Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fix urdf joint axis angles to match real robot #58

Open
wants to merge 1 commit into
base: noetic
Choose a base branch
from
Open

Fix urdf joint axis angles to match real robot #58

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 5 additions & 9 deletions mycobot_description/urdf/mycobot/mycobot_urdf.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -129,23 +129,21 @@


<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" 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"/>
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" 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 = "-3.14" upper = "3.14159" velocity = "0"/>
Expand All @@ -154,26 +152,24 @@
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
</joint>



<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<axis xyz=" 0 0 -1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" 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"/>
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
</joint>

<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1"/>
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint6"/>
<child link="joint6_flange"/>
Expand Down
13 changes: 5 additions & 8 deletions mycobot_description/urdf/mycobot/mycobot_with_vision.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -137,22 +137,21 @@


<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" 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"/>
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" 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 = "-3.14" upper = "3.14159" velocity = "0"/>
Expand All @@ -161,26 +160,24 @@
<origin xyz= " -0.1104 0 0 " rpy = "0 0 0"/>
</joint>



<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<axis xyz=" 0 0 -1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" 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"/>
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
</joint>

<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="0 0 1"/>
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint6"/>
<child link="joint6_flange"/>
Expand Down