Correct the FTS broadcaster frame (which we don't directly use) and r…

…emove names from the mujoco force and torque tags as they are not used (#362) Co-authored-by: Michael Wrock <[email protected]>
PickNikRobotics · Sep 10, 2024 · 0e51d01 · 0e51d01
1 parent bd0ea65
commit 0e51d01
Show file tree

Hide file tree

Showing 4 changed files with 6 additions and 6 deletions.
diff --git a/src/arm_on_rail_sim/config/control/picknik_ur.ros2_control.yaml b/src/arm_on_rail_sim/config/control/picknik_ur.ros2_control.yaml
@@ -154,7 +154,7 @@ force_torque_sensor_broadcaster:
       - torque.x
       - torque.y
       - torque.z
-    frame_id: fts_link
+    frame_id: robotiq_ft_sensor
 
 
 joint_trajectory_admittance_controller:

diff --git a/src/arm_on_rail_sim/description/ur5e.xml b/src/arm_on_rail_sim/description/ur5e.xml
@@ -771,7 +771,7 @@
   </equality>
 
   <sensor>
-    <force name="ee_force_sensor" site="robotiq_ft_sensor" />
-    <torque name="ee_torque_sensor" site="robotiq_ft_sensor" />
+    <force site="robotiq_ft_sensor" />
+    <torque site="robotiq_ft_sensor" />
   </sensor>
 </mujoco>
diff --git a/src/picknik_ur_mobile_config/config/control/picknik_ur.ros2_control.yaml b/src/picknik_ur_mobile_config/config/control/picknik_ur.ros2_control.yaml
@@ -172,4 +172,4 @@ force_torque_sensor_broadcaster:
       - torque.x
       - torque.y
       - torque.z
-    frame_id: fts_link
+    frame_id: robotiq_ft_sensor
diff --git a/src/picknik_ur_mobile_config/description/ur5e.xml b/src/picknik_ur_mobile_config/description/ur5e.xml
@@ -892,8 +892,8 @@
   </equality>
 
   <sensor>
-    <force name="ee_force_sensor" site="robotiq_ft_sensor" />
-    <torque name="ee_torque_sensor" site="robotiq_ft_sensor" />
+    <force site="robotiq_ft_sensor" />
+    <torque site="robotiq_ft_sensor" />
   </sensor>
 
   <keyframe>