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Merge pull request #161 from elephantrobotics/pro630-force-moveit

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Pro630 force moveit
This commit is contained in:
wangWking 2026-04-16 09:45:21 +08:00 • committed by GitHub
commit 05ddde1aed
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GPG key ID: B5690EEEBB952194
7 changed files with 41 additions and 271 deletions
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20
mycobot_description/urdf/mycobot_pro_630/pro630.urdf
View file

@ -161,8 +161,8 @@
<axis
xyz="0 1 0" />
<limit
lower="-0.7854"
upper="3.927"
lower="-3.14"
upper="3.14"
effort="0"
velocity="0" />
</joint>
@ -219,8 +219,8 @@
<axis
xyz="0 1 0" />
<limit
lower="-2.8798"
upper="2.8798"
lower="-2.6179"
upper="2.6179"
effort="0"
velocity="0" />
</joint>
@ -277,8 +277,8 @@
<axis
xyz="0 1 0" />
<limit
lower="-1.5708"
upper="4.7124"
lower="-2.9670"
upper="2.9670"
effort="0"
velocity="0" />
</joint>
@ -335,8 +335,8 @@
<axis
xyz="0 0 1" />
<limit
lower="-3.1416"
upper="3.1416"
lower="-2.9321"
upper="2.9321"
effort="0"
velocity="0" />
</joint>
@ -393,8 +393,8 @@
<axis
xyz="0 -1 0" />
<limit
lower="-3.1416"
upper="3.1416"
lower="-3.0368"
upper="3.0368"
effort="0"
velocity="0" />
</joint>

20
mycobot_description/urdf/mycobot_pro_630/pro630_adaptive_gripper.urdf
View file

@ -162,8 +162,8 @@
<axis
xyz="0 1 0" />
<limit
lower="-0.7854"
upper="3.927"
lower="-3.14"
upper="3.14"
effort="0"
velocity="0" />
</joint>
@ -220,8 +220,8 @@
<axis
xyz="0 1 0" />
<limit
lower="-2.8798"
upper="2.8798"
lower="-2.6179"
upper="2.6719"
effort="0"
velocity="0" />
</joint>
@ -278,8 +278,8 @@
<axis
xyz="0 1 0" />
<limit
lower="-1.5708"
upper="4.7124"
lower="-2.9670"
upper="2.9670"
effort="0"
velocity="0" />
</joint>
@ -336,8 +336,8 @@
<axis
xyz="0 0 1" />
<limit
lower="-3.1416"
upper="3.1416"
lower="-2.9321"
upper="2.9321"
effort="0"
velocity="0" />
</joint>
@ -394,8 +394,8 @@
<axis
xyz="0 -1 0" />
<limit
lower="-3.1416"
upper="3.1416"
lower="-3.0368"
upper="3.0368"
effort="0"
velocity="0" />
</joint>

20
mycobot_description/urdf/mycobot_pro_630/pro630_force_gripper.urdf
View file

@ -162,8 +162,8 @@
<axis
xyz="0 1 0" />
<limit
lower="-0.7854"
upper="3.927"
lower="-3.14"
upper="3.14"
effort="0"
velocity="0" />
</joint>
@ -220,8 +220,8 @@
<axis
xyz="0 1 0" />
<limit
lower="-2.8798"
upper="2.8798"
lower="-2.6179"
upper="2.6179"
effort="0"
velocity="0" />
</joint>
@ -278,8 +278,8 @@
<axis
xyz="0 1 0" />
<limit
lower="-1.5708"
upper="4.7124"
lower="-2.9670"
upper="2.9670"
effort="0"
velocity="0" />
</joint>
@ -336,8 +336,8 @@
<axis
xyz="0 0 1" />
<limit
lower="-3.1416"
upper="3.1416"
lower="-2.9321"
upper="2.9321"
effort="0"
velocity="0" />
</joint>
@ -394,8 +394,8 @@
<axis
xyz="0 -1 0" />
<limit
lower="-3.1416"
upper="3.1416"
lower="-3.0368"
upper="3.0368"
effort="0"
velocity="0" />
</joint>

20
mycobot_description/urdf/mycobot_pro_630/pro630_three_gripper.urdf
View file

@ -162,8 +162,8 @@
<axis
xyz="0 1 0" />
<limit
lower="-0.7854"
upper="3.927"
lower="-3.14"
upper="3.14"
effort="0"
velocity="0" />
</joint>
@ -220,8 +220,8 @@
<axis
xyz="0 1 0" />
<limit
lower="-2.8798"
upper="2.8798"
lower="-2.6179"
upper="2.6179"
effort="0"
velocity="0" />
</joint>
@ -278,8 +278,8 @@
<axis
xyz="0 1 0" />
<limit
lower="-1.5708"
upper="4.7124"
lower="-2.9670"
upper="2.9670"
effort="0"
velocity="0" />
</joint>
@ -336,8 +336,8 @@
<axis
xyz="0 0 1" />
<limit
lower="-3.1416"
upper="3.1416"
lower="-2.9321"
upper="2.9321"
effort="0"
velocity="0" />
</joint>
@ -394,8 +394,8 @@
<axis
xyz="0 -1 0" />
<limit
lower="-3.1416"
upper="3.1416"
lower="-3.0368"
upper="3.0368"
effort="0"
velocity="0" />
</joint>

115
mycobot_description/urdf/mycobot_pro_630/tool1-mm.dae
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File diff suppressed because one or more lines are too long

115
mycobot_description/urdf/mycobot_pro_630/tool2-mm.dae
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File diff suppressed because one or more lines are too long

2
mycobot_pro/mycobot_630_moveit/.setup_assistant
View file

@ -4,7 +4,7 @@ moveit_setup_assistant_config:
relative_path: urdf/mycobot_pro_630/pro630.urdf
xacro_args: "--inorder "
SRDF:
relative_path: config/firefighter.srdf
relative_path: config/Pro630.srdf
CONFIG:
author_name: wangweijian
author_email: weijian.wang@elephantrobotics.com