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Merged
griswaldbrooks merged 2 commits into from
Dec 12, 2024
Merged

Bring it updates #54

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b9beba8
Fix typo
mkhansenbot Dec 12, 2024
cbd9219
Re-add agent_bridge_launch
mkhansenbot Dec 12, 2024
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12 changes: 6 additions & 6 deletions src/moveit_pro_ur_configs/bring_it_sim/description/ur5e_ridgeback.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -63,31 +63,31 @@
<child link="ur_mount_point" />
</joint>

<link name="virual_rail_link_1"/>
<link name="virtual_rail_link_1"/>

<joint name="linear_x_joint" type="prismatic">
<axis xyz="1 0 0"/>
<parent link="world" />
<child link="virual_rail_link_1" />
<child link="virtual_rail_link_1" />
<origin xyz="0 0 0" rpy="0 0 0" />
<limit effort="1000.0" lower="-20.0" upper="20.0" velocity="0.175" acceleration="10.0"/>
<dynamics damping="20.0" friction="500.0" />
</joint>

<link name="virual_rail_link_2"/>
<link name="virtual_rail_link_2"/>

<joint name="linear_y_joint" type="prismatic">
<axis xyz="0 1 0"/>
<parent link="virual_rail_link_1" />
<child link="virual_rail_link_2" />
<parent link="virtual_rail_link_1" />
<child link="virtual_rail_link_2" />
<origin xyz="0 0 0" rpy="0 0 0" />
<limit effort="1000.0" lower="-20.0" upper="20.0" velocity="0.175" acceleration="10.0"/>
<dynamics damping="20.0" friction="500.0" />
</joint>

<joint name="rotational_yaw_joint" type="revolute">
<axis xyz="0 0 1"/>
<parent link="virual_rail_link_2"/>
<parent link="virtual_rail_link_2"/>
<child link="ridgeback_base_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="0.5235987755982988"/>
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6 changes: 6 additions & 0 deletions src/moveit_pro_ur_configs/bring_it_sim/launch/agent_bridge.launch.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,6 @@
<?xml version="1.0" encoding="UTF-8" ?>
<launch>
<include
file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"
/>
</launch>
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