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Checkpoint to add up to rev 6, link 4

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Thomason Zhou 2025-03-10 18:16:48 +09:00
parent fc2477b9c5
commit 213a35fb78
1 changed files with 4 additions and 4 deletions
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8
openarm_two_arms/urdf/openarm.xacro
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@ -244,21 +244,21 @@
<joint name="${prefix}rev4" type="revolute"> <joint name="${prefix}rev4" type="revolute">
<parent link="${prefix}link4"/> <parent link="${prefix}link4"/>
<child link="${prefix}link5"/> <child link="${prefix}link5"/>
<origin rpy="-0.20701608758495998 -1.5707963267948566 -2.937419385117548" xyz="0.0297547 0.0 -0.24175"/> <origin rpy="${-0.20701608758495998 if side=='right' else -3.0383286058327292} -1.5707963267948566 ${-2.937419385117548 if side=='right' else 3.038328605832587}" xyz="0.0297547 0.0 ${reflect*-0.24175}"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/> <limit effort="0.0" lower="${-0.3490658503988659 if side=='right' else -2.792526803190927}" upper="${2.792526803190927 if side=='right' else 0.3490658503988659}" velocity="0.0"/>
</joint> </joint>
<joint name="${prefix}rev5" type="revolute"> <joint name="${prefix}rev5" type="revolute">
<parent link="${prefix}link5"/> <parent link="${prefix}link5"/>
<child link="${prefix}link6_right_wrist"/> <child link="${prefix}link6_right_wrist"/>
<origin rpy="1.5707963267948473 -0.5569332500492129 1.556730325338251" xyz="-0.133937 0.00188408 -0.0297547"/> <origin rpy="${reflect*1.5707963267948473} ${reflect*-0.5569332500492129} 1.556730325338251" xyz="${reflect*-0.133937} 0.00188408 ${reflect*-0.0297547}"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/> <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
</joint> </joint>
<joint name="${prefix}rev6" type="revolute"> <joint name="${prefix}rev6" type="revolute">
<parent link="${prefix}link6_right_wrist"/> <parent link="${prefix}link6_right_wrist"/>
<child link="${prefix}link7"/> <child link="${prefix}link7"/>
<origin rpy="-1.5707963268024898 -1.5567303253382425 -0.5569332500461536" xyz="-0.0187648 -0.0301352 -0.12105"/> <origin rpy="${reflect*-1.5707963268024898} -1.5567303253382425 -0.5569332500461536" xyz="${reflect*-0.0187648} ${reflect*-0.0301352} ${reflect*-0.12105}"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/> <limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
</joint> </joint>