setup cob4-7 #728
setup cob4-7 #728
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ipa-nhg
commented
Oct 11, 2017
ipa-nhg
commented
- added arms configuration
- commented head and sensorring
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this PR requires ipa320/cob_calibration_data#142 |
| <xacro:include filename="$(find cob_description)/urdf/cob4_arm/cob4_arm.urdf.xacro" /> | ||
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| <!-- hand --> | ||
| <xacro:include filename="$(find cob_description)/urdf/cob4_gripper/gripper.urdf.xacro" /> |
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grippers are not added to the urdf...and also not part of the robot.xml...is that intended?
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the motors of the hands are missed/broken... I am not sure if the hands will be replaced, still to be clarified...
| @@ -66,6 +72,14 @@ | |||
| <origin xyz="${head_cam_x} ${head_cam_y} ${head_cam_z}" rpy="${head_cam_roll} ${head_cam_pitch} ${head_cam_yaw}" /> | |||
| </xacro:usb_cam> | |||
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as long as head is disabled in robot.xml, you might need to set the dof's to false...otherwise it will collapse in simulation
...same for sensorring!
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again components broken, to be clarified.. but if the sim will not work I can temporally update the URDF
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👍
for explanation:
in simulation the head will hang loose because there is no controller because they are not loaded because the head part is commented in the robot.xml
setting the dof's to false makes the joints fixed instead of revolute and thus no controllers are needed
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To me it looks fine, but what can I tell with my limited arm/hardware/config knowledge and experience. Maybe @ipa-bfb can give a better assessment.
By the way, if the robot is for 324 then I would expect that every component works (is this the same robot as referred to in Johannes' mail?) - or is there some other agreement by our bosses?
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I could not understand that Johannes mentioned a cob4-2 robot, but this is about cob4-7. Is this the robot which will stay with us? |
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you need to get to know your robots 😉 |
