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Update joint_names_irb5400.yaml #198

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Update joint_names_irb5400.yaml #198

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72f71eb
Update joint_names_irb5400.yaml
aaryanmurgunde Jul 31, 2023
42f6f50
updates to the macro
aaryanmurgunde Aug 3, 2023
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16 changes: 8 additions & 8 deletions abb_irb5400_support/urdf/irb5400.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -171,50 +171,50 @@
<link name="tool0"/>
<!-- end of link list -->
<!-- joint list -->
<joint name="joint1" type="revolute">
<joint name="joint_1" type="revolute">
<parent link="base_link"/>
<child link="link_1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-2.617" upper="2.617" velocity="2.3911"/>
</joint>
<joint name="joint2" type="revolute">
<joint name="joint_2" type="revolute">
<parent link="link_1"/>
<child link="link_2"/>
<origin rpy="0 0 0" xyz="0.300 0 0.660"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-1.396" upper="1.396" velocity="2.3911"/>
</joint>
<joint name="joint3" type="revolute">
<joint name="joint_3" type="revolute">
<parent link="link_2"/>
<child link="link_3"/>
<origin rpy="0 0 0" xyz="0 0 1.200"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-1.308" upper="1.308" velocity="2.3911"/>
</joint>
<joint name="joint4" type="revolute">
<joint name="joint_4" type="revolute">
<parent link="link_3"/>
<child link="link_4"/>
<origin rpy="0 0 0" xyz="1.339 0 0.186"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-6.0" upper="6.0" velocity="8.1157"/>
</joint>
<joint name="joint5" type="revolute">
<joint name="joint_5" type="revolute">
<parent link="link_4"/>
<child link="link_5"/>
<origin rpy="0 0.6109 0" xyz="0.0693 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-6.0" upper="6.0" velocity="6.1086"/>
</joint>
<joint name="joint5b" type="revolute">
<joint name="joint_5b" type="revolute">
<parent link="link_5"/>
<child link="link_5b"/>
<origin rpy="0 -1.2217 0" xyz=".106246 0 0.074394"/>
<axis xyz="1 0 0"/>
<limit effort="100" lower="-6.0" upper="6.0" velocity="6.1086"/>
<mimic joint="joint5" multiplier="-1.0" offset="0"/>
<mimic joint="joint_5" multiplier="-1.0" offset="0"/>
</joint>
<joint name="joint6" type="revolute">
<joint name="joint_6" type="revolute">
<parent link="link_5b"/>
<child link="link_6"/>
<origin rpy="0 0.6109 0" xyz="0.0672 0 -0.0470"/>
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16 changes: 8 additions & 8 deletions abb_irb5400_support/urdf/irb5400_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -120,50 +120,50 @@
<!-- end of link list -->

<!-- joint list -->
<joint name="${prefix}joint1" type="revolute">
<joint name="${prefix}joint_1" type="revolute">
<parent link="${prefix}base_link"/>
<child link="${prefix}link_1"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="-2.617" upper="2.617" effort="100" velocity="2.3911"/>
</joint>
<joint name="${prefix}joint2" type="revolute">
<joint name="${prefix}joint_2" type="revolute">
<parent link="${prefix}link_1"/>
<child link="${prefix}link_2"/>
<origin xyz="0.300 0 0.660" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit lower="-1.396" upper="1.396" effort="100" velocity="2.3911"/>
</joint>
<joint name="${prefix}joint3" type="revolute">
<joint name="${prefix}joint_3" type="revolute">
<parent link="${prefix}link_2"/>
<child link="${prefix}link_3"/>
<origin xyz="0 0 1.200" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit lower="-1.308" upper="1.308" effort="100" velocity="2.3911"/>
</joint>
<joint name="${prefix}joint4" type="revolute">
<joint name="${prefix}joint_4" type="revolute">
<parent link="${prefix}link_3"/>
<child link="${prefix}link_4"/>
<origin xyz="1.339 0 0.186" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit lower="-6.0" upper="6.0" effort="100" velocity="8.1157"/>
</joint>
<joint name="${prefix}joint5" type="revolute">
<joint name="${prefix}joint_5" type="revolute">
<parent link="${prefix}link_4"/>
<child link="${prefix}link_5"/>
<origin xyz="0.0693 0 0" rpy="0 0.6109 0"/>
<axis xyz="1 0 0"/>
<limit lower="-6.0" upper="6.0" effort="100" velocity="6.1086"/>
</joint>
<joint name="${prefix}joint5b" type="revolute">
<joint name="${prefix}joint_5b" type="revolute">
<parent link="${prefix}link_5"/>
<child link="${prefix}link_5b"/>
<origin xyz=".106246 0 0.074394" rpy="0 -1.2217 0"/>
<axis xyz="1 0 0"/>
<limit lower="-6.0" upper="6.0" effort="100" velocity="6.1086"/>
<mimic joint="joint5" multiplier="-1.0" offset="0"/>
<mimic joint="joint_5" multiplier="-1.0" offset="0"/>
</joint>
<joint name="${prefix}joint6" type="revolute">
<joint name="${prefix}joint_6" type="revolute">
<parent link="${prefix}link_5b"/>
<child link="${prefix}link_6"/>
<origin xyz="0.0672 0 -0.0470" rpy="0 0.6109 0"/>
Expand Down