Fixing Missing End Effector Link for UR-X URDF models #167
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…DF models fkine calculation
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Grippers and end effectors are still WIP, some thoughts on the Wiki https://github.com/petercorke/robotics-toolbox-python/wiki/Grippers |
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Many of the manipulator robot models do not have clearly defined end-effector links. This causes a crash when calling robot.fkine(robot.q).
I have updated the UR-X models to resolve this by specifying explicitly the gripper links, and have added a unit test to cover this issue.
Please note that the unit test is still failing due to the other models not having end effector links specified, but I am not sufficiently versed in these models to determine how to fix them.