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update ultraArm angles range

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weijian 2023-02-13 14:13:25 +08:00
parent a9865e6b9a
commit 7c45affebf
1 changed files with 2 additions and 2 deletions
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mycobot_description/urdf/ultraArm_urdf/ultraArm.urdf
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@ -82,7 +82,7 @@
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "0" upper = "1.14" velocity = "0"/>
<limit effort = "1000.0" lower = "-0.31" upper = "1.57" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0.03 0 0.01" rpy = " -1.5707963 3.1415926 3.1415926 "/>
@ -91,7 +91,7 @@
<joint name="joint3_to_joint2" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "0" upper = "1.0472" velocity = "0"/>
<limit effort = "1000.0" lower = "-0.087" upper = "1.0472" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.00 -0.12 0 " rpy = "0 0 0 "/>