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更新280系列urdf关节限位

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This commit is contained in:
wangWking 2024-09-11 17:34:13 +08:00
parent b52cff22d3
commit f23363f4a8
13 changed files with 65 additions and 65 deletions
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10
mycobot_description/urdf/mycobot_280_arduino/mycobot_280_arduino.urdf
View file

@ -130,7 +130,7 @@
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.13156" rpy = "0 0 1.5708"/>
@ -139,7 +139,7 @@
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.3561" upper = "2.3561" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 0" rpy = "0 1.5708 -1.5708"/>
@ -148,7 +148,7 @@
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
@ -158,7 +158,7 @@
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
@ -166,7 +166,7 @@
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>

10
mycobot_description/urdf/mycobot_280_arduino/mycobot_with_vision.urdf
View file

@ -138,7 +138,7 @@
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
@ -146,7 +146,7 @@
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.3561" upper = "2.3561" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 0" rpy = "0 1.5708 -1.5708"/>
@ -155,7 +155,7 @@
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
@ -165,7 +165,7 @@
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
@ -173,7 +173,7 @@
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>

10
mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_camera_flange.urdf
View file

@ -160,7 +160,7 @@
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
@ -169,7 +169,7 @@
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.3561" upper = "2.3561" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 0" rpy = "0 1.5708 -1.5708"/>
@ -178,7 +178,7 @@
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
@ -187,7 +187,7 @@
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
@ -203,7 +203,7 @@
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="joint6"/>
<child link="joint6_flange"/>
<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>

10
mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_camera_flange_pump.urdf
View file

@ -198,7 +198,7 @@
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
@ -207,7 +207,7 @@
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.3561" upper = "2.3561" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 0" rpy = "0 1.5708 -1.5708"/>
@ -216,7 +216,7 @@
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
@ -225,7 +225,7 @@
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
@ -241,7 +241,7 @@
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="joint6"/>
<child link="joint6_flange"/>
<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>

10
mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf
View file

@ -259,7 +259,7 @@
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
@ -267,7 +267,7 @@
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.3561" upper = "2.3561" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 0" rpy = "0 1.5708 -1.5708"/>
@ -275,7 +275,7 @@
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
@ -284,7 +284,7 @@
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
@ -300,7 +300,7 @@
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="joint6"/>
<child link="joint6_flange"/>
<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>

10
mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_up.urdf
View file

@ -259,7 +259,7 @@
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
@ -267,7 +267,7 @@
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.3561" upper = "2.3561" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 0" rpy = "0 1.5708 -1.5708"/>
@ -275,7 +275,7 @@
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
@ -283,7 +283,7 @@
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
@ -299,7 +299,7 @@
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="joint6"/>
<child link="joint6_flange"/>
<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>

10
mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_pump.urdf
View file

@ -188,7 +188,7 @@
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
@ -197,7 +197,7 @@
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.3561" upper = "2.3561" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 0" rpy = "0 1.5708 -1.5708"/>
@ -206,7 +206,7 @@
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
@ -215,7 +215,7 @@
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
@ -231,7 +231,7 @@
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="joint6"/>
<child link="joint6_flange"/>
<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>

10
mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_vision.urdf
View file

@ -138,7 +138,7 @@
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
@ -146,7 +146,7 @@
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.3561" upper = "2.3561" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 0" rpy = "0 1.5708 -1.5708"/>
@ -155,7 +155,7 @@
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
@ -165,7 +165,7 @@
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
@ -173,7 +173,7 @@
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>

10
mycobot_description/urdf/mycobot_280_pi/mycobot_280_pi.urdf
View file

@ -154,7 +154,7 @@
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.13956" rpy = "0 0 0"/>
@ -163,7 +163,7 @@
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.3561" upper = "2.3561" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>
@ -172,7 +172,7 @@
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
@ -182,7 +182,7 @@
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
@ -190,7 +190,7 @@
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>

10
mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange.urdf
View file

@ -170,7 +170,7 @@
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.13956" rpy = "0 0 0"/>
@ -179,7 +179,7 @@
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.3561" upper = "2.3561" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>
@ -188,7 +188,7 @@
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
@ -197,7 +197,7 @@
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
@ -205,7 +205,7 @@
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>

10
mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange_pump.urdf
View file

@ -207,7 +207,7 @@
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.13956" rpy = "0 0 0"/>
@ -216,7 +216,7 @@
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.3561" upper = "2.3561" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>
@ -225,7 +225,7 @@
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
@ -234,7 +234,7 @@
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
@ -242,7 +242,7 @@
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>

10
mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_pump.urdf
View file

@ -194,7 +194,7 @@
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.13956" rpy = "0 0 0"/>
@ -203,7 +203,7 @@
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.3561" upper = "2.3561" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>
@ -212,7 +212,7 @@
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
@ -222,7 +222,7 @@
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
@ -230,7 +230,7 @@
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>

10
mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_vision_v2.urdf
View file

@ -139,7 +139,7 @@
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.9321" upper = "2.9321" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
@ -147,7 +147,7 @@
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.3561" upper = "2.3561" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<origin xyz= "0 0 0" rpy = "0 1.5708 -1.5708"/>
@ -156,7 +156,7 @@
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.6179" upper = "2.6179" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
@ -166,7 +166,7 @@
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.5307" upper = "2.5307" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>
@ -174,7 +174,7 @@
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>