added accidentally removed joint and link back to pr2 test urdf

SemRoCo · Jun 3, 2019 · 1f2e2fa · 1f2e2fa
2 parents 31778b9 + 3570256
commit 1f2e2fa
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/test/urdfs/pr2.urdf b/test/urdfs/pr2.urdf
@@ -2079,6 +2079,16 @@
  </geometry>
  </collision>
  </link>
+ <joint name="l_gripper_joint" type="prismatic">
+ <parent link="l_gripper_r_finger_tip_link"/>
+ <child link="l_gripper_l_finger_tip_frame"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="1000" lower="0" upper="0.09" velocity="0.2"/>
+ <dynamics damping="10.0"/>
+ <safety_controller k_position="20" k_velocity="5000" soft_lower_limit="-0.01" soft_upper_limit="0.088"/>
+ </joint>
+ <link name="l_gripper_l_finger_tip_frame"/>
  <transmission name="l_gripper_trans" type="pr2_mechanism_model/PR2GripperTransmission">
  <actuator name="l_gripper_motor"/>
  <gap_joint L0="0.0375528" a="0.0683698" b="0.0433849" gear_ratio="40.095" h="0.0" mechanical_reduction="1.0" name="l_gripper_joint" phi0="0.518518122146" r="0.0915" screw_reduction="0.004" t0="-0.0001914" theta0="0.0628824676201"/>