- fixing collada up-axes
- Merge branch 'master' into devel
- fixing orientation of bhand inertia
- Contributors: Jonathan Bohren
- adding tf frame for fingertips, fixing naming of the first two fingers
- updating damping to have a global scale factor
- Merge branch 'master' of github.com:jhu-lcsr/barrett_model
- adding cleaner top-level xacro file for barrett system
- reducing friction and disabling collision for some links
- decreasing damping for gazebo 2.2.3
- adding a single xacro file with a bunch of options
- Merge branch 'master' of github.com:jhu-lcsr/barrett_model
- updating palm limits
- fixing stl headers
- Contributors: Jonathan Bohren
- increasing max effort for wrist joints
- updating ball urdf to have a frame in the middle of the ball
- Contributors: Jonathan Bohren
- adding additional frames for use as moveit end-effectors
- decreasing joint damping for simulation
- Contributors: Jonathan Bohren
- decreasing damping for wam joints to increase performance
- increasing damping for simulation stability
- Contributors: Christopher Paxton, Jonathan Bohren
- fixing joint limits
- more realistic damping
- updating wam ball
- bball
- fixing palm link, forearm, and upper arm inertia (palm link was in the wrong place)
- run dep
- Merge branch 'master' of github.com:jhu-lcsr/barrett_model
- decreasing damping
- Update README.md
- Update README.md
- Update README.md
- adding scrots
- adding simplified collision geometry
- adding realistic velocity limits, damping
- Tweaking limits
- fixing velocity limits which were messing up high-performance motions in gazebo
- increasing bhand damping in simulation
- moving gz tags to common and adding them to the hand
- Using new implicitSpringDamper tag instead of cfmDamping tag
- Adding better damping characterization
- updating for new xacro include tag
- adding in damping that gazebo actually reads
- updating doc
- Major cleanup
- Cleaning up robot urdfs
- updating wrist pitch limits
- Removing old dynamics tags, replacing with new gazebo xacro
- Adding missing mass to link, this was angering gazebo
- updating inertial properties
- Updating inertial parameters from those observed in the lab. Adding stubby 4-dof WAM.
- Fixing inertial properties
- fixing top-level xacro files
- adding better export frame
- gh formatting
- gh formatting
- gh formatting
- gh formatting
- fixing base link coordinate frame
- Create README.md
- adding cad files
- cleaning up...
- new and improved
- catkinizing
- add in bench lattice to urdf
- Removing big wall in base link, fixing damping-induced explosion when adding the last link
- fixing wrist link
- Fixing more stuff in urdf, making base link fixed to the world
- Updates, getting things running in gazebo
- Adding base to wam urdf
- Fixing two arm test, non-FT urdf wrist
- wam sim working with new launchfiles
- lots of launchfile refactoring
- updating wam stub test
- adding 4dof wam for testing
- adding single 7dof wam for testing
- adding ready-to-use models
- streamlining model
- renaming barrett_urdf back to bard_urdf
- renaming bard_urdf to barrett_urdf
- smooth gains, happy IK
- fixed joint effort limits, control switching could be made a bit less complex, joint traj controller is smooth, but could use more testing, experimentation with derivative gains needed
- working ik pose controller
- fixing urdf
- adding tesr urdf
- updating launchfile and fixing urdf
- lots of updates
- functioning grav comp
- working grav comp
- kdl chain solver takes link names and not joint names as arguments
- updating bard urdf to have non-ft stuff
- about to fix the wrist stuff
- adding non-ft barrett wrist
- renaming root to example, and separating the wam arm with and without a hand
- adding this, will be gone soon
- renaming darpa_arm to wam_arm
- removing center bar
- fixing normals
- fixing normals
- adding popeye bench lattice, will move soon
- adding base back in
- removing WAM from urdf path name
- adding bard urdf
- Contributors: Jonathan Bohren