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| tutorials:advanced:new-robot [2019/02/23 08:44] – [Spawn the robot in Bullet] vanessa | tutorials:advanced:new-robot [2019/02/23 08:47] – [Create a CRAM robot description package] vanessa | ||
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| - | If no **gripper_tool_joint** is defined for your robot you need to add one in the URDF it self. It is important that the parent will be the wrist_palm_link and the joint is fixed. The origin you will need to change yourself it should be directly in the middle of the gripper. However since we dont want to change the original URDF we decided that there will be a setup-urdf.lisp file for the hsr that takes care of this. | + | If no **gripper_tool_joint** is defined for your robot you need to add one in the URDF it self. It is important that the parent will be the wrist_palm_link and the joint is fixed. The origin you will need to change yourself it should be directly in the middle of the gripper. However since we dont want to change the original URDF we decided that there will be a setup-urdf.lisp file for the HSR that takes care of the necessary URDF changes. |
| <code lisp> | <code lisp> | ||
