Better grasping for xArm7 #131
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kevinzakka
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Thank you @s1lent4gnt! Can you add a little Changelog section in the README (see the unitree_g1 for an example) to describe succinctly the changes you made in this PR?
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Hey @kevinzakka, I’ve added references to both the Issue and this PR in the Changelog section. Does this look okay, or would you prefer not to include them? |
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@yuvaltassa @saran-t ready to merge! |
Great! Probably after the holidays 😄 |
…n-pads PiperOrigin-RevId: 719391820 Change-Id: Icb0068bf3bb808dd82e0f71bdc6cb5d9aad24ae9
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What this does
This PR addresses the Graspin issue discussed in #83. The resolution includes the following changes:
xarm7.xml,xarm7_nohand.xml, andhand.xmlfiles by addingarmature=0.1to the xArm7 joints.How it was tested
The changes were verified using the Mink Python library, with results documented in #83.