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更新 L20/LEFT/linkerhand_g20_left.urdf

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sunxianghui
2026-09-07 17:14:32 +08:00
parent da9cb9b8cc
commit 38d75657a4
1 changed files with 19 additions and 19 deletions
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L20/LEFT/linkerhand_g20_left.urdf
+19 -19
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@@ -89,7 +89,7 @@
type="revolute"> type="revolute">
<origin <origin
xyz="0.01916 -0.01 0.0436" xyz="0.01916 -0.01 0.0436"
rpy="-0.122173047639603 0 0" /> rpy="-0.0669047936042155 0 0" />
<parent <parent
link="hand_base_link" /> link="hand_base_link" />
<child <child
@@ -147,7 +147,7 @@
type="revolute"> type="revolute">
<origin <origin
xyz="0.019845 0 0" xyz="0.019845 0 0"
rpy="0.771494635674502 0.017384990508633 -0.0178724603975689" /> rpy="0.771519235634338 -0.015949629057757 0.0163964520694657" />
<parent <parent
link="thumb_metacarpals_base1" /> link="thumb_metacarpals_base1" />
<child <child
@@ -205,7 +205,7 @@
type="revolute"> type="revolute">
<origin <origin
xyz="0.0088218 -0.024245 0.0005" xyz="0.0088218 -0.024245 0.0005"
rpy="2.22044604925031e-16 -1.01444006 1.9199" /> rpy="4.44089209850063e-16 -1.03160184765982 1.9199" />
<parent <parent
link="thumb_metacarpals_base2" /> link="thumb_metacarpals_base2" />
<child <child
@@ -391,8 +391,8 @@
<axis <axis
xyz="1 0 0" /> xyz="1 0 0" />
<limit <limit
lower="-0.259862986259972" lower="-0.23"
upper="0.256863626259972" upper="0.23"
effort="100" effort="100"
velocity="1" /> velocity="1" />
</joint> </joint>
@@ -450,7 +450,7 @@
xyz="0 1 0" /> xyz="0 1 0" />
<limit <limit
lower="0" lower="0"
upper="1.23297265625997" upper="1.22"
effort="100" effort="100"
velocity="1" /> velocity="1" />
</joint> </joint>
@@ -508,7 +508,7 @@
xyz="0 1 0" /> xyz="0 1 0" />
<limit <limit
lower="0" lower="0"
upper="1.75088443625997" upper="1.74"
effort="100" effort="100"
velocity="1" /> velocity="1" />
</joint> </joint>
@@ -627,8 +627,8 @@
<axis <axis
xyz="1 0 0" /> xyz="1 0 0" />
<limit <limit
lower="-0.259862986259972" lower="-0.23"
upper="0.256863626259972" upper="0.23"
effort="100" effort="100"
velocity="1" /> velocity="1" />
</joint> </joint>
@@ -686,7 +686,7 @@
xyz="0 1 0" /> xyz="0 1 0" />
<limit <limit
lower="0" lower="0"
upper="1.23297265625997" upper="1.22"
effort="100" effort="100"
velocity="1" /> velocity="1" />
</joint> </joint>
@@ -744,7 +744,7 @@
xyz="0 1 0" /> xyz="0 1 0" />
<limit <limit
lower="0" lower="0"
upper="1.75088443625997" upper="1.74"
effort="100" effort="100"
velocity="1" /> velocity="1" />
</joint> </joint>
@@ -863,8 +863,8 @@
<axis <axis
xyz="1 0 0" /> xyz="1 0 0" />
<limit <limit
lower="-0.259862986259972" lower="-0.23"
upper="0.256863626259972" upper="0.23"
effort="100" effort="100"
velocity="1" /> velocity="1" />
</joint> </joint>
@@ -922,7 +922,7 @@
xyz="0 1 0" /> xyz="0 1 0" />
<limit <limit
lower="0" lower="0"
upper="1.23297265625997" upper="1.22"
effort="100" effort="100"
velocity="1" /> velocity="1" />
</joint> </joint>
@@ -980,7 +980,7 @@
xyz="0 1 0" /> xyz="0 1 0" />
<limit <limit
lower="0" lower="0"
upper="1.75088443625997" upper="1.74"
effort="100" effort="100"
velocity="1" /> velocity="1" />
</joint> </joint>
@@ -1099,8 +1099,8 @@
<axis <axis
xyz="1 0 0" /> xyz="1 0 0" />
<limit <limit
lower="-0.259862986259972" lower="-0.23"
upper="0.256863626259972" upper="0.23"
effort="100" effort="100"
velocity="1" /> velocity="1" />
</joint> </joint>
@@ -1158,7 +1158,7 @@
xyz="0 1 0" /> xyz="0 1 0" />
<limit <limit
lower="0" lower="0"
upper="1.23297265625997" upper="1.22"
effort="100" effort="100"
velocity="1" /> velocity="1" />
</joint> </joint>
@@ -1216,7 +1216,7 @@
xyz="0 1 0" /> xyz="0 1 0" />
<limit <limit
lower="0" lower="0"
upper="1.75088443625997" upper="1.74"
effort="100" effort="100"
velocity="1" /> velocity="1" />
</joint> </joint>