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Joint limits modifications #241

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merged 1 commit into from
Oct 7, 2024
Merged

Joint limits modifications #241

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6 changes: 3 additions & 3 deletions kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -179,7 +179,7 @@
<parent link="${prefix}shoulder_link" />
<child link="${prefix}bicep_link" />
<axis xyz="0 0 1" />
<limit lower="-2.41" upper="2.41" effort="39" velocity="1.3963" />
<limit lower="-2.24" upper="2.24" effort="39" velocity="1.3963" />
</joint>
<link name="${prefix}forearm_link">
<inertial>
Expand Down Expand Up @@ -208,7 +208,7 @@
<parent link="${prefix}bicep_link" />
<child link="${prefix}forearm_link" />
<axis xyz="0 0 1" />
<limit lower="-2.66" upper="2.66" effort="39" velocity="1.3963" />
<limit lower="-2.57" upper="2.57" effort="39" velocity="1.3963" />
</joint>
<link name="${prefix}spherical_wrist_1_link">
<inertial>
Expand Down Expand Up @@ -277,7 +277,7 @@
<parent link="${prefix}spherical_wrist_1_link" />
<child link="${prefix}spherical_wrist_2_link" />
<axis xyz="0 0 1" />
<limit lower="-2.23" upper="2.23" effort="9" velocity="1.2218" />
<limit lower="-2.09" upper="2.09" effort="9" velocity="1.2218" />
</joint>
<xacro:if value="${vision}">
<link name="${prefix}bracelet_link">
Expand Down
6 changes: 3 additions & 3 deletions kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -173,7 +173,7 @@
link="${prefix}half_arm_1_link" />
<axis
xyz="0 0 1" />
<limit lower="-2.41" upper="2.41" effort="39" velocity="1.3963" />
<limit lower="-2.24" upper="2.24" effort="39" velocity="1.3963" />
</joint>
<link name="${prefix}half_arm_2_link">
<inertial>
Expand Down Expand Up @@ -263,7 +263,7 @@
link="${prefix}forearm_link" />
<axis
xyz="0 0 1" />
<limit lower="-2.66" upper="2.66" effort="39" velocity="1.3963" />
<limit lower="-2.57" upper="2.57" effort="39" velocity="1.3963" />
</joint>
<link name="${prefix}spherical_wrist_1_link">
<inertial>
Expand Down Expand Up @@ -353,7 +353,7 @@
link="${prefix}spherical_wrist_2_link" />
<axis
xyz="0 0 1" />
<limit lower="-2.23" upper="2.23" effort="9" velocity="1.2218" />
<limit lower="-2.09" upper="2.09" effort="9" velocity="1.2218" />
</joint>
<xacro:if value="${vision}">
<link name="${prefix}bracelet_link">
Expand Down
12 changes: 6 additions & 6 deletions kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -127,7 +127,7 @@
<parent link="${prefix}base_link" />
<child link="${prefix}shoulder_link" />
<axis xyz="0 0 1" />
<limit lower="-2.69" upper="2.69" effort="10" velocity="1.6" />
<limit lower="-2.68" upper="2.68" effort="10" velocity="1.6" />
</joint>
<link name="${prefix}arm_link">
<inertial>
Expand Down Expand Up @@ -159,7 +159,7 @@
<parent link="${prefix}shoulder_link" />
<child link="${prefix}arm_link" />
<axis xyz="0 0 1" />
<limit lower="-2.69" upper="2.69" effort="14" velocity="1.6" />
<limit lower="-2.61" upper="2.61" effort="14" velocity="1.6" />
</joint>
<link name="${prefix}forearm_link">
<inertial>
Expand Down Expand Up @@ -191,7 +191,7 @@
<parent link="${prefix}arm_link" />
<child link="${prefix}forearm_link" />
<axis xyz="0 0 1" />
<limit lower="-2.69" upper="2.69" effort="10" velocity="1.6" />
<limit lower="-2.61" upper="2.61" effort="10" velocity="1.6" />
</joint>
<link name="${prefix}lower_wrist_link">
<inertial>
Expand Down Expand Up @@ -223,7 +223,7 @@
<parent link="${prefix}forearm_link" />
<child link="${prefix}lower_wrist_link" />
<axis xyz="0 0 1" />
<limit lower="-2.59" upper="2.59" effort="7" velocity="1.6" />
<limit lower="-2.6" upper="2.6" effort="7" velocity="1.6" />
</joint>
<link name="${prefix}upper_wrist_link">
<inertial>
Expand Down Expand Up @@ -255,15 +255,15 @@
<parent link="${prefix}lower_wrist_link" />
<child link="${prefix}upper_wrist_link" />
<axis xyz="0 0 1" />
<limit lower="-2.57" upper="2.57" effort="7" velocity="1.6" />
<limit lower="-2.53" upper="2.53" effort="7" velocity="1.6" />
</joint>
<link name="${prefix}end_effector_link"/>
<joint name="${prefix}joint_6" type="revolute">
<origin xyz="-0.105 0 0.0285" rpy="0 -1.5708 0" />
<parent link="${prefix}upper_wrist_link" />
<child link="${prefix}end_effector_link" />
<axis xyz="0 0 1" />
<limit lower="-2.59" upper="2.59" effort="7" velocity="3.2" />
<limit lower="-2.6" upper="2.6" effort="7" velocity="3.2" />
</joint>
<link name="${prefix}dummy_link" />
<joint name="${prefix}end_effector" type="fixed">
Expand Down
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