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[robots]: Add EE frame in Franka #162

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merged 1 commit into from
Jan 18, 2022
Merged

[robots]: Add EE frame in Franka #162

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14 changes: 14 additions & 0 deletions robots/franka/franka.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -222,6 +222,20 @@
<inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
</inertial>
</link>
<!-- Fixed Joint from link 8 to EE -->
<joint name="panda_ee_joint" type="fixed">
<parent link="panda_link8" />
<child link="panda_ee" />
<origin rpy="0 0 -0.785398163397" xyz="0 0 0.103" />
</joint>
<!-- Panda EE (official) -->
<link name="panda_ee">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0" />
<mass value="1e-10" />
<inertia ixx="1e-6" ixy="0.0" ixz="0.0" iyy="1e-6" iyz="0.0" izz="1e-6" />
</inertial>
</link>
<!-- Fixed Joint Hand from link 8 to hand -->
<joint name="panda_hand_joint" type="fixed">
<parent link="panda_link8" />
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2 changes: 1 addition & 1 deletion src/examples/franka.cpp
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Expand Up @@ -14,7 +14,7 @@ int main()

// add a PD-controller to the arm
// set desired positions
Eigen::VectorXd ctrl = robot_dart::make_vector({0., M_PI / 4., 0., -M_PI / 4, 0., M_PI / 2., 0., 0.});
Eigen::VectorXd ctrl = robot_dart::make_vector({0., M_PI / 4., 0., -M_PI / 4., 0., M_PI / 2., 0., 0.});

// add the controller to the robot
auto controller = std::make_shared<robot_dart::control::PDControl>(ctrl);
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