更新260/270/280/myarm/mybuddy/p340 urdf模型关节运动范围

elephantrobotics · Dec 27, 2024 · 514b05a · 514b05a
1 parent b90b00e
commit 514b05a
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Showing 17 changed files with 60 additions and 60 deletions.
diff --git a/mycobot_description/urdf/mecharm_270_m5/mecharm_270_m5.urdf b/mycobot_description/urdf/mecharm_270_m5/mecharm_270_m5.urdf
@@ -133,7 +133,7 @@
 
   <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.48353" upper = "1.570796" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-1.3089" upper = "2.0943" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
     <origin xyz= "0 0 0.038" rpy = " -1.5708 0 0 "/>  
@@ -142,23 +142,23 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "0.785398" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.0543" upper = "1.1344" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
     <origin xyz= "0.0 -0.1 0   " rpy = "0 0 0 "/>  
   </joint>
 
   <joint name="joint4_to_joint3" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.792527" upper = "2.792527" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.7052" upper = "2.7052" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
     <origin xyz= "0.108 -0.005  -0.001" rpy = "0 1.5708 0 "/>  
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.745329" upper = "1.745329" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.0071" upper = "2.0071" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
     <origin xyz= " -0.001 0 0.0" rpy = "  0 -1.5708 0"/>  

diff --git a/mycobot_description/urdf/mecharm_270_m5/mecharm_270_m5_aikit.urdf b/mycobot_description/urdf/mecharm_270_m5/mecharm_270_m5_aikit.urdf
@@ -141,7 +141,7 @@
 
   <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.48353" upper = "1.570796" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-1.3089" upper = "2.0943" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
     <origin xyz= "0 0 0.038" rpy = " -1.5708 0 0 "/>  
@@ -150,23 +150,23 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "0.785398" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.0543" upper = "1.1344" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
     <origin xyz= "0.0 -0.1 0   " rpy = "0 0 0 "/>  
   </joint>
 
   <joint name="joint4_to_joint3" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.792527" upper = "2.792527" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.7052" upper = "2.7052" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
     <origin xyz= "0.108 -0.005  -0.001" rpy = "0 1.5708 0 "/>  
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.745329" upper = "1.745329" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.0071" upper = "2.0071" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
     <origin xyz= " -0.001 0 0.0" rpy = "  0 -1.5708 0"/>  

diff --git a/mycobot_description/urdf/mecharm_270_pi/mecharm_270_pi.urdf b/mycobot_description/urdf/mecharm_270_pi/mecharm_270_pi.urdf
@@ -133,7 +133,7 @@
 
   <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.48353" upper = "1.570796" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-1.3089" upper = "2.0943" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
     <origin xyz= "0 0 0.038" rpy = " -1.5708 0 0 "/>  
@@ -142,23 +142,23 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "0.785398" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.0543" upper = "1.1344" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
     <origin xyz= "0.0 -0.1 0   " rpy = "0 0 0 "/>  
   </joint>
 
   <joint name="joint4_to_joint3" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.792527" upper = "2.792527" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.7052" upper = "2.7052" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
     <origin xyz= "0.108 -0.005  -0.001" rpy = "0 1.5708 0 "/>  
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.745329" upper = "1.745329" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.0071" upper = "2.0071" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
     <origin xyz= " -0.001 0 0.0" rpy = "  0 -1.5708 0"/>  

diff --git a/mycobot_description/urdf/mecharm_270_pi/mecharm_270_pi_aikit.urdf b/mycobot_description/urdf/mecharm_270_pi/mecharm_270_pi_aikit.urdf
@@ -141,7 +141,7 @@
 
   <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.48353" upper = "1.570796" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-1.3089" upper = "2.0943" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
     <origin xyz= "0 0 0.038" rpy = " -1.5708 0 0 "/>  
@@ -150,23 +150,23 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "0.785398" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.0543" upper = "1.1344" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
     <origin xyz= "0.0 -0.1 0   " rpy = "0 0 0 "/>  
   </joint>
 
   <joint name="joint4_to_joint3" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.792527" upper = "2.792527" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.7052" upper = "2.7052" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
     <origin xyz= "0.108 -0.005  -0.001" rpy = "0 1.5708 0 "/>  
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.745329" upper = "1.745329" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.0071" upper = "2.0071" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
     <origin xyz= " -0.001 0 0.0" rpy = "  0 -1.5708 0"/>  

diff --git a/mycobot_description/urdf/myarm_300_pi/myarm_300_pi.urdf b/mycobot_description/urdf/myarm_300_pi/myarm_300_pi.urdf
@@ -147,7 +147,7 @@
 
   <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.3962" upper = "1.3962" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-1.2217" upper = "2.0071" velocity = "0"/>
     <parent link="joint1"/>
     <child link="joint2"/>
     <!-- <origin xyz= "0 0  0" rpy = "1.5708 3.14159 0"/>   -->
@@ -157,7 +157,7 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.9670" upper = "2.9670" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 -0.11 0   " rpy = "1.5708 0 0"/>  
@@ -167,7 +167,7 @@
 
   <joint name="joint4_to_joint3" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.7453" upper = "1.3962" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-1.9722" upper = "1.3089" velocity = "0"/>
     <parent link="joint3"/>
     <child link="joint4"/>
     <origin xyz= "0.0 0 0.0" rpy = "-1.5708 0 3.14159"/>  
@@ -176,7 +176,7 @@
 
   <joint name="joint5_to_joint4" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.9670" upper = "2.9670" velocity = "0"/>
     <parent link="joint4"/>
     <child link="joint5"/>
     <origin xyz= "0 -0.126 0" rpy = "1.5708 0 0"/>  
@@ -185,15 +185,15 @@
 
   <joint name="joint6_to_joint5" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.9198" upper = "1.9198" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.0071" upper = "2.0071" velocity = "0"/>
     <parent link="joint5"/>
     <child link="joint6"/>
     <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/>  
   </joint>
 
   <joint name="joint7_to_joint6" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.14159" upper = "3.14159" velocity = "0"/>
     <parent link="joint6"/>
     <child link="joint7"/>
     <origin xyz= "0 -0.056 0" rpy = "1.5708 0 0"/>  

diff --git a/mycobot_description/urdf/mybuddy/mybuddy.urdf b/mycobot_description/urdf/mybuddy/mybuddy.urdf
@@ -228,7 +228,7 @@
 <!-- left joints -->
   <joint name="joint1_L" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.8798" upper = "2.8798" velocity = "0"/>
     <parent link="link1"/>
     <child link="link1_L"/>
     <!-- <origin xyz= " 0 -0.129 0.001   " rpy = "0 0 0"/>   -->
@@ -237,7 +237,7 @@
 
   <joint name="joint2_L" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.8798" upper = "2.8798" velocity = "0"/>
     <parent link="link1_L"/>
     <child link="link2_L"/>
     <!-- <origin xyz= " 0 -0.05 0.00  " rpy = "0 0 0"/>   -->
@@ -247,23 +247,23 @@
 
   <joint name="joint3_L" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.8798" upper = "2.8798" velocity = "0"/>
     <parent link="link2_L"/>
     <child link="link3_L"/>
     <origin xyz= " 0.11 0.0 0.00  " rpy = "0 0 0"/>  
   </joint>
 
   <joint name="joint4_L" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.8798" upper = "2.8798" velocity = "0"/>
     <parent link="link3_L"/>
     <child link="link4_L"/>
     <origin xyz= " 0.097 0.0 -0.0  " rpy = "0 0 1.5708"/>  
   </joint>
 
   <joint name="joint5_L" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.8798" upper = "2.8798" velocity = "0"/>
     <parent link="link4_L"/>
     <child link="link5_L"/>
     <!-- <origin xyz= "0 -0.035 0.00  " rpy = "0 0 0"/>   -->
@@ -272,7 +272,7 @@
 
   <joint name="joint6_L" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.0543" upper = "3.0543" velocity = "0"/>
     <parent link="link5_L"/>
     <child link="link6_L"/>
     <origin xyz= "-0.035 0 0.0375  " rpy = "0 -1.5708 0"/>  
@@ -281,7 +281,7 @@
 <!-- right joints -->
   <joint name="joint1_R" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.8798" upper = "2.8798" velocity = "0"/>
     <parent link="link1"/>
     <child link="link1_R"/>
     <!-- <origin xyz= " 0 0.129 0.001   " rpy = "0 0 0"/>   -->
@@ -291,7 +291,7 @@
 
   <joint name="joint2_R" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.8798" upper = "2.8798" velocity = "0"/>
     <parent link="link1_R"/>
     <child link="link2_R"/>
     <!-- <origin xyz= " 0 -0.05 0.00  " rpy = "0 0 0"/>   -->
@@ -300,23 +300,23 @@
 
   <joint name="joint3_R" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.8798" upper = "2.8798" velocity = "0"/>
     <parent link="link2_R"/>
     <child link="link3_R"/>
     <origin xyz= " 0.11 0.0 0.00  " rpy = "0 0 0"/>  
   </joint>
 
   <joint name="joint4_R" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.8798" upper = "2.8798" velocity = "0"/>
     <parent link="link3_R"/>
     <child link="link4_R"/>
     <origin xyz= " 0.097 0.0 -0.0  " rpy = "0 0 1.5708"/>  
   </joint>
 
   <joint name="joint5_R" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.8798" upper = "2.8798" velocity = "0"/>
     <parent link="link4_R"/>
     <child link="link5_R"/>
     <!-- <origin xyz= "0 -0.05 0.00  " rpy = "0 0 0"/>   -->
@@ -325,7 +325,7 @@
 
   <joint name="joint6_R" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.0543" upper = "3.0543" velocity = "0"/>
     <parent link="link5_R"/>
     <child link="link6_R"/>
     <origin xyz= "-0.035 0 0.0375  " rpy = "0 -1.5708 0"/>  
@@ -336,7 +336,7 @@
 <!-- base joints -->
   <joint name="base_link1" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.0943" upper = "2.0943" velocity = "0"/>
     <parent link="base"/>
     <child link="link1"/>
     <origin xyz= " 0 0 0.22   " rpy = "0 0 0"/>  

diff --git a/mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn.urdf b/mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn.urdf
@@ -157,7 +157,7 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.0943" upper = "2.0943" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.3562" upper = "2.3562" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>  

diff --git a/mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf b/mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf
@@ -267,7 +267,7 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.0943" upper = "2.0943" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.3562" upper = "2.3562" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>  

diff --git a/mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_vertical.urdf b/mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_vertical.urdf
@@ -264,7 +264,7 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.0943" upper = "2.0943" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.3562" upper = "2.3562" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>  

diff --git a/mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_camera_flange.urdf b/mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_camera_flange.urdf
@@ -171,7 +171,7 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.0943" upper = "2.0943" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.3562" upper = "2.3562" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>  

diff --git a/mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_parallel_gripper.urdf b/mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_parallel_gripper.urdf
@@ -195,7 +195,7 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.0943" upper = "2.0943" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.3562" upper = "2.3562" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>