From: Gabriel Schmitz <gschmitz@ece.ufrgs.br>
Date: Thu, 10 Jan 2019 16:03:37 +0000 (-0200)
Subject: Fixação do protótipo no gazebo com o link world e correções no código.
X-Git-Tag: sbai2019submitted~37
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=eabcd6e3c256e8234c9d15351303f91fcc30e2f1;p=users%2Fgschmitz%2Fmiitzhand.git

Fixação do protótipo no gazebo com o link world e correções no código.
---

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index 7edd25b..c9a7b63 100644
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -1,7 +1,13 @@
 <robot
   name="miitzhand">
- <link
+<link 
+  name="world"/> 
+  <link
     name="origin_link"/>
+   <joint name="world" type="fixed" >
+		<parent link="world"/>
+		<child link="origin_link"/>
+	</joint>
   <link
     name="base_link">
     <inertial>
@@ -42,7 +48,7 @@
       </geometry>
     </collision>
   </link>
-<joint name="origin_joint" type="fixed" static="true">
+<joint name="origin_joint" type="fixed" >
 		<parent link="origin_link"/>
 		<child link="base_link"/>
 	</joint>
@@ -99,7 +105,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -157,7 +163,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -215,7 +221,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -273,7 +279,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -331,7 +337,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -389,7 +395,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -447,7 +453,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -505,7 +511,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -563,7 +569,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -621,7 +627,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -679,7 +685,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -737,7 +743,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -795,7 +801,7 @@
     <axis
       xyz="0 0 1" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -853,7 +859,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />
@@ -911,7 +917,7 @@
     <axis
       xyz="-1 0 0" />
     <limit
-      lower="-1.57"
+      lower="0"
       upper="1.57"
       effort="30"
       velocity="2" />