Remove comments to workaround ros2/launch_ros#214

pal-robotics · Feb 8, 2021 · 64777fc · 64777fc
1 parent 7feaa14
commit 64777fc
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Showing 3 changed files with 12 additions and 13 deletions.
diff --git a/urdf/actuators.urdf.xacro b/urdf/actuators.urdf.xacro
@@ -14,7 +14,7 @@
   <xacro:macro name="thumb_actuator" params="name parent *origin">
     <xacro:actuator_impl parent="${parent}" name="${name}">
       <xacro:insert_block name="origin" />
-      <limit lower="${-150 * deg_to_rad}" upper="${360 * deg_to_rad}" effort="2.0" velocity="3.35" /> <!-- TODO: Tune effort -->
+      <limit lower="${-150 * deg_to_rad}" upper="${360 * deg_to_rad}" effort="2.0" velocity="3.35" />
       <safety_controller k_position="20"
                          k_velocity="20"
                          soft_lower_limit="${-150.0 * deg_to_rad}"
@@ -26,7 +26,7 @@
   <xacro:macro name="index_actuator" params="name parent *origin">
     <xacro:actuator_impl parent="${parent}" name="${name}">
       <xacro:insert_block name="origin" />
-      <limit lower="${-175 * deg_to_rad}" upper="${390 * deg_to_rad}" effort="2.0" velocity="3.35" /> <!-- TODO: Tune effort -->
+      <limit lower="${-175 * deg_to_rad}" upper="${390 * deg_to_rad}" effort="2.0" velocity="3.35" />
       <safety_controller k_position="20"
                          k_velocity="20"
                          soft_lower_limit="${-175.0 * deg_to_rad}"
@@ -38,7 +38,7 @@
   <xacro:macro name="mrl_actuator" params="name parent *origin">
     <xacro:actuator_impl parent="${parent}" name="${name}">
       <xacro:insert_block name="origin" />
-      <limit lower="${-145 * deg_to_rad}" upper="${530 * deg_to_rad}" effort="2.0" velocity="3.56" /> <!-- TODO: Tune effort -->
+      <limit lower="${-145 * deg_to_rad}" upper="${530 * deg_to_rad}" effort="2.0" velocity="3.56" />
       <safety_controller k_position="20"
                          k_velocity="20"
                          soft_lower_limit="${-145 * deg_to_rad}"
@@ -63,14 +63,14 @@
       <xacro:insert_block name="origin" />
       <axis xyz="0 0 1" />
       <xacro:insert_block name="limit" />
-      <dynamics friction="0.0" damping="0.5"/> <!-- TODO: Tune -->
+      <dynamics friction="0.0" damping="0.5"/>
       <xacro:insert_block name="safety_controller" />
     </joint>
 
     <link name="${name}_link">
       <inertial>
         <origin xyz="0 0 0" rpy="0 0 0" />
-        <mass value="0.05" /> 
+        <mass value="0.05" />
         <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" /> <!--To stabilize simulation-->
       </inertial>
       <visual>

diff --git a/urdf/fingers.urdf.xacro b/urdf/fingers.urdf.xacro
@@ -17,14 +17,14 @@
   <!--Constants-->
   <xacro:property name="thumb_abd_min"   value="${  0 * deg_to_rad}" />
   <xacro:property name="thumb_abd_max"   value="${ 90 * deg_to_rad}" />
-  <xacro:property name="finger_abd_min"  value="${-30 * deg_to_rad}" /> <!--TODO: Check-->
-  <xacro:property name="finger_abd_max"  value="${ 30 * deg_to_rad}" /> <!--TODO: Check-->
+  <xacro:property name="finger_abd_min"  value="${-30 * deg_to_rad}" />
+  <xacro:property name="finger_abd_max"  value="${ 30 * deg_to_rad}" />
   <xacro:property name="finger_flex_min" value="${  0 * deg_to_rad}" />
   <xacro:property name="finger_flex_max" value="${ 45 * deg_to_rad}" />
-  <xacro:property name="finger_max_vel"  value="2.0" />                 <!--TODO: Check-->
-  <xacro:property name="finger_max_eff"  value="2.0" />                 <!--TODO: Check-->
-  <xacro:property name="finger_friction" value="0.0" />                 <!--TODO: Check-->
-  <xacro:property name="finger_damping"  value="0.5" />                 <!--TODO: Check-->
+  <xacro:property name="finger_max_vel"  value="2.0" />
+  <xacro:property name="finger_max_eff"  value="2.0" />
+  <xacro:property name="finger_friction" value="0.0" />
+  <xacro:property name="finger_damping"  value="0.5" />
 
   <xacro:property name="finger_d1"  value="0.009" />
   <xacro:property name="finger_d2"  value="0.013" />
@@ -225,7 +225,7 @@
     <link name="${name}_link">
       <inertial>
         <origin xyz="${finger_d2 / 2.0} 0 0" rpy="0 0 0" />
-        <mass value="0.01" /> <!--TODO: can we make it zero and still have a stable dynamic simulation?-->
+        <mass value="0.01" />
         <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" /> <!-- To stabilize simulation -->
       </inertial>
       <visual>

diff --git a/urdf/palm.urdf.xacro b/urdf/palm.urdf.xacro
@@ -29,7 +29,6 @@
     <link name="${name}_link">
       <inertial>
         <origin xyz="0.0641 -0.0022 0.0021" rpy="0 0 0" />
-        <!-- NOTE: Less than total palm mass of 0.598kg because actuator masses are specified separately -->
         <mass value="0.4" />
         <inertia ixx="0.000305100" ixy="0.000005037" ixz="0.000015302"
                  iyy="0.000811920" iyz="0.000007622" izz="0.000655851" />