Urdf versions
This package contains the description of the following Schunk components:
LWA and LWA extended version
Each joint has a predefined limit:
|
arm_1_joint |
arm_2_joint |
arm_3_joint |
arm_4_joint |
arm_5_joint |
arm_6_joint |
arm_7_joint |
|
lower/upper |
lower/upper |
lower/upper |
lower/upper |
lower/upper |
lower/upper |
lower/upper |
urdf limit |
-6,25/6,25 |
-1,97/1,97 |
-6,25/6,25 |
-1,97/1,97 |
-6,25/6,25 |
-1,97/1,97 |
-6,25/6,25 |
hardware limit |
-6,28/6,28 |
-2/2 |
-6,28/6,28 |
-2/2 |
-6,28/6,28 |
-2/2 |
-6,28/6,28 |
LWA 4D
Further information LWA 4D -Schunk official website
Each joint has a predefined limit:
|
arm_1_joint |
arm_2_joint |
arm_3_joint |
arm_4_joint |
arm_5_joint |
arm_6_joint |
arm_7_joint |
|
lower/upper |
lower/upper |
lower/upper |
lower/upper |
lower/upper |
lower/upper |
lower/upper |
urdf limit |
-6,25/6,25 |
-1,97/1,97 |
-6,25/6,25 |
-1,97/1,97 |
-6,25/6,25 |
-1,97/1,97 |
-6,25/6,25 |
hardware limit |
-6,28/6,28 |
-2/2 |
-6,28/6,28 |
-2/2 |
-6,28/6,28 |
-2/2 |
-6,28/6,28 |
LWA 4P
Further information LWA 4P -Schunk official website
Each joint has a predefined limit:
|
arm_1_joint |
arm_2_joint |
arm_3_joint |
arm_4_joint |
arm_5_joint |
arm_6_joint |
arm_7_joint |
|
lower/upper |
lower/upper |
lower/upper |
lower/upper |
lower/upper |
lower/upper |
lower/upper |
urdf limit |
-6,25/6,25 |
-1,97/1,97 |
-6,25/6,25 |
-1,97/1,97 |
-6,25/6,25 |
-1,97/1,97 |
-6,25/6,25 |
hardware limit |
-6,28/6,28 |
-2/2 |
-6,28/6,28 |
-2/2 |
-6,28/6,28 |
-2/2 |
-6,28/6,28 |
LWA 4P extended version
Further information LWA 4P -Schunk official website
Each joint has a predefined limit:
|
arm_1_joint |
arm_2_joint |
arm_3_joint |
arm_4_joint |
arm_5_joint |
arm_6_joint |
arm_7_joint |
|
lower/upper |
lower/upper |
lower/upper |
lower/upper |
lower/upper |
lower/upper |
lower/upper |
urdf limit |
-4.712/4.712 |
-1,92/1,92 |
-2.967/2.967 |
-2.618/2.618 |
-2.967/2.967 |
-2.443/2.967 |
-2.967/2.967 |
hardware limit |
-4.742/4.742 |
-1,95/1,95 |
-2.997/2.997 |
-2.648/2.648 |
-2.997/2.997 |
-2.473/2.997 |
-2.997/2.997 |
PG 70
Further information PG 70 -Schunk official website
SDH
Further information SDH -Schunk official website