_Right', 'Gripper_Slider_Left', ]

2
src/rover_urdf_pkg/urdf/ASTRA_Arm.csv
View File

@@ -6,5 +6,5 @@ Axis 2 Segment,0.179701426719665,-0.0176131583689303,5.71147464441535E-05,0,0,0,
Wrist,0.0258890113931529,-0.0205223442970055,6.01641698143966E-05,0,0,0,1.95105877103309,0.00117490634970832,8.14355696873965E-06,2.37060433355634E-09,0.0025492938141431,-4.81227026285992E-09,0.00159235737231991,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Wrist.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Wrist.STL,,ASTRA-03-00-000-1/ASTRA-02-00-003-1;ASTRA-03-00-000-1/ASTRA-03-00-004-1;ASTRA-03-00-000-1/ASTRA-02-00-003-2;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board Arm 2030-1;Wrist Interface-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-1;FULLWristAssembly-1/Servobox-1/LSS-Public-2/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/LSS-Public-1/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/ServoBoxBottomPlate-1;FULLWristAssembly-1/Servobox-1/GearBoxMountingPlate-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-2;FULLWristAssembly-1/Servobox-1/ServoMountingWall-1;FULLWristAssembly-1/Servobox-1/ServoMountingWall-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-1;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-1;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-3;FULLWristAssembly-1/TensionBar-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-2;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-2;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-4;FULLWristAssembly-1/TensionBar-2,Origin_Axis_3_Joint,Axis4,Axis_3_Joint,revolute,0.393826999999998,0,0,0,-0.000409495780687665,0,Axis 2 Segment,0,-1,0,0,0,0,0,,,,,,,,
Diff Carrier,-8.64620358677695E-06,-0.00516792807449162,-7.22608790769408E-07,0,0,0,0.0655351660884378,1.65846526943977E-05,3.62206129298215E-09,5.09422122565314E-10,4.25479683866677E-05,2.86164802173259E-10,3.87760449919773E-05,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Diff Carrier.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/Diff Carrier.STL,,FULLWristAssembly-1/Differential Gear box-1/Endefector plate-2;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-1;FULLWristAssembly-1/Differential Gear box-1/2515N314_Metal Bevel Gear-1;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-2,Origin_Wrist_Differential_Joint,Axis5,Wrist_Differential_Joint,revolute,0.176692001200001,-0.00622300000004081,0,-3.05263944120951,1.57079631189374,1.65994236547327,Wrist,-1,0,0,0,0,0,0,,,,,,,,
End Effector,-0.00327558376591462,0.00327411156667146,-0.0553569354578649,0,0,0,0.397605677640027,0.000631368000075726,-1.01357929540856E-09,-3.06601632900158E-06,0.000105800099414061,2.32813748604228E-09,0.000592001119919064,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/End Effector.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/End Effector.STL,,Assembley-1/Copy End_Effector_Mount-1;Assembley-1/Real Shit - Pin-1;Assembley-1/copy End Effector Mount Center Block-1;Assembley-1/copy Real Shit - Middle Spacer Plate-1;Assembley-1/Copy Real Shit - Right Plate-1;Assembley-1/Copy Real Shit - Left Plate-1;Assembley-1/motor end deffector-1;Assembley-1/Motor adapter-2;Assembley-1/Copy Carbon Rod-1;Assembley-1/Copy Lead Screw-1;Assembley-1/Copy Carbon Rod-2,Origin_Wrist-EF_Roll_Joint,Axis6,Wrist-EF_Roll_Joint,continuous,0,0.01,0,-1.5708,-0.21566,-3.1416,Diff Carrier,0,0,1,,,,,,,,,,,,
EF Gripper Right,3.60822483003176E-16,0.0395187564799554,-0.0785892929086096,0,0,0,0.0859306256217421,8.1015302646778E-05,2.5410988417629E-21,3.75123099070348E-19,8.51028632685389E-05,1.00631950096307E-08,5.50169350148622E-06,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Right.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Right.STL,,Assembley-1/Copy Left_Jaw_Bracket-3;Assembley-1/Gripper-2;Assembley-1/Copy Real Shit - Left Jaw Plate-2;Assembley-1/lead screw nut-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-4,Origin_Gripper _Slider_Right,Axis7,Gripper _Slider_Right,prismatic,0,0,-0.031677,0,0,3.1416,End Effector,0,1,0,0,0,0,0,,,,,,,,
EF Gripper Right,3.60822483003176E-16,0.0395187564799554,-0.0785892929086096,0,0,0,0.0859306256217421,8.1015302646778E-05,2.5410988417629E-21,3.75123099070348E-19,8.51028632685389E-05,1.00631950096307E-08,5.50169350148622E-06,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Right.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Right.STL,,Assembley-1/Copy Left_Jaw_Bracket-3;Assembley-1/Gripper-2;Assembley-1/Copy Real Shit - Left Jaw Plate-2;Assembley-1/lead screw nut-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-4,Origin_Gripper_Slider_Right,Axis7,Gripper_Slider_Right,prismatic,0,0,-0.031677,0,0,3.1416,End Effector,0,1,0,0,0,0,0,,,,,,,,
EF Gripper Left,0.000260261090099842,0.0391877753208171,-0.0810862651363518,0,0,0,0.0813132558225319,7.92230074239095E-05,8.60239969339994E-10,-3.27617434511821E-07,8.29877943429396E-05,9.84609377733742E-09,4.98027032334885E-06,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Left.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://URDF v2 - axes added/meshes/EF Gripper Left.STL,,Assembley-1/Copy Left_Jaw_Bracket-1;Assembley-1/Copy Real Shit - Left Jaw Plate-1;Assembley-1/Gripper-1;Assembley-1/lead screw nut-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-3,Origin_Gripper_Slider_Left,Axis7,Gripper_Slider_Left,prismatic,0,0,-0.031677,0,0,0,End Effector,0,-1,0,0,0,0,0,,,,,,,,
1 Link Name Center of Mass X Center of Mass Y Center of Mass Z Center of Mass Roll Center of Mass Pitch Center of Mass Yaw Mass Moment Ixx Moment Ixy Moment Ixz Moment Iyy Moment Iyz Moment Izz Visual X Visual Y Visual Z Visual Roll Visual Pitch Visual Yaw Mesh Filename Color Red Color Green Color Blue Color Alpha Collision X Collision Y Collision Z Collision Roll Collision Pitch Collision Yaw Collision Mesh Filename Material Name SW Components Coordinate System Axis Name Joint Name Joint Type Joint Origin X Joint Origin Y Joint Origin Z Joint Origin Roll Joint Origin Pitch Joint Origin Yaw Parent Joint Axis X Joint Axis Y Joint Axis Z Limit Effort Limit Velocity Limit Lower Limit Upper Calibration rising Calibration falling Dynamics Damping Dynamics Friction Safety Soft Upper Safety Soft Lower Safety K Position Safety K Velocity
6 Wrist 0.0258890113931529 -0.0205223442970055 6.01641698143966E-05 0 0 0 1.95105877103309 0.00117490634970832 8.14355696873965E-06 2.37060433355634E-09 0.0025492938141431 -4.81227026285992E-09 0.00159235737231991 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/Wrist.STL 0.898039215686275 0.917647058823529 0.929411764705882 1 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/Wrist.STL ASTRA-03-00-000-1/ASTRA-02-00-003-1;ASTRA-03-00-000-1/ASTRA-03-00-004-1;ASTRA-03-00-000-1/ASTRA-02-00-003-2;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board Arm 2030-1;Wrist Interface-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-1;FULLWristAssembly-1/Servobox-1/LSS-Public-2/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/LSS-Public-1/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/ServoBoxBottomPlate-1;FULLWristAssembly-1/Servobox-1/GearBoxMountingPlate-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-2;FULLWristAssembly-1/Servobox-1/ServoMountingWall-1;FULLWristAssembly-1/Servobox-1/ServoMountingWall-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-1;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-1;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-3;FULLWristAssembly-1/TensionBar-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-2;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-2;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-4;FULLWristAssembly-1/TensionBar-2 Origin_Axis_3_Joint Axis4 Axis_3_Joint revolute 0.393826999999998 0 0 0 -0.000409495780687665 0 Axis 2 Segment 0 -1 0 0 0 0 0
7 Diff Carrier -8.64620358677695E-06 -0.00516792807449162 -7.22608790769408E-07 0 0 0 0.0655351660884378 1.65846526943977E-05 3.62206129298215E-09 5.09422122565314E-10 4.25479683866677E-05 2.86164802173259E-10 3.87760449919773E-05 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/Diff Carrier.STL 0.792156862745098 0.819607843137255 0.933333333333333 1 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/Diff Carrier.STL FULLWristAssembly-1/Differential Gear box-1/Endefector plate-2;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-1;FULLWristAssembly-1/Differential Gear box-1/2515N314_Metal Bevel Gear-1;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-2 Origin_Wrist_Differential_Joint Axis5 Wrist_Differential_Joint revolute 0.176692001200001 -0.00622300000004081 0 -3.05263944120951 1.57079631189374 1.65994236547327 Wrist -1 0 0 0 0 0 0
8 End Effector -0.00327558376591462 0.00327411156667146 -0.0553569354578649 0 0 0 0.397605677640027 0.000631368000075726 -1.01357929540856E-09 -3.06601632900158E-06 0.000105800099414061 2.32813748604228E-09 0.000592001119919064 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/End Effector.STL 0.898039215686275 0.917647058823529 0.929411764705882 1 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/End Effector.STL Assembley-1/Copy End_Effector_Mount-1;Assembley-1/Real Shit - Pin-1;Assembley-1/copy End Effector Mount Center Block-1;Assembley-1/copy Real Shit - Middle Spacer Plate-1;Assembley-1/Copy Real Shit - Right Plate-1;Assembley-1/Copy Real Shit - Left Plate-1;Assembley-1/motor end deffector-1;Assembley-1/Motor adapter-2;Assembley-1/Copy Carbon Rod-1;Assembley-1/Copy Lead Screw-1;Assembley-1/Copy Carbon Rod-2 Origin_Wrist-EF_Roll_Joint Axis6 Wrist-EF_Roll_Joint continuous 0 0.01 0 -1.5708 -0.21566 -3.1416 Diff Carrier 0 0 1
9 EF Gripper Right 3.60822483003176E-16 0.0395187564799554 -0.0785892929086096 0 0 0 0.0859306256217421 8.1015302646778E-05 2.5410988417629E-21 3.75123099070348E-19 8.51028632685389E-05 1.00631950096307E-08 5.50169350148622E-06 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/EF Gripper Right.STL 0.898039215686275 0.917647058823529 0.929411764705882 1 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/EF Gripper Right.STL Assembley-1/Copy Left_Jaw_Bracket-3;Assembley-1/Gripper-2;Assembley-1/Copy Real Shit - Left Jaw Plate-2;Assembley-1/lead screw nut-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-4 Origin_Gripper _Slider_Right Origin_Gripper_Slider_Right Axis7 Gripper _Slider_Right Gripper_Slider_Right prismatic 0 0 -0.031677 0 0 3.1416 End Effector 0 1 0 0 0 0 0
10 EF Gripper Left 0.000260261090099842 0.0391877753208171 -0.0810862651363518 0 0 0 0.0813132558225319 7.92230074239095E-05 8.60239969339994E-10 -3.27617434511821E-07 8.29877943429396E-05 9.84609377733742E-09 4.98027032334885E-06 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/EF Gripper Left.STL 0.898039215686275 0.917647058823529 0.929411764705882 1 0 0 0 0 0 0 package://URDF v2 - axes added/meshes/EF Gripper Left.STL Assembley-1/Copy Left_Jaw_Bracket-1;Assembley-1/Copy Real Shit - Left Jaw Plate-1;Assembley-1/Gripper-1;Assembley-1/lead screw nut-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-3 Origin_Gripper_Slider_Left Axis7 Gripper_Slider_Left prismatic 0 0 -0.031677 0 0 0 End Effector 0 -1 0 0 0 0 0

16
src/rover_urdf_pkg/urdf/ASTRA_Arm.urdf
View File

@@ -103,7 +103,7 @@
lower="-3.14"
upper="3.14"
effort="0"
velocity="0.05" />
velocity="3.1415963" />
</joint>
<link
@@ -163,7 +163,7 @@
lower="-1.05"
upper="1.6"
effort="0"
velocity="0.05" />
velocity="3.1415963" />
</joint>
<link
@@ -223,7 +223,7 @@
lower="-2.0"
upper="2.0"
effort="0"
velocity="0.05" />
velocity="3.1415963" />
</joint>
<link
@@ -283,7 +283,7 @@
lower="-1.6"
upper="1.9"
effort="0"
velocity="0.05" />
velocity="3.1415963" />
</joint>
<link
@@ -343,7 +343,7 @@
lower="-1.6"
upper="1.6"
effort="0"
velocity="0.05" />
velocity="3.1415963" />
</joint>
<link
@@ -443,7 +443,7 @@
</link>
<joint
name="Gripper _Slider_Right"
name="Gripper_Slider_Right"
type="prismatic">
<origin
xyz="0 0 -0.031677"
@@ -458,7 +458,7 @@
lower="-0.025"
upper="0.04"
effort="0"
velocity="0.05" />
velocity="3.1415963" />
</joint>
<link
@@ -518,7 +518,7 @@
lower="-0.04"
upper="0.025"
effort="0"
velocity="0.05" />
velocity="3.1415963" />
</joint>
</robot>