update configuration for geodude

personalrobotics · May 24, 2024 · 8632f83 · 8632f83
1 parent 42ef6f0
commit 8632f83
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Showing 2 changed files with 5 additions and 6 deletions.
diff --git a/pymoveit2/robots/geodude_left.py b/pymoveit2/robots/geodude_left.py
@@ -20,7 +20,7 @@ def joint_names(prefix: str = "left_") -> List[str]:
 
 
 def base_link_name(prefix: str = "left_") -> str:
-    return prefix + "wam1"
+    return prefix + "wam_base"
 
 
 def end_effector_name(prefix: str = "left_") -> str:

diff --git a/pymoveit2/robots/geodude_right.py b/pymoveit2/robots/geodude_right.py
@@ -3,8 +3,8 @@
 MOVE_GROUP_ARM: str = "right_arm"
 MOVE_GROUP_GRIPPER: str = "right_hand"
 
-OPEN_GRIPPER_JOINT_POSITIONS: List[float] = [0.0, 0.0, 0.0, 0.0]
-CLOSED_GRIPPER_JOINT_POSITIONS: List[float] = [1.04, 1.04, 1.04, 0.0]
+OPEN_GRIPPER_JOINT_POSITIONS: List[float] = [0.02, 0.02, 0.02, 0.0]
+CLOSED_GRIPPER_JOINT_POSITIONS: List[float] = [1.5, 1.5, 1.5, 0.0]
 
 
 def joint_names(prefix: str = "right_") -> List[str]:
@@ -20,7 +20,7 @@ def joint_names(prefix: str = "right_") -> List[str]:
 
 
 def base_link_name(prefix: str = "right_") -> str:
-    return prefix + "wam1"
+    return prefix + "wam_base"
 
 
 def end_effector_name(prefix: str = "right_") -> str:
@@ -32,5 +32,4 @@ def gripper_joint_names(prefix: str = "right_") -> List[str]:
         prefix + "j01",
         prefix + "j11",
         prefix + "j21",
-        prefix + "j00",
-    ]
+        prefix + "j00"]