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zRPlWk~%+YPBOAryht{dmU#DPKN}d0H@)|aeSCJ=E*>Qctg`D4 z{gayljpSEPK5gVZt^?=Pb^HG06<2cR{r+_8mEI$2R^s!O_tYQ#M&NjjuY6iFhqOla z@%g&$Yp=UIY7N%CZgH*nvR>(cIPcV5x5H)YMy%@ScYSr_yfg~S@YR;%Wc+0%htHu= z#Ce~uAmjb={hOHM?Z5ujlJj+25_Rg_e>>Ahi7&R)QhapVDE6`LbsI+-#coAS7S-HY zm*M+xUT#a;Us_427Kwd;vgy1eH%>2Vrw{rZ;)Omm2l+~KXWf!xG>XD4L(fs1`moBb F`+r&=rg;DW diff --git a/scripts/arm_ros_conn.py b/scripts/arm_ros_conn.py index 1d27cd5..0865b89 100755 --- a/scripts/arm_ros_conn.py +++ b/scripts/arm_ros_conn.py @@ -11,7 +11,7 @@ from actionlib_msgs.msg import GoalStatus from time import sleep from math import * -lJointNames = ["base_to_link1", "link_1_2_joint", "link_2_3_joint", "gripper_joint_1", "gripper_joint_2", "left_gripper_joint", "right_gripper_joint"] +lJointNames = ["base_to_link1", "link_1_2_joint", "link_2_3_joint", "link_3_4_joint", "link_4_5_joint", "left_gripper_joint", "right_gripper_joint"] class ARMRosConn(): diff --git a/urdf/arm.urdf b/urdf/arm.urdf index f20e03e..0c24531 100644 --- a/urdf/arm.urdf +++ b/urdf/arm.urdf @@ -1,12 +1,20 @@ + + + + + + + + - + @@ -39,7 +47,7 @@ - + @@ -51,10 +59,10 @@ - + - + @@ -63,12 +71,18 @@ + + + + + + @@ -78,6 +92,9 @@ + + + @@ -85,6 +102,7 @@ + @@ -104,24 +122,29 @@ - + - + - - - + + + + + + + + - + @@ -129,7 +152,7 @@ - + -- 2.39.5