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Commit 691c02c1 authored by Wim Meeussen's avatar Wim Meeussen
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update joint limits

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universal_robot_description/urdf/robot.urdf.xacro
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− 8
View file @ 691c02c1
...@@ -53,7 +53,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, ...@@ -53,7 +53,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<child link = "shoulder_link" /> <child link = "shoulder_link" />
<origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" /> <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" /> <axis xyz="0.0 0.0 1.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="1.0"/>
<dynamics damping="0.1" friction="0.1"/> <dynamics damping="0.1" friction="0.1"/>
</joint> </joint>
...@@ -82,7 +82,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, ...@@ -82,7 +82,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<child link = "upper_arm_link" /> <child link = "upper_arm_link" />
<origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" /> <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
<axis xyz="0.0 1.0 0.0" /> <axis xyz="0.0 1.0 0.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="1.0"/>
<dynamics damping="0.1" friction="0.1"/> <dynamics damping="0.1" friction="0.1"/>
</joint> </joint>
...@@ -111,7 +111,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, ...@@ -111,7 +111,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<child link = "forearm_link" /> <child link = "forearm_link" />
<origin xyz="0.0 ${-shoulder_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" /> <origin xyz="0.0 ${-shoulder_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" /> <axis xyz="0.0 1.0 0.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="1.0"/>
<dynamics damping="0.1" friction="0.1"/> <dynamics damping="0.1" friction="0.1"/>
</joint> </joint>
...@@ -140,7 +140,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, ...@@ -140,7 +140,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<child link = "wrist_1_link" /> <child link = "wrist_1_link" />
<origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" /> <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
<axis xyz="0.0 1.0 0.0" /> <axis xyz="0.0 1.0 0.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="1.0"/>
<dynamics damping="0.1" friction="0.1"/> <dynamics damping="0.1" friction="0.1"/>
</joint> </joint>
...@@ -149,13 +149,13 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, ...@@ -149,13 +149,13 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<geometry> <geometry>
<cylinder length="${wrist_1_length}" radius="${wrist_radius}"/> <cylinder length="${wrist_1_length}" radius="${wrist_radius}"/>
</geometry> </geometry>
<origin xyz="0.0 ${wrist_1_length/2.0} 0.0" rpy="-${pi/2.0} 0.0 0.0" /> <origin xyz="0.0 ${wrist_1_length/2.0} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<cylinder length="${wrist_1_length}" radius="${wrist_radius}"/> <cylinder length="${wrist_1_length}" radius="${wrist_radius}"/>
</geometry> </geometry>
<origin xyz="0.0 ${wrist_1_length/2.0} 0.0" rpy="-${pi/2.0} 0.0 0.0" /> <origin xyz="0.0 ${wrist_1_length/2.0} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
</collision> </collision>
<inertial> <inertial>
<mass value="${wrist_1_mass}" /> <mass value="${wrist_1_mass}" />
...@@ -169,7 +169,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, ...@@ -169,7 +169,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<child link = "wrist_2_link" /> <child link = "wrist_2_link" />
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" /> <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" /> <axis xyz="0.0 0.0 1.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="1.0"/>
<dynamics damping="0.1" friction="0.1"/> <dynamics damping="0.1" friction="0.1"/>
</joint> </joint>
...@@ -198,7 +198,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, ...@@ -198,7 +198,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<child link = "wrist_3_link" /> <child link = "wrist_3_link" />
<origin xyz="0.0 0.0 ${wrist_3_length}" rpy="0.0 0.0 0.0" /> <origin xyz="0.0 0.0 ${wrist_3_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" /> <axis xyz="0.0 1.0 0.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/> <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="1.0"/>
<dynamics damping="0.1" friction="0.1"/> <dynamics damping="0.1" friction="0.1"/>
</joint> </joint>
......
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