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Simon Markus Haller-Seeber
minibot
Commits
274780e8
Commit
274780e8
authored
Aug 27, 2021
by
Matteo Saveriano
Browse files
Fixed inverted rotation axis in arm urdf.
parent
6ed65d68
Changes
1
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6 deletions
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-6
catkin_ws/src/lss_4dof/lss_4dof_description/model/lss_4dof.urdf.xacro
...c/lss_4dof/lss_4dof_description/model/lss_4dof.urdf.xacro
+6
-6
No files found.
catkin_ws/src/lss_4dof/lss_4dof_description/model/lss_4dof.urdf.xacro
View file @
274780e8
...
...
@@ -40,7 +40,7 @@
<!-- 1-Axis -->
<joint
name=
"${name}_axis_1_joint"
type=
"revolute"
>
<origin
xyz=
"0 0 0"
rpy=
"0 0 0"
/>
<axis
xyz=
"0 0 1"
/>
<axis
xyz=
"0 0
-
1"
/>
<limit
lower=
"${-180 * M_PI / 180}"
upper=
"${180 * M_PI / 180}"
effort=
"204"
velocity=
"${velocity_scale_factor * 180 * M_PI / 180}"
/>
<safety_controller
soft_lower_limit=
"${-180 * M_PI / 180}"
...
...
@@ -76,7 +76,7 @@
<!-- add 0.0142 in z and sub 0.007 in y -->
<!-- <origin xyz="0.004 0.007 0.083" rpy="0 0 0"/> -->
<origin
xyz=
"0 0.0 0.0955"
rpy=
"0 0 0"
/>
<axis
xyz=
"1 0 0"
/>
<axis
xyz=
"
-
1 0 0"
/>
<limit
lower=
"${-110 * M_PI / 180}"
upper=
"${100 * M_PI / 180}"
effort=
"204"
velocity=
"${velocity_scale_factor * 180 * M_PI / 180}"
/>
<safety_controller
soft_lower_limit=
"${-110 * M_PI / 180}"
...
...
@@ -110,7 +110,7 @@
<!-- 3-Axis -->
<joint
name=
"${name}_axis_3_joint"
type=
"revolute"
>
<origin
xyz=
"0 -0.025 0.14"
rpy=
"0 0 0"
/>
<axis
xyz=
"1 0 0"
/>
<axis
xyz=
"
-
1 0 0"
/>
<limit
lower=
"${-30 * M_PI / 180}"
upper=
"${178 * M_PI / 180}"
effort=
"204"
velocity=
"${velocity_scale_factor * 180 * M_PI / 180}"
/>
<safety_controller
soft_lower_limit=
"${-30 * M_PI / 180}"
...
...
@@ -144,7 +144,7 @@
<!-- 4-Axis -->
<joint
name=
"${name}_axis_4_joint"
type=
"revolute"
>
<origin
xyz=
"0 -0.0005 0.1628"
rpy=
"0 0 0"
/>
<axis
xyz=
"1 0 0"
/>
<axis
xyz=
"
-
1 0 0"
/>
<limit
lower=
"${-124 * M_PI / 180}"
upper=
"${124 * M_PI / 180}"
effort=
"204"
velocity=
"${velocity_scale_factor * 180 * M_PI / 180}"
/>
<safety_controller
soft_lower_limit=
"${-120 * M_PI / 180}"
...
...
@@ -178,7 +178,7 @@
<!-- Gripper -->
<joint
name=
"${name}_gripper_l"
type=
"revolute"
>
<origin
xyz=
"0.0155 -0.02 0.0505"
rpy=
"0 0 0"
/>
<axis
xyz=
"0 1 0"
/>
<axis
xyz=
"0
-
1 0"
/>
<limit
lower=
"${-2 * M_PI / 180}"
upper=
"${75 * M_PI / 180}"
effort=
"204"
velocity=
"${velocity_scale_factor * 180 * M_PI / 180}"
/>
<safety_controller
soft_lower_limit=
"${-1 * M_PI / 180}"
...
...
@@ -193,7 +193,7 @@
<joint
name=
"${name}_gripper_r"
type=
"revolute"
>
<origin
xyz=
"-0.010 -0.02 0.0505"
rpy=
"0 0 0"
/>
<mimic
joint=
"${name}_gripper_l"
multiplier=
"-1"
offset=
"0"
/>
<axis
xyz=
"0 1 0"
/>
<axis
xyz=
"0
-
1 0"
/>
<limit
lower=
"${-2 * M_PI / 180}"
upper=
"${75 * M_PI / 180}"
effort=
"204"
velocity=
"${velocity_scale_factor * 180 * M_PI / 180}"
/>
<safety_controller
soft_lower_limit=
"${-1 * M_PI / 180}"
...
...
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