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modbus_test
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model

This commit is contained in:
Kseninia Mikhaylova 2024-10-31 15:48:19 +03:00
parent 51f45f634f
commit 566285b400
1 changed files with 8 additions and 7 deletions
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urdf/sample.urdf
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@ -125,7 +125,7 @@
<!-- Joints: main serial chain --> <!-- Joints: main serial chain -->
<joint name="joint_1" type="revolute"> <joint name="joint_1" type="revolute">
<limit effort="0" lower="-0.5759" upper="2.6529" velocity="3.1415" /> <limit lower="-2.705" upper="2.705" effort="0" velocity="0"/>
<origin rpy="0 0 0" xyz="0.011789 -0.0278 0.26158" /> <origin rpy="0 0 0" xyz="0.011789 -0.0278 0.26158" />
<parent link="base_link" /> <parent link="base_link" />
<child link="link_1" /> <child link="link_1" />
@ -133,14 +133,15 @@
</joint> </joint>
<joint name="joint_2" type="revolute"> <joint name="joint_2" type="revolute">
<limit effort="0" lower="-1.270" upper="0.590" velocity="3.1415" /> <parent link="link_1" /> <limit lower="-2.444" upper="1.134" effort="0" velocity="0"/>
<parent link="link_1" />
<child link="link_2" /> <child link="link_2" />
<axis xyz="0 -1 0" /> <axis xyz="0 -1 0" />
<origin rpy="0 0 0" xyz="0.168621 -0.103 0.23445" /> <origin rpy="0 0 0" xyz="0.168621 -0.103 0.23445" />
</joint> </joint>
<joint name="joint_3" type="revolute"> <joint name="joint_3" type="revolute">
<limit effort="0" lower="-0.596" upper="0.873" velocity="3.1415" /> <limit lower="-1.309" upper="1.919" effort="0" velocity="0"/>
<parent link="link_2" /> <parent link="link_2" />
<child link="link_3" /> <child link="link_3" />
<axis xyz="0 -1 0" /> <axis xyz="0 -1 0" />
@ -148,7 +149,7 @@
</joint> </joint>
<joint name="joint_4" type="revolute"> <joint name="joint_4" type="revolute">
<limit effort="0" lower="-2.338" upper="2.338" velocity="3.1415" /> <limit lower="-3.142" upper="3.142" effort="0" velocity="0"/>
<parent link="link_3" /> <parent link="link_3" />
<child link="link_4" /> <child link="link_4" />
<axis xyz="1 0 0" /> <axis xyz="1 0 0" />
@ -156,15 +157,15 @@
</joint> </joint>
<joint name="joint_5" type="revolute"> <joint name="joint_5" type="revolute">
<limit effort="0" lower="-1.149" upper="1.149" velocity="3.1415" /> <limit lower="-2.007" upper="2.007" effort="0" velocity="0"/>
<parent link="link_4" /> <parent link="link_4" />
<child link="link_5" /> <child link="link_5" />
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<origin rpy="0 0 0" xyz="0.867755 -0.037912 0.0021" /> <origin rpy="0 0 0" xyz="0.867755 0.037912 0.000177" />
</joint> </joint>
<joint name="joint_6" type="revolute"> <joint name="joint_6" type="revolute">
<limit effort="0" lower="-7.226" upper="7.226" velocity="3.1415" /> <limit lower="-6.283" upper="6.283" effort="0" velocity="0"/>
<parent link="link_5" /> <parent link="link_5" />
<child link="link_6" /> <child link="link_6" />
<axis xyz="1 0 0" /> <axis xyz="1 0 0" />