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friction値を変更 #27

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Merged
Kuwamai merged 1 commit into from
Jul 28, 2026
Merged

friction値を変更 #27

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2 changes: 1 addition & 1 deletion urdf/sciurus17_body.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@
effort="${EFFORT_LIMIT}"
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="0 0 1"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

<link name="body_link">
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4 changes: 2 additions & 2 deletions urdf/sciurus17_head.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@
effort="${EFFORT_LIMIT}"
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="0 0 1"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

<link name="neck_yaw_link">
Expand Down Expand Up @@ -46,7 +46,7 @@
effort="${EFFORT_LIMIT}"
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="0 -1 0"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

<link name="neck_pitch_link">
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14 changes: 7 additions & 7 deletions urdf/sciurus17_left_arm.xacro
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@
effort="${EFFORT_LIMIT}"
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="0 1 0"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

<link name="l_link1">
Expand Down Expand Up @@ -48,7 +48,7 @@
effort="${EFFORT_LIMIT}"
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="-1 0 0"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

<link name="l_link2">
Expand Down Expand Up @@ -82,7 +82,7 @@
effort="${EFFORT_LIMIT}"
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="0 1 0"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

<link name="l_link3">
Expand Down Expand Up @@ -116,7 +116,7 @@
effort="${EFFORT_LIMIT}"
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="0 0 1"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

<link name="l_link4">
Expand Down Expand Up @@ -150,7 +150,7 @@
effort="${EFFORT_LIMIT}"
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="0 1 0"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

<link name="l_link5">
Expand Down Expand Up @@ -224,7 +224,7 @@
effort="${EFFORT_LIMIT}"
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="0 0 1"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

<link name="l_link6">
Expand Down Expand Up @@ -258,7 +258,7 @@
effort="${EFFORT_LIMIT}"
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="0 1 0"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

</xacro:macro>
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4 changes: 2 additions & 2 deletions urdf/sciurus17_left_gripper.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@
effort="${EFFORT_LIMIT}"
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="0 0 1"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

<link name="l_gripperA_link">
Expand Down Expand Up @@ -70,7 +70,7 @@
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="0 0 -1"/>
<mimic joint="l_gripper_joint" multiplier="1" offset="0"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

<link name="l_gripperB_link">
Expand Down
14 changes: 7 additions & 7 deletions urdf/sciurus17_right_arm.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@
effort="${EFFORT_LIMIT}"
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="0 -1 0"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

<link name="r_link1">
Expand Down Expand Up @@ -48,7 +48,7 @@
effort="${EFFORT_LIMIT}"
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="-1 0 0"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

<link name="r_link2">
Expand Down Expand Up @@ -82,7 +82,7 @@
effort="${EFFORT_LIMIT}"
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="0 -1 0"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

<link name="r_link3">
Expand Down Expand Up @@ -116,7 +116,7 @@
effort="${EFFORT_LIMIT}"
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="0 0 1"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

<link name="r_link4">
Expand Down Expand Up @@ -150,7 +150,7 @@
effort="${EFFORT_LIMIT}"
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="0 -1 0"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

<link name="r_link5">
Expand Down Expand Up @@ -224,7 +224,7 @@
effort="${EFFORT_LIMIT}"
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="0 0 1"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

<link name="r_link6">
Expand Down Expand Up @@ -258,7 +258,7 @@
effort="${EFFORT_LIMIT}"
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="0 -1 0"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

</xacro:macro>
Expand Down
4 changes: 2 additions & 2 deletions urdf/sciurus17_right_gripper.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@
effort="${EFFORT_LIMIT}"
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="0 0 1"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

<link name="r_gripperA_link">
Expand Down Expand Up @@ -71,7 +71,7 @@
velocity="${VELOCITY_LIMIT}"/>
<axis xyz="0 0 -1"/>
<mimic joint="r_gripper_joint" multiplier="1" offset="0"/>
<dynamics damping="1.0e-6" friction="0.8"/>
<dynamics damping="1.0e-6" friction="0.01"/>
</joint>

<link name="r_gripperB_link">
Expand Down
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