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Update rom of gripper to 4.51cm

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This commit is contained in:
Thomason Zhou 2025-03-11 12:07:52 +09:00
parent 289ed48c69
commit c5f8cfb248
2 changed files with 6 additions and 6 deletions
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4
openarm_two_arms/urdf/openarm.xacro
View File

@ -253,14 +253,14 @@
<child link="${prefix}link_left_jaw"/> <child link="${prefix}link_left_jaw"/>
<origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/> <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/> <limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
</joint> </joint>
<joint name="${prefix}right_pris2" type="prismatic"> <joint name="${prefix}right_pris2" type="prismatic">
<parent link="${prefix}link8"/> <parent link="${prefix}link8"/>
<child link="${prefix}link_right_jaw"/> <child link="${prefix}link_right_jaw"/>
<origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/> <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/> <limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
<mimic joint="${prefix}left_pris1" multiplier="-1.0" offset="0.0"/> <mimic joint="${prefix}left_pris1" multiplier="-1.0" offset="0.0"/>
</joint> </joint>
</xacro:macro> </xacro:macro>

8
openarm_two_arms/urdf/openarm_two_arms.urdf
View File

@ -272,14 +272,14 @@
<child link="right_link_left_jaw"/> <child link="right_link_left_jaw"/>
<origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/> <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/> <limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
</joint> </joint>
<joint name="right_right_pris2" type="prismatic"> <joint name="right_right_pris2" type="prismatic">
<parent link="right_link8"/> <parent link="right_link8"/>
<child link="right_link_right_jaw"/> <child link="right_link_right_jaw"/>
<origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/> <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/> <limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
<mimic joint="right_left_pris1" multiplier="-1.0" offset="0.0"/> <mimic joint="right_left_pris1" multiplier="-1.0" offset="0.0"/>
</joint> </joint>
<link name="left_link1"> <link name="left_link1">
@ -526,14 +526,14 @@
<child link="left_link_left_jaw"/> <child link="left_link_left_jaw"/>
<origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/> <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/> <limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
</joint> </joint>
<joint name="left_right_pris2" type="prismatic"> <joint name="left_right_pris2" type="prismatic">
<parent link="left_link8"/> <parent link="left_link8"/>
<child link="left_link_right_jaw"/> <child link="left_link_right_jaw"/>
<origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/> <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/> <limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
<mimic joint="left_left_pris1" multiplier="-1.0" offset="0.0"/> <mimic joint="left_left_pris1" multiplier="-1.0" offset="0.0"/>
</joint> </joint>
<joint name="dummy_joint" type="fixed"> <joint name="dummy_joint" type="fixed">