added pick_and_place.py

[arm_ros_conn.git] / urdf / arm.urdf

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
index ba1e7b862d722b09e4dfe7f4bded5d2c8c7f40ba..e59c6e2974aaad369aa656cc2e38c3a015e0d1b5 100644 (file)
--- a/urdf/arm.urdf
+++ b/urdf/arm.urdf
@@ -131,7 +131,7 @@ For IKFast:
                <parent link="arm_base"/>
                <child link="link1"/>
                <axis xyz="0 0 -1"/>
-               <limit effort="1.0" lower="0.0" upper="5.672320068981571" velocity="1.0"/>
+               <limit effort="1.0" lower="0.0" upper="5.672320068981571" velocity="0.2"/>
        </joint>
 
        <joint name="link2_joint" type="revolute">
@@ -139,7 +139,7 @@ For IKFast:
                <child link="link2"/>
                <axis xyz="0 0 1"/>
                <origin xyz="0.0 0.0 0.123" rpy="1.5708 0 0"/>
-               <limit effort="1.0" lower="0.1505" upper="3.611" velocity="1.0"/>
+               <limit effort="1.0" lower="0.1505" upper="3.611" velocity="0.1"/>
        </joint>
 
        <joint name="link3_joint" type="revolute">
@@ -147,7 +147,7 @@ For IKFast:
                <child link="link3"/>
                <axis xyz="0 0 -1"/>
                <origin xyz="0.240 0 0" rpy="0 0 0"/>
-               <limit effort="1.0" lower="0" upper="3.1416" velocity="1.0"/>
+               <limit effort="1.0" lower="0" upper="3.1416" velocity="0.2"/>
        </joint>
 
        <joint name="link4_joint" type="revolute">
@@ -155,7 +155,7 @@ For IKFast:
                <child link="link4"/>
                <axis xyz="0 0 -1"/>
                <origin xyz="0 0.135 0" rpy="-1.5708 0 0"/>
-               <limit effort="1.0" lower="-0.15708" upper="5.4978" velocity="1.0"/>
+               <limit effort="1.0" lower="-0.15708" upper="5.4978" velocity="0.5"/>
        </joint>
 
        <joint name="link5_joint" type="revolute">
@@ -183,7 +183,7 @@ For IKFast:
                <child link="left_gripper"/>
                <axis xyz="0 0 1"/>
                <origin xyz="0 0.015 0" rpy="0 0 0"/>
-               <limit effort="1.0" lower="0.0" upper="0.35" velocity="1.0"/>
+               <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>
        </joint>
 
        <joint name="right_gripper_joint" type="revolute">
@@ -191,6 +191,6 @@ For IKFast:
                <child link="right_gripper"/>
                <axis xyz="0 0 1"/>
                <origin xyz="0 -0.015 0" rpy="3.1416 0 0"/>
-               <limit effort="1.0" lower="0.0" upper="0.35" velocity="1.0"/>
+               <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>
        </joint>
 </robot>