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added limits in leftArmKinematics.ini and rightArmKinematics.ini files
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rsantos88 committed Jun 11, 2018
1 parent d705af4 commit 3c7b1b1
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Showing 2 changed files with 12 additions and 12 deletions.
12 changes: 6 additions & 6 deletions share/kinematics/leftArmKinematics.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -5,9 +5,9 @@ H0 (0 -1 0 0 0 0 1 0.34692 -1 0 0 0.4967 0 0 0 1) /// H0 [H_4x

numLinks 6

link_0 (offset 0.0) (D 0.0 ) (A 0.0 ) (alpha 90.0) (mass 0 ) (cog 0 0 0) (inertia 0 0 0)
link_1 (offset 90.0) (D 0.0 ) (A 0.0 ) (alpha 90.0) (mass 0 ) (cog 0 0 0) (inertia 0 0 0)
link_2 (offset 90.0) (D 0.32901) (A 0.0 ) (alpha 90.0) (mass 1.750625) (cog 0 0 0) (inertia 0 0 0)
link_3 (offset 0.0) (D 0.0 ) (A 0.0 ) (alpha -90.0) (mass 0 ) (cog 0 0 0) (inertia 0 0 0)
link_4 (offset 0.0) (D 0.202 ) (A 0.0 ) (alpha 90.0) (mass 2.396 ) (cog 0 0 0) (inertia 0 0 0)
link_5 (offset 90.0) (D 0.0 ) (A 0.187496) (alpha 90.0) (mass 0.300 ) (cog 0 0 0) (inertia 0 0 0)
link_0 (offset 0.0) (D 0.0 ) (A 0.0 ) (alpha 90.0) (min -93.5) (max 87.6) (mass 0 ) (cog 0 0 0) (inertia 0 0 0)
link_1 (offset 90.0) (D 0.0 ) (A 0.0 ) (alpha 90.0) (min -29.2) (max 74.5) (mass 0 ) (cog 0 0 0) (inertia 0 0 0)
link_2 (offset 90.0) (D 0.32901) (A 0.0 ) (alpha 90.0) (min -82.5) (max 54.7) (mass 1.750625) (cog 0 0 0) (inertia 0 0 0)
link_3 (offset 0.0) (D 0.0 ) (A 0.0 ) (alpha -90.0) (min -101.1) (max 14.1) (mass 0 ) (cog 0 0 0) (inertia 0 0 0)
link_4 (offset 0.0) (D 0.202 ) (A 0.0 ) (alpha 90.0) (min -76.4) (max 101.3) (mass 2.396 ) (cog 0 0 0) (inertia 0 0 0)
link_5 (offset 90.0) (D 0.0 ) (A 0.187496) (alpha 90.0) (min -103.9) (max 59.8) (mass 0.300 ) (cog 0 0 0) (inertia 0 0 0)
12 changes: 6 additions & 6 deletions share/kinematics/rightArmKinematics.ini
View file
Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,10 @@ H0 (0 -1 0 0 0 0 -1 -0.34692 1 0 0 0.4967 0 0 0 1) /// H0 [H_4

numLinks 6

link_0 (offset 0.0) (D 0.0 ) (A 0.0 ) (alpha 90.0) (mass 0 ) (cog 0 0 0) (inertia 0 0 0)
link_1 (offset -90.0) (D 0.0 ) (A 0.0 ) (alpha 90.0) (mass 0 ) (cog 0 0 0) (inertia 0 0 0)
link_2 (offset -90.0) (D 0.32901) (A 0.0 ) (alpha 90.0) (mass 1.750625) (cog 0 0 0) (inertia 0 0 0)
link_3 (offset 0.0) (D 0.0 ) (A 0.0 ) (alpha -90.0) (mass 0 ) (cog 0 0 0) (inertia 0 0 0)
link_4 (offset 0.0) (D 0.202 ) (A 0.0 ) (alpha 90.0) (mass 2.396 ) (cog 0 0 0) (inertia 0 0 0)
link_5 (offset 90.0) (D 0.0 ) (A 0.187496) (alpha -90.0) (mass 0.300 ) (cog 0 0 0) (inertia 0 0 0)
link_0 (offset 0.0) (D 0.0 ) (A 0.0 ) (alpha 90.0) (min -88.5) (max 98.1) (mass 0 ) (cog 0 0 0) (inertia 0 0 0)
link_1 (offset -90.0) (D 0.0 ) (A 0.0 ) (alpha 90.0) (min -75.5) (max 29.6) (mass 0 ) (cog 0 0 0) (inertia 0 0 0)
link_2 (offset -90.0) (D 0.32901) (A 0.0 ) (alpha 90.0) (min -57.0) (max 80.1) (mass 1.750625) (cog 0 0 0) (inertia 0 0 0)
link_3 (offset 0.0) (D 0.0 ) (A 0.0 ) (alpha -90.0) (min -32.9) (max 83.5) (mass 0 ) (cog 0 0 0) (inertia 0 0 0)
link_4 (offset 0.0) (D 0.202 ) (A 0.0 ) (alpha 90.0) (min -99.6) (max 76.8) (mass 2.396 ) (cog 0 0 0) (inertia 0 0 0)
link_5 (offset 90.0) (D 0.0 ) (A 0.187496) (alpha -90.0) (min -56.9) (max 107.5) (mass 0.300 ) (cog 0 0 0) (inertia 0 0 0)

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