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perf(pro630-urdf): update joint limit

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This commit is contained in:
wangWking 2026-04-15 09:54:50 +08:00
parent 5d758dec54
commit 4cd1267789
6 changed files with 40 additions and 270 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
View file

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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