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roboverse_data

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36
HaoranG commited on
Commit
cd698d4
·
1 Parent(s): d1197e0

[fix] franka shadow joint limit

Browse files
Files changed (4) hide show
  1. robots/franka_shadow_hand/urdf/franka_shadow_left.urdf +10 -10
  2. robots/franka_shadow_hand/urdf/franka_shadow_right.urdf +11 -11
  3. robots/franka_shadow_hand/urdf/shadow_left.urdf +11 -11
  4. robots/franka_shadow_hand/urdf/shadow_right.urdf +11 -11
robots/franka_shadow_hand/urdf/franka_shadow_left.urdf CHANGED
@@ -197,7 +197,7 @@
197
  <origin rpy="0 0 0" xyz="0 -0.010 0.213" />
198
  <axis xyz="0 1 0" />
199
  <!-- <limit effort="5" lower="-0.52359877559829882" upper="0.17453292519943295" velocity="1.0" /> -->
200
- <limit effort="5" lower="-0.07453292519943295" upper="0.07453292519943295" velocity="1.0" />
201
  <dynamics damping="100.5" />
202
  </joint>
203
 
@@ -250,7 +250,7 @@
250
  <origin rpy="0 0 0" xyz="0 0 0.034" />
251
  <axis xyz="1 0 0" />
252
  <!-- <limit effort="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" /> -->
253
- <limit effort="5" lower="-0.08539816339744828" upper="0.0108652381980153" velocity="1.0" />
254
  <dynamics damping="100.5" />
255
  </joint>
256
 
@@ -281,7 +281,7 @@
281
 
282
  <origin rpy="0 0 0" xyz="0.033 0 0.095" />
283
  <axis xyz="0 1 0" />
284
- <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
285
  <dynamics damping="50.5" />
286
  </joint>
287
  <link name="ffproximal">
@@ -396,7 +396,7 @@
396
 
397
  <origin rpy="0 0 0" xyz="0.011 0 0.099" />
398
  <axis xyz="0 1 0" />
399
- <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
400
  <dynamics damping="50.5" />
401
  </joint>
402
  <link name="mfproximal">
@@ -511,7 +511,7 @@
511
 
512
  <origin rpy="0 0 0" xyz="-0.011 0 0.095" />
513
  <axis xyz="0 -1 0" />
514
- <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
515
  <dynamics damping="50.5" />
516
  </joint>
517
  <link name="rfproximal">
@@ -624,7 +624,7 @@
624
  <child link="lfmetacarpal" />
625
  <origin rpy="0 0 0" xyz="-0.033 0 0.02071" />
626
  <axis xyz="-0.573576436 0 -0.819152044" />
627
- <limit effort="100" lower="0" upper="0.69813170079773179" velocity="1.0" />
628
  <dynamics damping="50.5" />
629
  </joint>
630
  <link name="lfknuckle">
@@ -767,7 +767,7 @@
767
  <child link="thbase" />
768
  <origin rpy="0 0.785398163397 0" xyz="0.034 0.0085 0.029" />
769
  <axis xyz="0 0 1.0" />
770
- <limit effort="100" lower="-0.001" upper="0.001" velocity="1.0" />
771
  <dynamics damping="50.5" />
772
  </joint>
773
  <link name="thproximal">
@@ -797,7 +797,7 @@
797
  <child link="thproximal" />
798
  <origin rpy="0 0 0" xyz="0 0 0" />
799
  <axis xyz="-1.0 0 0" />
800
- <limit effort="100" lower="0" upper="1.309" velocity="1.0" />
801
  <dynamics damping="50.5" />
802
  </joint>
803
  <link name="thhub">
@@ -827,7 +827,7 @@
827
  <child link="thhub" />
828
  <origin rpy="0 0 0" xyz="0 0 0.038" />
829
  <axis xyz="-1 0 0" />
830
- <limit effort="100" lower="-0.2618" upper="0.2618" velocity="1.0" />
831
  <dynamics damping="50.5" />
832
  </joint>
833
  <link name="thmiddle">
@@ -887,7 +887,7 @@
887
  <child link="thdistal" />
888
  <origin rpy="0 0 -1.570796327" xyz="0 0 0.032" />
889
  <axis xyz="1 0 0" />
890
- <limit effort="100" lower="-0.262" upper="1.571" velocity="1.0" />
891
  <dynamics damping="50.5" />
892
  </joint>
893
  </robot>
 
197
  <origin rpy="0 0 0" xyz="0 -0.010 0.213" />
198
  <axis xyz="0 1 0" />
199
  <!-- <limit effort="5" lower="-0.52359877559829882" upper="0.17453292519943295" velocity="1.0" /> -->
200
+ <limit effort="10" lower="-0.489" upper="0.14" velocity="1.0" />
201
  <dynamics damping="100.5" />
202
  </joint>
203
 
 
250
  <origin rpy="0 0 0" xyz="0 0 0.034" />
251
  <axis xyz="1 0 0" />
252
  <!-- <limit effort="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" /> -->
253
+ <limit effort="5" lower="-0.698" upper="0.489" velocity="1.0" />
254
  <dynamics damping="100.5" />
255
  </joint>
256
 
 
281
 
282
  <origin rpy="0 0 0" xyz="0.033 0 0.095" />
283
  <axis xyz="0 1 0" />
284
+ <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
285
  <dynamics damping="50.5" />
286
  </joint>
287
  <link name="ffproximal">
 
396
 
397
  <origin rpy="0 0 0" xyz="0.011 0 0.099" />
398
  <axis xyz="0 1 0" />
399
+ <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
400
  <dynamics damping="50.5" />
401
  </joint>
402
  <link name="mfproximal">
 
511
 
512
  <origin rpy="0 0 0" xyz="-0.011 0 0.095" />
513
  <axis xyz="0 -1 0" />
514
+ <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
515
  <dynamics damping="50.5" />
516
  </joint>
517
  <link name="rfproximal">
 
624
  <child link="lfmetacarpal" />
625
  <origin rpy="0 0 0" xyz="-0.033 0 0.02071" />
626
  <axis xyz="-0.573576436 0 -0.819152044" />
627
+ <limit effort="100" lower="0" upper="0.785" velocity="1.0" />
628
  <dynamics damping="50.5" />
629
  </joint>
630
  <link name="lfknuckle">
 
767
  <child link="thbase" />
768
  <origin rpy="0 0.785398163397 0" xyz="0.034 0.0085 0.029" />
769
  <axis xyz="0 0 1.0" />
770
+ <limit effort="100" lower="-1.047" upper="1.047" velocity="1.0" />
771
  <dynamics damping="50.5" />
772
  </joint>
773
  <link name="thproximal">
 
797
  <child link="thproximal" />
798
  <origin rpy="0 0 0" xyz="0 0 0" />
799
  <axis xyz="-1.0 0 0" />
800
+ <limit effort="100" lower="0" upper="1.222" velocity="1.0" />
801
  <dynamics damping="50.5" />
802
  </joint>
803
  <link name="thhub">
 
827
  <child link="thhub" />
828
  <origin rpy="0 0 0" xyz="0 0 0.038" />
829
  <axis xyz="-1 0 0" />
830
+ <limit effort="100" lower="-0.209" upper="0.209" velocity="1.0" />
831
  <dynamics damping="50.5" />
832
  </joint>
833
  <link name="thmiddle">
 
887
  <child link="thdistal" />
888
  <origin rpy="0 0 -1.570796327" xyz="0 0 0.032" />
889
  <axis xyz="1 0 0" />
890
+ <limit effort="100" lower="0.0" upper="1.571" velocity="1.0" />
891
  <dynamics damping="50.5" />
892
  </joint>
893
  </robot>
robots/franka_shadow_hand/urdf/franka_shadow_right.urdf CHANGED
@@ -197,7 +197,7 @@
197
  <origin rpy="0 0 0" xyz="0 -0.010 0.213" />
198
  <axis xyz="0 1 0" />
199
  <!-- <limit effort="5" lower="-0.52359877559829882" upper="0.17453292519943295" velocity="1.0" /> -->
200
- <limit effort="5" lower="-0.02359877559829882" upper="0.07453292519943295" velocity="1.0" />
201
  <dynamics damping="100.5" />
202
  </joint>
203
 
@@ -250,7 +250,7 @@
250
  <origin rpy="0 0 0" xyz="0 0 0.034" />
251
  <axis xyz="1 0 0" />
252
  <!-- <limit effort="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" /> -->
253
- <limit effort="5" lower="-0.08539816339744828" upper="0.0108652381980153" velocity="1.0" />
254
  <dynamics damping="100.5" />
255
  </joint>
256
 
@@ -281,7 +281,7 @@
281
 
282
  <origin rpy="0 0 0" xyz="0.033 0 0.095" />
283
  <axis xyz="0 -1 0" />
284
- <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
285
  <dynamics damping="50.5" />
286
  </joint>
287
  <link name="ffproximal">
@@ -396,7 +396,7 @@
396
 
397
  <origin rpy="0 0 0" xyz="0.011 0 0.099" />
398
  <axis xyz="0 -1 0" />
399
- <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
400
  <dynamics damping="50.5" />
401
  </joint>
402
  <link name="mfproximal">
@@ -511,7 +511,7 @@
511
 
512
  <origin rpy="0 0 0" xyz="-0.011 0 0.095" />
513
  <axis xyz="0 1 0" />
514
- <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
515
  <dynamics damping="50.5" />
516
  </joint>
517
  <link name="rfproximal">
@@ -624,7 +624,7 @@
624
  <child link="lfmetacarpal" />
625
  <origin rpy="0 0 0" xyz="-0.033 0 0.02071" />
626
  <axis xyz="0.573576436 0 0.819152044" />
627
- <limit effort="100" lower="0" upper="0.69813170079773179" velocity="1.0" />
628
  <dynamics damping="50.5" />
629
  </joint>
630
  <link name="lfknuckle">
@@ -652,7 +652,7 @@
652
  <child link="lfknuckle" />
653
  <origin rpy="0 0 0" xyz="0 0 0.06579" />
654
  <axis xyz="0 1 0" />
655
- <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
656
  <dynamics damping="50.5" />
657
  </joint>
658
  <link name="lfproximal">
@@ -767,7 +767,7 @@
767
  <child link="thbase" />
768
  <origin rpy="0 0.785398163397 0" xyz="0.034 -0.0085 0.029" />
769
  <axis xyz="0 0 -1.0" />
770
- <limit effort="100" lower="-0.001" upper="0.001" velocity="1.0" />
771
  <dynamics damping="50.5" />
772
  </joint>
773
  <link name="thproximal">
@@ -797,7 +797,7 @@
797
  <child link="thproximal" />
798
  <origin rpy="0 0 0" xyz="0 0 0" />
799
  <axis xyz="1.0 0 0" />
800
- <limit effort="100" lower="0" upper="1.309" velocity="1.0" />
801
  <dynamics damping="50.5" />
802
  </joint>
803
  <link name="thhub">
@@ -827,7 +827,7 @@
827
  <child link="thhub" />
828
  <origin rpy="0 0 0" xyz="0 0 0.038" />
829
  <axis xyz="1 0 0" />
830
- <limit effort="100" lower="-0.2618" upper="0.2618" velocity="1.0" />
831
  <dynamics damping="50.5" />
832
  </joint>
833
  <link name="thmiddle">
@@ -887,7 +887,7 @@
887
  <child link="thdistal" />
888
  <origin rpy="0 0 -1.570796327" xyz="0 0 0.032" />
889
  <axis xyz="1 0 0" />
890
- <limit effort="100" lower="-0.262" upper="1.571" velocity="1.0" />
891
  <dynamics damping="50.5" />
892
  </joint>
893
  </robot>
 
197
  <origin rpy="0 0 0" xyz="0 -0.010 0.213" />
198
  <axis xyz="0 1 0" />
199
  <!-- <limit effort="5" lower="-0.52359877559829882" upper="0.17453292519943295" velocity="1.0" /> -->
200
+ <limit effort="10" lower="-0.489" upper="0.14" velocity="1.0" />
201
  <dynamics damping="100.5" />
202
  </joint>
203
 
 
250
  <origin rpy="0 0 0" xyz="0 0 0.034" />
251
  <axis xyz="1 0 0" />
252
  <!-- <limit effort="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" /> -->
253
+ <limit effort="5" lower="-0.698" upper="0.489" velocity="1.0" />
254
  <dynamics damping="100.5" />
255
  </joint>
256
 
 
281
 
282
  <origin rpy="0 0 0" xyz="0.033 0 0.095" />
283
  <axis xyz="0 -1 0" />
284
+ <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
285
  <dynamics damping="50.5" />
286
  </joint>
287
  <link name="ffproximal">
 
396
 
397
  <origin rpy="0 0 0" xyz="0.011 0 0.099" />
398
  <axis xyz="0 -1 0" />
399
+ <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
400
  <dynamics damping="50.5" />
401
  </joint>
402
  <link name="mfproximal">
 
511
 
512
  <origin rpy="0 0 0" xyz="-0.011 0 0.095" />
513
  <axis xyz="0 1 0" />
514
+ <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
515
  <dynamics damping="50.5" />
516
  </joint>
517
  <link name="rfproximal">
 
624
  <child link="lfmetacarpal" />
625
  <origin rpy="0 0 0" xyz="-0.033 0 0.02071" />
626
  <axis xyz="0.573576436 0 0.819152044" />
627
+ <limit effort="100" lower="0" upper="0.785" velocity="1.0" />
628
  <dynamics damping="50.5" />
629
  </joint>
630
  <link name="lfknuckle">
 
652
  <child link="lfknuckle" />
653
  <origin rpy="0 0 0" xyz="0 0 0.06579" />
654
  <axis xyz="0 1 0" />
655
+ <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
656
  <dynamics damping="50.5" />
657
  </joint>
658
  <link name="lfproximal">
 
767
  <child link="thbase" />
768
  <origin rpy="0 0.785398163397 0" xyz="0.034 -0.0085 0.029" />
769
  <axis xyz="0 0 -1.0" />
770
+ <limit effort="100" lower="-1.407" upper="1.407" velocity="1.0" />
771
  <dynamics damping="50.5" />
772
  </joint>
773
  <link name="thproximal">
 
797
  <child link="thproximal" />
798
  <origin rpy="0 0 0" xyz="0 0 0" />
799
  <axis xyz="1.0 0 0" />
800
+ <limit effort="100" lower="0" upper="1.222" velocity="1.0" />
801
  <dynamics damping="50.5" />
802
  </joint>
803
  <link name="thhub">
 
827
  <child link="thhub" />
828
  <origin rpy="0 0 0" xyz="0 0 0.038" />
829
  <axis xyz="1 0 0" />
830
+ <limit effort="100" lower="-0.209" upper="0.209" velocity="1.0" />
831
  <dynamics damping="50.5" />
832
  </joint>
833
  <link name="thmiddle">
 
887
  <child link="thdistal" />
888
  <origin rpy="0 0 -1.570796327" xyz="0 0 0.032" />
889
  <axis xyz="1 0 0" />
890
+ <limit effort="100" lower="0.0" upper="1.571" velocity="1.0" />
891
  <dynamics damping="50.5" />
892
  </joint>
893
  </robot>
robots/franka_shadow_hand/urdf/shadow_left.urdf CHANGED
@@ -58,7 +58,7 @@
58
  <origin rpy="0 0 0" xyz="0 -0.010 0.213" />
59
  <axis xyz="0 1 0" />
60
  <!-- <limit effort="5" lower="-0.52359877559829882" upper="0.17453292519943295" velocity="1.0" /> -->
61
- <limit effort="5" lower="-0.07453292519943295" upper="0.07453292519943295" velocity="1.0" />
62
  <dynamics damping="100.5" />
63
  </joint>
64
 
@@ -111,7 +111,7 @@
111
  <origin rpy="0 0 0" xyz="0 0 0.034" />
112
  <axis xyz="1 0 0" />
113
  <!-- <limit effort="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" /> -->
114
- <limit effort="5" lower="-0.08539816339744828" upper="0.0108652381980153" velocity="1.0" />
115
  <dynamics damping="100.5" />
116
  </joint>
117
 
@@ -142,7 +142,7 @@
142
 
143
  <origin rpy="0 0 0" xyz="0.033 0 0.095" />
144
  <axis xyz="0 1 0" />
145
- <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
146
  <dynamics damping="50.5" />
147
  </joint>
148
  <link name="ffproximal">
@@ -257,7 +257,7 @@
257
 
258
  <origin rpy="0 0 0" xyz="0.011 0 0.099" />
259
  <axis xyz="0 1 0" />
260
- <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
261
  <dynamics damping="50.5" />
262
  </joint>
263
  <link name="mfproximal">
@@ -372,7 +372,7 @@
372
 
373
  <origin rpy="0 0 0" xyz="-0.011 0 0.095" />
374
  <axis xyz="0 -1 0" />
375
- <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
376
  <dynamics damping="50.5" />
377
  </joint>
378
  <link name="rfproximal">
@@ -485,7 +485,7 @@
485
  <child link="lfmetacarpal" />
486
  <origin rpy="0 0 0" xyz="-0.033 0 0.02071" />
487
  <axis xyz="-0.573576436 0 -0.819152044" />
488
- <limit effort="100" lower="0" upper="0.69813170079773179" velocity="1.0" />
489
  <dynamics damping="50.5" />
490
  </joint>
491
  <link name="lfknuckle">
@@ -513,7 +513,7 @@
513
  <child link="lfknuckle" />
514
  <origin rpy="0 0 0" xyz="0 0 0.06579" />
515
  <axis xyz="0 -1 0" />
516
- <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
517
  <dynamics damping="50.5" />
518
  </joint>
519
  <link name="lfproximal">
@@ -628,7 +628,7 @@
628
  <child link="thbase" />
629
  <origin rpy="0 0.785398163397 0" xyz="0.034 0.0085 0.029" />
630
  <axis xyz="0 0 1.0" />
631
- <limit effort="100" lower="-0.001" upper="0.001" velocity="1.0" />
632
  <dynamics damping="50.5" />
633
  </joint>
634
  <link name="thproximal">
@@ -658,7 +658,7 @@
658
  <child link="thproximal" />
659
  <origin rpy="0 0 0" xyz="0 0 0" />
660
  <axis xyz="-1.0 0 0" />
661
- <limit effort="100" lower="0" upper="1.309" velocity="1.0" />
662
  <dynamics damping="50.5" />
663
  </joint>
664
  <link name="thhub">
@@ -688,7 +688,7 @@
688
  <child link="thhub" />
689
  <origin rpy="0 0 0" xyz="0 0 0.038" />
690
  <axis xyz="-1 0 0" />
691
- <limit effort="100" lower="-0.2618" upper="0.2618" velocity="1.0" />
692
  <dynamics damping="50.5" />
693
  </joint>
694
  <link name="thmiddle">
@@ -748,7 +748,7 @@
748
  <child link="thdistal" />
749
  <origin rpy="0 0 -1.570796327" xyz="0 0 0.032" />
750
  <axis xyz="1 0 0" />
751
- <limit effort="100" lower="-0.262" upper="1.571" velocity="1.0" />
752
  <dynamics damping="50.5" />
753
  </joint>
754
  </robot>
 
58
  <origin rpy="0 0 0" xyz="0 -0.010 0.213" />
59
  <axis xyz="0 1 0" />
60
  <!-- <limit effort="5" lower="-0.52359877559829882" upper="0.17453292519943295" velocity="1.0" /> -->
61
+ <limit effort="10" lower="-0.489" upper="0.14" velocity="1.0" />
62
  <dynamics damping="100.5" />
63
  </joint>
64
 
 
111
  <origin rpy="0 0 0" xyz="0 0 0.034" />
112
  <axis xyz="1 0 0" />
113
  <!-- <limit effort="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" /> -->
114
+ <limit effort="5" lower="-0.698" upper="0.489" velocity="1.0" />
115
  <dynamics damping="100.5" />
116
  </joint>
117
 
 
142
 
143
  <origin rpy="0 0 0" xyz="0.033 0 0.095" />
144
  <axis xyz="0 1 0" />
145
+ <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
146
  <dynamics damping="50.5" />
147
  </joint>
148
  <link name="ffproximal">
 
257
 
258
  <origin rpy="0 0 0" xyz="0.011 0 0.099" />
259
  <axis xyz="0 1 0" />
260
+ <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
261
  <dynamics damping="50.5" />
262
  </joint>
263
  <link name="mfproximal">
 
372
 
373
  <origin rpy="0 0 0" xyz="-0.011 0 0.095" />
374
  <axis xyz="0 -1 0" />
375
+ <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
376
  <dynamics damping="50.5" />
377
  </joint>
378
  <link name="rfproximal">
 
485
  <child link="lfmetacarpal" />
486
  <origin rpy="0 0 0" xyz="-0.033 0 0.02071" />
487
  <axis xyz="-0.573576436 0 -0.819152044" />
488
+ <limit effort="100" lower="0" upper="0.785" velocity="1.0" />
489
  <dynamics damping="50.5" />
490
  </joint>
491
  <link name="lfknuckle">
 
513
  <child link="lfknuckle" />
514
  <origin rpy="0 0 0" xyz="0 0 0.06579" />
515
  <axis xyz="0 -1 0" />
516
+ <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
517
  <dynamics damping="50.5" />
518
  </joint>
519
  <link name="lfproximal">
 
628
  <child link="thbase" />
629
  <origin rpy="0 0.785398163397 0" xyz="0.034 0.0085 0.029" />
630
  <axis xyz="0 0 1.0" />
631
+ <limit effort="100" lower="-1.047" upper="1.047" velocity="1.0" />
632
  <dynamics damping="50.5" />
633
  </joint>
634
  <link name="thproximal">
 
658
  <child link="thproximal" />
659
  <origin rpy="0 0 0" xyz="0 0 0" />
660
  <axis xyz="-1.0 0 0" />
661
+ <limit effort="100" lower="0" upper="1.222" velocity="1.0" />
662
  <dynamics damping="50.5" />
663
  </joint>
664
  <link name="thhub">
 
688
  <child link="thhub" />
689
  <origin rpy="0 0 0" xyz="0 0 0.038" />
690
  <axis xyz="-1 0 0" />
691
+ <limit effort="100" lower="-0.209" upper="0.209" velocity="1.0" />
692
  <dynamics damping="50.5" />
693
  </joint>
694
  <link name="thmiddle">
 
748
  <child link="thdistal" />
749
  <origin rpy="0 0 -1.570796327" xyz="0 0 0.032" />
750
  <axis xyz="1 0 0" />
751
+ <limit effort="100" lower="0.0" upper="1.571" velocity="1.0" />
752
  <dynamics damping="50.5" />
753
  </joint>
754
  </robot>
robots/franka_shadow_hand/urdf/shadow_right.urdf CHANGED
@@ -58,7 +58,7 @@
58
  <origin rpy="0 0 0" xyz="0 -0.010 0.213" />
59
  <axis xyz="0 1 0" />
60
  <!-- <limit effort="5" lower="-0.52359877559829882" upper="0.17453292519943295" velocity="1.0" /> -->
61
- <limit effort="5" lower="-0.02359877559829882" upper="0.07453292519943295" velocity="1.0" />
62
  <dynamics damping="100.5" />
63
  </joint>
64
 
@@ -111,7 +111,7 @@
111
  <origin rpy="0 0 0" xyz="0 0 0.034" />
112
  <axis xyz="1 0 0" />
113
  <!-- <limit effort="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" /> -->
114
- <limit effort="5" lower="-0.08539816339744828" upper="0.0108652381980153" velocity="1.0" />
115
  <dynamics damping="100.5" />
116
  </joint>
117
 
@@ -142,7 +142,7 @@
142
 
143
  <origin rpy="0 0 0" xyz="0.033 0 0.095" />
144
  <axis xyz="0 -1 0" />
145
- <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
146
  <dynamics damping="50.5" />
147
  </joint>
148
  <link name="ffproximal">
@@ -257,7 +257,7 @@
257
 
258
  <origin rpy="0 0 0" xyz="0.011 0 0.099" />
259
  <axis xyz="0 -1 0" />
260
- <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
261
  <dynamics damping="50.5" />
262
  </joint>
263
  <link name="mfproximal">
@@ -372,7 +372,7 @@
372
 
373
  <origin rpy="0 0 0" xyz="-0.011 0 0.095" />
374
  <axis xyz="0 1 0" />
375
- <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
376
  <dynamics damping="50.5" />
377
  </joint>
378
  <link name="rfproximal">
@@ -485,7 +485,7 @@
485
  <child link="lfmetacarpal" />
486
  <origin rpy="0 0 0" xyz="-0.033 0 0.02071" />
487
  <axis xyz="0.573576436 0 0.819152044" />
488
- <limit effort="100" lower="0" upper="0.69813170079773179" velocity="1.0" />
489
  <dynamics damping="50.5" />
490
  </joint>
491
  <link name="lfknuckle">
@@ -513,7 +513,7 @@
513
  <child link="lfknuckle" />
514
  <origin rpy="0 0 0" xyz="0 0 0.06579" />
515
  <axis xyz="0 1 0" />
516
- <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
517
  <dynamics damping="50.5" />
518
  </joint>
519
  <link name="lfproximal">
@@ -628,7 +628,7 @@
628
  <child link="thbase" />
629
  <origin rpy="0 0.785398163397 0" xyz="0.034 -0.0085 0.029" />
630
  <axis xyz="0 0 -1.0" />
631
- <limit effort="100" lower="-0.001" upper="0.001" velocity="1.0" />
632
  <dynamics damping="50.5" />
633
  </joint>
634
  <link name="thproximal">
@@ -658,7 +658,7 @@
658
  <child link="thproximal" />
659
  <origin rpy="0 0 0" xyz="0 0 0" />
660
  <axis xyz="1.0 0 0" />
661
- <limit effort="100" lower="0" upper="1.309" velocity="1.0" />
662
  <dynamics damping="50.5" />
663
  </joint>
664
  <link name="thhub">
@@ -688,7 +688,7 @@
688
  <child link="thhub" />
689
  <origin rpy="0 0 0" xyz="0 0 0.038" />
690
  <axis xyz="1 0 0" />
691
- <limit effort="100" lower="-0.2618" upper="0.2618" velocity="1.0" />
692
  <dynamics damping="50.5" />
693
  </joint>
694
  <link name="thmiddle">
@@ -748,7 +748,7 @@
748
  <child link="thdistal" />
749
  <origin rpy="0 0 -1.570796327" xyz="0 0 0.032" />
750
  <axis xyz="1 0 0" />
751
- <limit effort="100" lower="-0.262" upper="1.571" velocity="1.0" />
752
  <dynamics damping="50.5" />
753
  </joint>
754
  </robot>
 
58
  <origin rpy="0 0 0" xyz="0 -0.010 0.213" />
59
  <axis xyz="0 1 0" />
60
  <!-- <limit effort="5" lower="-0.52359877559829882" upper="0.17453292519943295" velocity="1.0" /> -->
61
+ <limit effort="10" lower="-0.489" upper="0.14" velocity="1.0" />
62
  <dynamics damping="100.5" />
63
  </joint>
64
 
 
111
  <origin rpy="0 0 0" xyz="0 0 0.034" />
112
  <axis xyz="1 0 0" />
113
  <!-- <limit effort="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" /> -->
114
+ <limit effort="5" lower="-0.698" upper="0.489" velocity="1.0" />
115
  <dynamics damping="100.5" />
116
  </joint>
117
 
 
142
 
143
  <origin rpy="0 0 0" xyz="0.033 0 0.095" />
144
  <axis xyz="0 -1 0" />
145
+ <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
146
  <dynamics damping="50.5" />
147
  </joint>
148
  <link name="ffproximal">
 
257
 
258
  <origin rpy="0 0 0" xyz="0.011 0 0.099" />
259
  <axis xyz="0 -1 0" />
260
+ <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
261
  <dynamics damping="50.5" />
262
  </joint>
263
  <link name="mfproximal">
 
372
 
373
  <origin rpy="0 0 0" xyz="-0.011 0 0.095" />
374
  <axis xyz="0 1 0" />
375
+ <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
376
  <dynamics damping="50.5" />
377
  </joint>
378
  <link name="rfproximal">
 
485
  <child link="lfmetacarpal" />
486
  <origin rpy="0 0 0" xyz="-0.033 0 0.02071" />
487
  <axis xyz="0.573576436 0 0.819152044" />
488
+ <limit effort="100" lower="0" upper="0.785" velocity="1.0" />
489
  <dynamics damping="50.5" />
490
  </joint>
491
  <link name="lfknuckle">
 
513
  <child link="lfknuckle" />
514
  <origin rpy="0 0 0" xyz="0 0 0.06579" />
515
  <axis xyz="0 1 0" />
516
+ <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
517
  <dynamics damping="50.5" />
518
  </joint>
519
  <link name="lfproximal">
 
628
  <child link="thbase" />
629
  <origin rpy="0 0.785398163397 0" xyz="0.034 -0.0085 0.029" />
630
  <axis xyz="0 0 -1.0" />
631
+ <limit effort="100" lower="-1.407" upper="1.407" velocity="1.0" />
632
  <dynamics damping="50.5" />
633
  </joint>
634
  <link name="thproximal">
 
658
  <child link="thproximal" />
659
  <origin rpy="0 0 0" xyz="0 0 0" />
660
  <axis xyz="1.0 0 0" />
661
+ <limit effort="100" lower="0" upper="1.222" velocity="1.0" />
662
  <dynamics damping="50.5" />
663
  </joint>
664
  <link name="thhub">
 
688
  <child link="thhub" />
689
  <origin rpy="0 0 0" xyz="0 0 0.038" />
690
  <axis xyz="1 0 0" />
691
+ <limit effort="100" lower="-0.209" upper="0.209" velocity="1.0" />
692
  <dynamics damping="50.5" />
693
  </joint>
694
  <link name="thmiddle">
 
748
  <child link="thdistal" />
749
  <origin rpy="0 0 -1.570796327" xyz="0 0 0.032" />
750
  <axis xyz="1 0 0" />
751
+ <limit effort="100" lower="0.0" upper="1.571" velocity="1.0" />
752
  <dynamics damping="50.5" />
753
  </joint>
754
  </robot>