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Merge pull request #17 from helix-robotics-ag/seb/update_disc_urdf
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Seb/update disc urdf
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@sebtiburzio
sebtiburzio authored May 6, 2024
2 parents 9c53079 + 2f21a2e commit da3c2f1
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Showing 2 changed files with 52 additions and 52 deletions.
2 changes: 1 addition & 1 deletion helix_description/urdf/helix.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@
<plugin>dynamixel_hardware/DynamixelHardware</plugin>
<param name="usb_port">/dev/ttyUSB0</param>
<param name="baud_rate">1000000</param>
<param name="use_dummy">true</param>
<!-- <param name="use_dummy">true</param> -->
</hardware>
<joint name="joint0">
<!-- id is Dynamixel Motor ID -->
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102 changes: 51 additions & 51 deletions helix_description/urdf/helix_arm.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -19,12 +19,12 @@

<!-- First segment -->

<joint name="seg1_mid_joint_a" type="floating">
<joint name="seg1_mid_joint_1" type="floating">
<parent link="arm_base"/>
<child link="seg1_mid_link_a"/>
<child link="seg1_mid_link_1"/>
</joint>

<link name="seg1_mid_link_a">
<link name="seg1_mid_link_1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
Expand All @@ -34,12 +34,12 @@
</visual>
</link>

<joint name="seg1_mid_joint_b" type="floating">
<joint name="seg1_mid_joint_2" type="floating">
<parent link="arm_base"/>
<child link="seg1_mid_link_b"/>
<child link="seg1_mid_link_2"/>
</joint>

<link name="seg1_mid_link_b">
<link name="seg1_mid_link_2">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
Expand All @@ -49,12 +49,12 @@
</visual>
</link>

<joint name="seg1_mid_joint_c" type="floating">
<joint name="seg1_mid_joint_3" type="floating">
<parent link="arm_base"/>
<child link="seg1_mid_link_c"/>
<child link="seg1_mid_link_3"/>
</joint>

<link name="seg1_mid_link_c">
<link name="seg1_mid_link_3">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
Expand All @@ -81,12 +81,12 @@

<!-- Second segment -->

<joint name="seg2_mid_joint_a" type="floating">
<joint name="seg2_mid_joint_1" type="floating">
<parent link="arm_base"/>
<child link="seg2_mid_link_a"/>
<child link="seg2_mid_link_1"/>
</joint>

<link name="seg2_mid_link_a">
<link name="seg2_mid_link_1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
Expand All @@ -96,12 +96,12 @@
</visual>
</link>

<joint name="seg2_mid_joint_b" type="floating">
<joint name="seg2_mid_joint_2" type="floating">
<parent link="arm_base"/>
<child link="seg2_mid_link_b"/>
<child link="seg2_mid_link_2"/>
</joint>

<link name="seg2_mid_link_b">
<link name="seg2_mid_link_2">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
Expand All @@ -111,12 +111,12 @@
</visual>
</link>

<joint name="seg2_mid_joint_c" type="floating">
<joint name="seg2_mid_joint_3" type="floating">
<parent link="arm_base"/>
<child link="seg2_mid_link_c"/>
<child link="seg2_mid_link_3"/>
</joint>

<link name="seg2_mid_link_c">
<link name="seg2_mid_link_3">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
Expand All @@ -126,12 +126,12 @@
</visual>
</link>

<joint name="seg2_mid_joint_d" type="floating">
<joint name="seg2_mid_joint_4" type="floating">
<parent link="arm_base"/>
<child link="seg2_mid_link_d"/>
<child link="seg2_mid_link_4"/>
</joint>

<link name="seg2_mid_link_d">
<link name="seg2_mid_link_4">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
Expand All @@ -141,12 +141,12 @@
</visual>
</link>

<joint name="seg2_mid_joint_e" type="floating">
<joint name="seg2_mid_joint_5" type="floating">
<parent link="arm_base"/>
<child link="seg2_mid_link_e"/>
<child link="seg2_mid_link_5"/>
</joint>

<link name="seg2_mid_link_e">
<link name="seg2_mid_link_5">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
Expand All @@ -156,12 +156,12 @@
</visual>
</link>

<joint name="seg2_mid_joint_f" type="floating">
<joint name="seg2_mid_joint_6" type="floating">
<parent link="arm_base"/>
<child link="seg2_mid_link_f"/>
<child link="seg2_mid_link_6"/>
</joint>

<link name="seg2_mid_link_f">
<link name="seg2_mid_link_6">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
Expand All @@ -171,12 +171,12 @@
</visual>
</link>

<joint name="seg2_mid_joint_g" type="floating">
<joint name="seg2_mid_joint_7" type="floating">
<parent link="arm_base"/>
<child link="seg2_mid_link_g"/>
<child link="seg2_mid_link_7"/>
</joint>

<link name="seg2_mid_link_g">
<link name="seg2_mid_link_7">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
Expand All @@ -203,12 +203,12 @@

<!-- Third segment -->

<joint name="seg3_mid_joint_a" type="floating">
<joint name="seg3_mid_joint_1" type="floating">
<parent link="arm_base"/>
<child link="seg3_mid_link_a"/>
<child link="seg3_mid_link_1"/>
</joint>

<link name="seg3_mid_link_a">
<link name="seg3_mid_link_1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
Expand All @@ -218,12 +218,12 @@
</visual>
</link>

<joint name="seg3_mid_joint_b" type="floating">
<joint name="seg3_mid_joint_2" type="floating">
<parent link="arm_base"/>
<child link="seg3_mid_link_b"/>
<child link="seg3_mid_link_2"/>
</joint>

<link name="seg3_mid_link_b">
<link name="seg3_mid_link_2">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
Expand All @@ -233,12 +233,12 @@
</visual>
</link>

<joint name="seg3_mid_joint_c" type="floating">
<joint name="seg3_mid_joint_3" type="floating">
<parent link="arm_base"/>
<child link="seg3_mid_link_c"/>
<child link="seg3_mid_link_3"/>
</joint>

<link name="seg3_mid_link_c">
<link name="seg3_mid_link_3">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
Expand All @@ -248,12 +248,12 @@
</visual>
</link>

<joint name="seg3_mid_joint_d" type="floating">
<joint name="seg3_mid_joint_4" type="floating">
<parent link="arm_base"/>
<child link="seg3_mid_link_d"/>
<child link="seg3_mid_link_4"/>
</joint>

<link name="seg3_mid_link_d">
<link name="seg3_mid_link_4">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
Expand All @@ -263,12 +263,12 @@
</visual>
</link>

<joint name="seg3_mid_joint_e" type="floating">
<joint name="seg3_mid_joint_5" type="floating">
<parent link="arm_base"/>
<child link="seg3_mid_link_e"/>
<child link="seg3_mid_link_5"/>
</joint>

<link name="seg3_mid_link_e">
<link name="seg3_mid_link_5">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
Expand All @@ -278,12 +278,12 @@
</visual>
</link>

<joint name="seg3_mid_joint_f" type="floating">
<joint name="seg3_mid_joint_6" type="floating">
<parent link="arm_base"/>
<child link="seg3_mid_link_f"/>
<child link="seg3_mid_link_6"/>
</joint>

<link name="seg3_mid_link_f">
<link name="seg3_mid_link_6">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
Expand All @@ -293,12 +293,12 @@
</visual>
</link>

<joint name="seg3_mid_joint_g" type="floating">
<joint name="seg3_mid_joint_7" type="floating">
<parent link="arm_base"/>
<child link="seg3_mid_link_g"/>
<child link="seg3_mid_link_7"/>
</joint>

<link name="seg3_mid_link_g">
<link name="seg3_mid_link_7">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
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