Modified the joint limits of Gen3 and Gen3 Lite robots as per the val…

…ues in the User Guides
Kinovarobotics · Oct 4, 2024 · 8de90d2 · 8de90d2
1 parent 29dca91
commit 8de90d2
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Showing 3 changed files with 12 additions and 12 deletions.
diff --git a/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro
@@ -179,7 +179,7 @@
       <parent link="${prefix}shoulder_link" />
       <child link="${prefix}bicep_link" />
       <axis xyz="0 0 1" />
-      <limit lower="-2.41" upper="2.41" effort="39" velocity="1.3963" />
+      <limit lower="-2.24" upper="2.24" effort="39" velocity="1.3963" />
     </joint>
     <link name="${prefix}forearm_link">
       <inertial>
@@ -208,7 +208,7 @@
       <parent link="${prefix}bicep_link" />
       <child link="${prefix}forearm_link" />
       <axis xyz="0 0 1" />
-      <limit lower="-2.66" upper="2.66" effort="39" velocity="1.3963" />
+      <limit lower="-2.57" upper="2.57" effort="39" velocity="1.3963" />
     </joint>
     <link name="${prefix}spherical_wrist_1_link">
       <inertial>
@@ -277,7 +277,7 @@
       <parent link="${prefix}spherical_wrist_1_link" />
       <child link="${prefix}spherical_wrist_2_link" />
       <axis xyz="0 0 1" />
-      <limit lower="-2.23" upper="2.23" effort="9" velocity="1.2218" />
+      <limit lower="-2.09" upper="2.09" effort="9" velocity="1.2218" />
     </joint>
     <xacro:if value="${vision}">
     <link name="${prefix}bracelet_link">

diff --git a/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro
@@ -173,7 +173,7 @@
         link="${prefix}half_arm_1_link" />
       <axis
         xyz="0 0 1" />
-      <limit lower="-2.41" upper="2.41" effort="39" velocity="1.3963" />
+      <limit lower="-2.24" upper="2.24" effort="39" velocity="1.3963" />
     </joint>
     <link name="${prefix}half_arm_2_link">
       <inertial>
@@ -263,7 +263,7 @@
         link="${prefix}forearm_link" />
       <axis
         xyz="0 0 1" />
-      <limit lower="-2.66" upper="2.66" effort="39" velocity="1.3963" />
+      <limit lower="-2.57" upper="2.57" effort="39" velocity="1.3963" />
     </joint>
     <link name="${prefix}spherical_wrist_1_link">
       <inertial>
@@ -353,7 +353,7 @@
         link="${prefix}spherical_wrist_2_link" />
       <axis
         xyz="0 0 1" />
-      <limit lower="-2.23" upper="2.23" effort="9" velocity="1.2218" />
+      <limit lower="-2.09" upper="2.09" effort="9" velocity="1.2218" />
     </joint>
     <xacro:if value="${vision}">
     <link name="${prefix}bracelet_link">

diff --git a/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro b/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro
@@ -127,7 +127,7 @@
       <parent link="${prefix}base_link" />
       <child link="${prefix}shoulder_link" />
       <axis xyz="0 0 1" />
-      <limit lower="-2.69" upper="2.69" effort="10" velocity="1.6" />
+      <limit lower="-2.68" upper="2.68" effort="10" velocity="1.6" />
     </joint>
     <link name="${prefix}arm_link">
       <inertial>
@@ -159,7 +159,7 @@
       <parent link="${prefix}shoulder_link" />
       <child link="${prefix}arm_link" />
       <axis xyz="0 0 1" />
-      <limit lower="-2.69" upper="2.69" effort="14" velocity="1.6" />
+      <limit lower="-2.61" upper="2.61" effort="14" velocity="1.6" />
     </joint>
     <link name="${prefix}forearm_link">
       <inertial>
@@ -191,7 +191,7 @@
       <parent link="${prefix}arm_link" />
       <child link="${prefix}forearm_link" />
       <axis xyz="0 0 1" />
-      <limit lower="-2.69" upper="2.69" effort="10" velocity="1.6" />
+      <limit lower="-2.61" upper="2.61" effort="10" velocity="1.6" />
     </joint>
     <link name="${prefix}lower_wrist_link">
       <inertial>
@@ -223,7 +223,7 @@
       <parent link="${prefix}forearm_link" />
       <child link="${prefix}lower_wrist_link" />
       <axis xyz="0 0 1" />
-      <limit lower="-2.59" upper="2.59" effort="7" velocity="1.6" />
+      <limit lower="-2.6" upper="2.6" effort="7" velocity="1.6" />
     </joint>
     <link name="${prefix}upper_wrist_link">
       <inertial>
@@ -255,15 +255,15 @@
       <parent link="${prefix}lower_wrist_link" />
       <child link="${prefix}upper_wrist_link" />
       <axis xyz="0 0 1" />
-      <limit lower="-2.57" upper="2.57" effort="7" velocity="1.6" />
+      <limit lower="-2.53" upper="2.53" effort="7" velocity="1.6" />
     </joint>
     <link name="${prefix}end_effector_link"/>
     <joint name="${prefix}joint_6" type="revolute">
       <origin xyz="-0.105 0 0.0285" rpy="0 -1.5708 0" />
       <parent link="${prefix}upper_wrist_link" />
       <child link="${prefix}end_effector_link" />
       <axis xyz="0 0 1" />
-      <limit lower="-2.59" upper="2.59" effort="7" velocity="3.2" />
+      <limit lower="-2.6" upper="2.6" effort="7" velocity="3.2" />
     </joint>
     <link name="${prefix}dummy_link" />
     <joint name="${prefix}end_effector" type="fixed">