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Merge pull request #146 from elephantrobotics/mycobot600_gripper

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update 320 URDF args
This commit is contained in:
wangWking 2025-07-28 18:18:19 +08:00 • committed by GitHub
commit e2202acaa8
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14 changed files with 84 additions and 84 deletions
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12
mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022.urdf
View file

@ -122,7 +122,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.173" rpy = "0 0 0"/> <origin xyz= "0 0 0.1739" rpy = "0 0 0"/>
</joint> </joint>
@ -131,7 +131,7 @@
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/> <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/>
</joint> </joint>
@ -140,7 +140,7 @@
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/> <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/> <origin xyz= "0.135 0 -0.08878 " rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">
@ -148,7 +148,7 @@
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/> <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/> <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
</joint> </joint>
<joint name="joint6_to_joint5" type="revolute"> <joint name="joint6_to_joint5" type="revolute">
@ -156,7 +156,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/> <origin xyz= "0 -0.095 0.0" rpy = "1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
@ -164,7 +164,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/> <origin xyz= "0 0.0655 0.0" rpy = "-1.5708 0 0"/>
</joint> </joint>

12
mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_gripper.urdf
View file

@ -237,7 +237,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.173" rpy = "0 0 0"/> <origin xyz= "0 0 0.1739" rpy = "0 0 0"/>
</joint> </joint>
@ -246,7 +246,7 @@
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/> <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/>
</joint> </joint>
@ -255,7 +255,7 @@
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/> <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/> <origin xyz= "0.135 0 -0.08878 " rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">
@ -263,7 +263,7 @@
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/> <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/> <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
</joint> </joint>
<joint name="joint6_to_joint5" type="revolute"> <joint name="joint6_to_joint5" type="revolute">
@ -271,7 +271,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/> <origin xyz= "0 -0.095 0.0" rpy = "1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
@ -279,7 +279,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/> <origin xyz= "0 0.0655 0.0" rpy = "-1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_gripper_base" type="fixed"> <joint name="joint6output_to_gripper_base" type="fixed">

12
mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_moveit_gripper.urdf
View file

@ -238,7 +238,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.173" rpy = "0 0 0"/> <origin xyz= "0 0 0.1739" rpy = "0 0 0"/>
</joint> </joint>
@ -247,7 +247,7 @@
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/> <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/>
</joint> </joint>
@ -256,7 +256,7 @@
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/> <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/> <origin xyz= "0.135 0 -0.08878 " rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">
@ -264,7 +264,7 @@
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/> <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/> <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
</joint> </joint>
<joint name="joint6_to_joint5" type="revolute"> <joint name="joint6_to_joint5" type="revolute">
@ -272,7 +272,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/> <origin xyz= "0 -0.095 0.0" rpy = "1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
@ -280,7 +280,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/> <origin xyz= "0 0.0655 0.0" rpy = "-1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_gripper_base" type="fixed"> <joint name="joint6output_to_gripper_base" type="fixed">

12
mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320moveit_m5_2022.urdf
View file

@ -122,7 +122,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.173" rpy = "0 0 0"/> <origin xyz= "0 0 0.1739" rpy = "0 0 0"/>
</joint> </joint>
@ -131,7 +131,7 @@
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/> <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 -0.086 0" rpy = "0 -1.57080 1.57080"/> <origin xyz= "0 -0.08878 0" rpy = "0 -1.57080 1.57080"/>
</joint> </joint>
@ -140,7 +140,7 @@
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/> <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/> <origin xyz= "0.135 0 -0.08878 " rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">
@ -148,7 +148,7 @@
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/> <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<origin xyz= "0.1195 0 0.082" rpy = "0 0 1.57080"/> <origin xyz= "0.120 0 0.08878" rpy = "0 0 1.57080"/>
</joint> </joint>
<joint name="joint6_to_joint5" type="revolute"> <joint name="joint6_to_joint5" type="revolute">
@ -156,7 +156,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.09415 0" rpy = "1.57080 0 0"/> <origin xyz= "0 -0.095 0" rpy = "1.57080 0 0"/>
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
@ -164,7 +164,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "0 0.055 0" rpy = "-1.57080 0 0 "/> <origin xyz= "0 0.0655 0" rpy = "-1.57080 0 0 "/>
</joint> </joint>
</robot> </robot>

12
mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_force_gripper.urdf
View file

@ -239,7 +239,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.173" rpy = "0 0 0"/> <origin xyz= "0 0 0.1739" rpy = "0 0 0"/>
</joint> </joint>
@ -248,7 +248,7 @@
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/> <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/>
</joint> </joint>
@ -257,7 +257,7 @@
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/> <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/> <origin xyz= "0.135 0 -0.08878 " rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">
@ -265,7 +265,7 @@
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/> <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/> <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
</joint> </joint>
<joint name="joint6_to_joint5" type="revolute"> <joint name="joint6_to_joint5" type="revolute">
@ -273,7 +273,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/> <origin xyz= "0 -0.095 0.0" rpy = "1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
@ -281,7 +281,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/> <origin xyz= "0 0.0655 0.0" rpy = "-1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_gripper_connect" type="fixed"> <joint name="joint6output_to_gripper_connect" type="fixed">

12
mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_moveit_force_gripper.urdf
View file

@ -241,7 +241,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.173" rpy = "0 0 0"/> <origin xyz= "0 0 0.1739" rpy = "0 0 0"/>
</joint> </joint>
@ -250,7 +250,7 @@
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/> <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/>
</joint> </joint>
@ -259,7 +259,7 @@
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/> <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/> <origin xyz= "0.135 0 -0.08878 " rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">
@ -267,7 +267,7 @@
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/> <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/> <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
</joint> </joint>
<joint name="joint6_to_joint5" type="revolute"> <joint name="joint6_to_joint5" type="revolute">
@ -275,7 +275,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/> <origin xyz= "0 -0.095 0.0" rpy = "1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
@ -283,7 +283,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/> <origin xyz= "0 0.0655 0.0" rpy = "-1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_gripper_connect" type="fixed"> <joint name="joint6output_to_gripper_connect" type="fixed">

12
mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_moveit_three_gripper.urdf
View file

@ -137,7 +137,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.173" rpy = "0 0 0"/> <origin xyz= "0 0 0.1739" rpy = "0 0 0"/>
</joint> </joint>
@ -146,7 +146,7 @@
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/> <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 -0.086 0" rpy = "0 -1.57080 1.57080"/> <origin xyz= "0 -0.08878 0" rpy = "0 -1.57080 1.57080"/>
</joint> </joint>
@ -155,7 +155,7 @@
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/> <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/> <origin xyz= "0.135 0 -0.08878 " rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">
@ -163,7 +163,7 @@
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/> <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<origin xyz= "0.1195 0 0.082" rpy = "0 0 1.57080"/> <origin xyz= "0.120 0 0.08878" rpy = "0 0 1.57080"/>
</joint> </joint>
<joint name="joint6_to_joint5" type="revolute"> <joint name="joint6_to_joint5" type="revolute">
@ -171,7 +171,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.09415 0" rpy = "1.57080 0 0"/> <origin xyz= "0 -0.095 0" rpy = "1.57080 0 0"/>
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
@ -179,7 +179,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "0 0.055 0" rpy = "-1.57080 0 0 "/> <origin xyz= "0 0.0655 0" rpy = "-1.57080 0 0 "/>
</joint> </joint>
<joint name="gripper_to_joint6" type="fixed"> <joint name="gripper_to_joint6" type="fixed">

12
mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022.urdf
View file

@ -132,7 +132,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.173" rpy = "0 0 0"/> <origin xyz= "0 0 0.1739" rpy = "0 0 0"/>
</joint> </joint>
@ -141,7 +141,7 @@
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/> <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/>
</joint> </joint>
@ -150,7 +150,7 @@
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/> <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/> <origin xyz= "0.135 0 -0.08878 " rpy = "0 0 0"/>
</joint> </joint>
@ -159,7 +159,7 @@
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/> <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/> <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
</joint> </joint>
@ -168,7 +168,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.09415 0" rpy = "1.5708 0 0"/> <origin xyz= "0 -0.095 0" rpy = "1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
@ -176,7 +176,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "0 0.06635 0" rpy = "-1.5708 0 0"/> <origin xyz= "0 0.0655 0" rpy = "-1.5708 0 0"/>
</joint> </joint>

12
mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_gripper.urdf
View file

@ -234,7 +234,7 @@
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/> <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.173" rpy = "0 0 0"/> <origin xyz= "0 0 0.1739" rpy = "0 0 0"/>
</joint> </joint>
@ -243,7 +243,7 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/>
</joint> </joint>
@ -252,7 +252,7 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/> <origin xyz= "0.135 0 -0.08878 " rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">
@ -260,7 +260,7 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/> <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
</joint> </joint>
<joint name="joint6_to_joint5" type="revolute"> <joint name="joint6_to_joint5" type="revolute">
@ -268,7 +268,7 @@
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/> <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/> <origin xyz= "0 -0.095 0.0" rpy = "1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
@ -276,7 +276,7 @@
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/> <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/> <origin xyz= "0 0.0655 0.0" rpy = "-1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_gripper_base" type="fixed"> <joint name="joint6output_to_gripper_base" type="fixed">

12
mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_moveit_gripper.urdf
View file

@ -237,7 +237,7 @@
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/> <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.173" rpy = "0 0 0"/> <origin xyz= "0 0 0.1739" rpy = "0 0 0"/>
</joint> </joint>
@ -246,7 +246,7 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/>
</joint> </joint>
@ -255,7 +255,7 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/> <origin xyz= "0.135 0 -0.08878 " rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">
@ -263,7 +263,7 @@
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/> <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/> <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
</joint> </joint>
<joint name="joint6_to_joint5" type="revolute"> <joint name="joint6_to_joint5" type="revolute">
@ -271,7 +271,7 @@
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/> <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/> <origin xyz= "0 -0.095 0.0" rpy = "1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
@ -279,7 +279,7 @@
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/> <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/> <origin xyz= "0 0.0655 0.0" rpy = "-1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_gripper_base" type="fixed"> <joint name="joint6output_to_gripper_base" type="fixed">

12
mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_moveit_2022.urdf
View file

@ -122,7 +122,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.173" rpy = "0 0 0"/> <origin xyz= "0 0 0.1739" rpy = "0 0 0"/>
</joint> </joint>
@ -131,7 +131,7 @@
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/> <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 -0.086 0" rpy = "0 -1.57080 1.57080"/> <origin xyz= "0 -0.08878 0" rpy = "0 -1.57080 1.57080"/>
</joint> </joint>
@ -140,7 +140,7 @@
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/> <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/> <origin xyz= "0.135 0 -0.08878 " rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">
@ -148,7 +148,7 @@
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/> <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<origin xyz= "0.1195 0 0.082" rpy = "0 0 1.57080"/> <origin xyz= "0.120 0.08878" rpy = "0 0 1.57080"/>
</joint> </joint>
<joint name="joint6_to_joint5" type="revolute"> <joint name="joint6_to_joint5" type="revolute">
@ -156,7 +156,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.09415 0" rpy = "1.57080 0 0"/> <origin xyz= "0 -0.095 0" rpy = "1.57080 0 0"/>
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
@ -164,7 +164,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "0 0.055 0" rpy = "-1.57080 0 0 "/> <origin xyz= "0 0.0655 0" rpy = "-1.57080 0 0 "/>
</joint> </joint>
</robot> </robot>

12
mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_vision_v2_2022.urdf
View file

@ -142,7 +142,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.173" rpy = "0 0 0"/> <origin xyz= "0 0 0.1739" rpy = "0 0 0"/>
</joint> </joint>
@ -151,7 +151,7 @@
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/> <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/>
</joint> </joint>
@ -160,7 +160,7 @@
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/> <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/> <origin xyz= "0.135 0 -0.08878 " rpy = "0 0 0"/>
</joint> </joint>
@ -169,7 +169,7 @@
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/> <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/> <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
</joint> </joint>
@ -178,7 +178,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.09415 0" rpy = "1.5708 0 0"/> <origin xyz= "0 -0.095 0" rpy = "1.5708 0 0"/>
</joint> </joint>
@ -187,7 +187,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "0 0.055 0" rpy = "-1.5708 0 0"/> <origin xyz= "0 0.0655 0" rpy = "-1.5708 0 0"/>
</joint> </joint>
<joint name="vision_joint" type="fixed"> <joint name="vision_joint" type="fixed">

12
mycobot_description/urdf/mycobot_320_pi_2022/pro_320_pi_2022_force_gripper.urdf
View file

@ -238,7 +238,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.173" rpy = "0 0 0"/> <origin xyz= "0 0 0.1739" rpy = "0 0 0"/>
</joint> </joint>
@ -247,7 +247,7 @@
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/> <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/>
</joint> </joint>
@ -256,7 +256,7 @@
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/> <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/> <origin xyz= "0.135 0 -0.08878 " rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">
@ -264,7 +264,7 @@
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/> <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/> <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
</joint> </joint>
<joint name="joint6_to_joint5" type="revolute"> <joint name="joint6_to_joint5" type="revolute">
@ -272,7 +272,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/> <origin xyz= "0 -0.095 0.0" rpy = "1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
@ -280,7 +280,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "0 0.06635 0.0" rpy = "-1.5708 0 0"/> <origin xyz= "0 0.0655 0.0" rpy = "-1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_gripper_connect" type="fixed"> <joint name="joint6output_to_gripper_connect" type="fixed">

12
mycobot_description/urdf/mycobot_320_pi_2022/pro_320_pi_2022_moveit_force_gripper.urdf
View file

@ -238,7 +238,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.173" rpy = "0 0 0"/> <origin xyz= "0 0 0.1739" rpy = "0 0 0"/>
</joint> </joint>
@ -247,7 +247,7 @@
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/> <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/>
</joint> </joint>
@ -256,7 +256,7 @@
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/> <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/> <origin xyz= "0.135 0 -0.08878 " rpy = "0 0 0"/>
</joint> </joint>
<joint name="joint5_to_joint4" type="revolute"> <joint name="joint5_to_joint4" type="revolute">
@ -264,7 +264,7 @@
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/> <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
<parent link="link3"/> <parent link="link3"/>
<child link="link4"/> <child link="link4"/>
<origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/> <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
</joint> </joint>
<joint name="joint6_to_joint5" type="revolute"> <joint name="joint6_to_joint5" type="revolute">
@ -272,7 +272,7 @@
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/> <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/> <origin xyz= "0 -0.095 0.0" rpy = "1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_joint6" type="revolute"> <joint name="joint6output_to_joint6" type="revolute">
@ -280,7 +280,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="link5"/> <parent link="link5"/>
<child link="link6"/> <child link="link6"/>
<origin xyz= "0 0.06635 0.0" rpy = "-1.5708 0 0"/> <origin xyz= "0 0.0655 0.0" rpy = "-1.5708 0 0"/>
</joint> </joint>
<joint name="joint6output_to_gripper_connect" type="fixed"> <joint name="joint6output_to_gripper_connect" type="fixed">