更新280系列urdf关节限位

elephantrobotics · Sep 11, 2024 · f23363f · f23363f
1 parent b52cff2
commit f23363f
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Showing 13 changed files with 65 additions and 65 deletions.
diff --git a/mycobot_description/urdf/mycobot_280_arduino/mycobot_280_arduino.urdf b/mycobot_description/urdf/mycobot_280_arduino/mycobot_280_arduino.urdf
@@ -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"/>  
@@ -158,15 +158,15 @@
 
   <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"/>  
   </joint>
 
   <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"/>  

diff --git a/mycobot_description/urdf/mycobot_280_arduino/mycobot_with_vision.urdf b/mycobot_description/urdf/mycobot_280_arduino/mycobot_with_vision.urdf
@@ -138,15 +138,15 @@
 
   <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"/>
   </joint>
 
   <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"/>
@@ -165,15 +165,15 @@
 
   <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"/>
   </joint>
 
   <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"/>

diff --git a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_camera_flange.urdf b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_camera_flange.urdf
@@ -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"/>  

diff --git a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_camera_flange_pump.urdf b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_camera_flange_pump.urdf
@@ -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"/>  

diff --git a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf
@@ -259,23 +259,23 @@
 
   <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"/>  
   </joint>
 
   <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"/>  
   </joint>
 
   <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"/>  

diff --git a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_up.urdf b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_up.urdf
@@ -259,31 +259,31 @@
 
   <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"/>  
   </joint>
 
   <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"/>  
   </joint>
 
   <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"/>  
   </joint>
 
   <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"/>  

diff --git a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_pump.urdf b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_pump.urdf
@@ -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"/>  

diff --git a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_vision.urdf b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_vision.urdf
@@ -138,15 +138,15 @@
 
   <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"/>
   </joint>
 
   <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"/>
@@ -165,15 +165,15 @@
 
   <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"/>
   </joint>
 
   <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"/>