grabardm/lightweight-cobot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases 1 Wiki Activity

Update xacro pos

Browse Source
This commit is contained in:
Даниил Грабарь
2026-05-27 08:26:48 +03:00
parent f365cd491f
commit 4916648f03
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/iiwa_description/urdf/joints.xacro
+3 -3
View File
@@ -11,7 +11,7 @@
<!-- joint1: ±170° hard, ±165° soft, k_velocity=10 --> <!-- joint1: ±170° hard, ±165° soft, k_velocity=10 -->
<xacro:revolute_joint jname="joint1" parent="base_link" child="link1" <xacro:revolute_joint jname="joint1" parent="base_link" child="link1"
xyz="0 0 0.3375" rpy="0 0 0" axis="0 0 -1" xyz="0 0 0.3375" rpy="0 0 0" axis="0 0 1"
lower="-2.97" upper="2.97" effort="200" lower="-2.97" upper="2.97" effort="200"
velocity="1.71" damping="10.0" friction="0.1" velocity="1.71" damping="10.0" friction="0.1"
soft_lower="-2.8827" soft_upper="2.8827" k_velocity="10"/> soft_lower="-2.8827" soft_upper="2.8827" k_velocity="10"/>
@@ -27,7 +27,7 @@
<!-- joint3: ±170° hard, ±165° soft --> <!-- joint3: ±170° hard, ±165° soft -->
<xacro:revolute_joint jname="joint3" parent="link2" child="link3" <xacro:revolute_joint jname="joint3" parent="link2" child="link3"
xyz="0 -0.3993 0" rpy="1.5708 0 0" axis="0 0 -1" xyz="0 -0.3993 0" rpy="1.5708 0 0" axis="0 0 1"
lower="-2.97" upper="2.97" effort="200" lower="-2.97" upper="2.97" effort="200"
velocity="1.75" damping="10.0" friction="0.1" velocity="1.75" damping="10.0" friction="0.1"
soft_lower="-2.8827" soft_upper="2.8827" k_velocity="10"/> soft_lower="-2.8827" soft_upper="2.8827" k_velocity="10"/>
@@ -43,7 +43,7 @@
<!-- joint5: ±170° hard, ±165° soft --> <!-- joint5: ±170° hard, ±165° soft -->
<xacro:revolute_joint jname="joint5" parent="link4" child="link5" <xacro:revolute_joint jname="joint5" parent="link4" child="link5"
xyz="0 -0.3993 0" rpy="1.5708 0 0" axis="0 0 -1" xyz="0 -0.3993 0" rpy="1.5708 0 0" axis="0 0 1"
lower="-2.97" upper="2.97" effort="200" lower="-2.97" upper="2.97" effort="200"
velocity="2.44" damping="10.0" friction="0.1" velocity="2.44" damping="10.0" friction="0.1"
soft_lower="-2.8827" soft_upper="2.8827" k_velocity="10"/> soft_lower="-2.8827" soft_upper="2.8827" k_velocity="10"/>