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RoboVerseOrg
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roboverse_data

Tasks:
Robotics
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54
HaoranG commited on
Commit
5649cd9
·
1 Parent(s): 631c476

[fix] allegro joint limit

Browse files
Files changed (4) hide show
  1. robots/franka_allegro_hand/urdf/allegro_left.urdf +16 -16
  2. robots/franka_allegro_hand/urdf/allegro_right.urdf +16 -16
  3. robots/franka_allegro_hand/urdf/franka_allegro_left.urdf +16 -16
  4. robots/franka_allegro_hand/urdf/franka_allegro_right.urdf +16 -16
robots/franka_allegro_hand/urdf/allegro_left.urdf CHANGED
@@ -72,7 +72,7 @@ and one fixed link will be added for the tip. -->
72
  </link>
73
  <joint name="joint_8" type="revolute">
74
  <axis xyz="0 0 1"/>
75
- <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
76
  <parent link="base_link"/>
77
  <child link="link_8"/>
78
  <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
@@ -98,7 +98,7 @@ and one fixed link will be added for the tip. -->
98
  </inertial>
99
  </link>
100
  <joint name="joint_9" type="revolute">
101
- <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
102
  <axis xyz="0 1 0"/>
103
  <parent link="link_8"/>
104
  <child link="link_9"/>
@@ -126,7 +126,7 @@ and one fixed link will be added for the tip. -->
126
  </link>
127
  <joint name="joint_10" type="revolute">
128
  <axis xyz="0 1 0"/>
129
- <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
130
  <parent link="link_9"/>
131
  <child link="link_10"/>
132
  <origin xyz="0 0 0.054"/>
@@ -153,7 +153,7 @@ and one fixed link will be added for the tip. -->
153
  </link>
154
  <joint name="joint_11" type="revolute">
155
  <axis xyz="0 1 0"/>
156
- <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
157
  <parent link="link_10"/>
158
  <child link="link_11"/>
159
  <origin xyz="0 0 0.0384"/>
@@ -205,7 +205,7 @@ and one fixed link will be added for the tip. -->
205
  </link>
206
  <joint name="joint_4" type="revolute">
207
  <axis xyz="0 0 1"/>
208
- <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
209
  <parent link="base_link"/>
210
  <child link="link_4"/>
211
  <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
@@ -231,7 +231,7 @@ and one fixed link will be added for the tip. -->
231
  </inertial>
232
  </link>
233
  <joint name="joint_5" type="revolute">
234
- <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
235
  <axis xyz="0 1 0"/>
236
  <parent link="link_4"/>
237
  <child link="link_5"/>
@@ -259,7 +259,7 @@ and one fixed link will be added for the tip. -->
259
  </link>
260
  <joint name="joint_6" type="revolute">
261
  <axis xyz="0 1 0"/>
262
- <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
263
  <parent link="link_5"/>
264
  <child link="link_6"/>
265
  <origin xyz="0 0 0.054"/>
@@ -286,7 +286,7 @@ and one fixed link will be added for the tip. -->
286
  </link>
287
  <joint name="joint_7" type="revolute">
288
  <axis xyz="0 1 0"/>
289
- <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
290
  <parent link="link_6"/>
291
  <child link="link_7"/>
292
  <origin xyz="0 0 0.0384"/>
@@ -338,7 +338,7 @@ and one fixed link will be added for the tip. -->
338
  </link>
339
  <joint name="joint_0" type="revolute">
340
  <axis xyz="0 0 1"/>
341
- <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
342
  <parent link="base_link"/>
343
  <child link="link_0"/>
344
  <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
@@ -364,7 +364,7 @@ and one fixed link will be added for the tip. -->
364
  </inertial>
365
  </link>
366
  <joint name="joint_1" type="revolute">
367
- <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
368
  <axis xyz="0 1 0"/>
369
  <parent link="link_0"/>
370
  <child link="link_1"/>
@@ -392,7 +392,7 @@ and one fixed link will be added for the tip. -->
392
  </link>
393
  <joint name="joint_2" type="revolute">
394
  <axis xyz="0 1 0"/>
395
- <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
396
  <parent link="link_1"/>
397
  <child link="link_2"/>
398
  <origin xyz="0 0 0.054"/>
@@ -419,7 +419,7 @@ and one fixed link will be added for the tip. -->
419
  </link>
420
  <joint name="joint_3" type="revolute">
421
  <axis xyz="0 1 0"/>
422
- <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
423
  <parent link="link_2"/>
424
  <child link="link_3"/>
425
  <origin xyz="0 0 0.0384"/>
@@ -499,7 +499,7 @@ and one fixed link will be added for the tip. -->
499
  </link>
500
  <joint name="joint_12" type="revolute">
501
  <axis xyz="+1 0 0"/>
502
- <limit effort="0.7" lower="0.263" upper="1.396" velocity="7.0"/>
503
  <parent link="base_link"/>
504
  <child link="link_12"/>
505
  <origin rpy="0 -1.65806278845 1.5707963259" xyz="-0.0182 -0.019333 -0.045987"/>
@@ -528,7 +528,7 @@ and one fixed link will be added for the tip. -->
528
  </link>
529
  <joint name="joint_13" type="revolute">
530
  <axis xyz="0 0 -1"/>
531
- <limit effort="0.7" lower="-0.105" upper="1.163" velocity="7.0"/>
532
  <parent link="link_12"/>
533
  <child link="link_13"/>
534
  <!-- RIGHT -->
@@ -559,7 +559,7 @@ and one fixed link will be added for the tip. -->
559
  </link>
560
  <joint name="joint_14" type="revolute">
561
  <axis xyz="0 1 0"/>
562
- <limit effort="0.7" lower="-0.189" upper="1.644" velocity="7.0"/>
563
  <parent link="link_13"/>
564
  <child link="link_14"/>
565
  <origin xyz="0 0 0.0177"/>
@@ -587,7 +587,7 @@ and one fixed link will be added for the tip. -->
587
  </link>
588
  <joint name="joint_15" type="revolute">
589
  <axis xyz="0 1 0"/>
590
- <limit effort="0.7" lower="-0.162" upper="1.719" velocity="7.0"/>
591
  <parent link="link_14"/>
592
  <child link="link_15"/>
593
  <origin xyz="0 0 0.0514"/>
 
72
  </link>
73
  <joint name="joint_8" type="revolute">
74
  <axis xyz="0 0 1"/>
75
+ <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
76
  <parent link="base_link"/>
77
  <child link="link_8"/>
78
  <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
 
98
  </inertial>
99
  </link>
100
  <joint name="joint_9" type="revolute">
101
+ <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
102
  <axis xyz="0 1 0"/>
103
  <parent link="link_8"/>
104
  <child link="link_9"/>
 
126
  </link>
127
  <joint name="joint_10" type="revolute">
128
  <axis xyz="0 1 0"/>
129
+ <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
130
  <parent link="link_9"/>
131
  <child link="link_10"/>
132
  <origin xyz="0 0 0.054"/>
 
153
  </link>
154
  <joint name="joint_11" type="revolute">
155
  <axis xyz="0 1 0"/>
156
+ <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
157
  <parent link="link_10"/>
158
  <child link="link_11"/>
159
  <origin xyz="0 0 0.0384"/>
 
205
  </link>
206
  <joint name="joint_4" type="revolute">
207
  <axis xyz="0 0 1"/>
208
+ <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
209
  <parent link="base_link"/>
210
  <child link="link_4"/>
211
  <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
 
231
  </inertial>
232
  </link>
233
  <joint name="joint_5" type="revolute">
234
+ <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
235
  <axis xyz="0 1 0"/>
236
  <parent link="link_4"/>
237
  <child link="link_5"/>
 
259
  </link>
260
  <joint name="joint_6" type="revolute">
261
  <axis xyz="0 1 0"/>
262
+ <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
263
  <parent link="link_5"/>
264
  <child link="link_6"/>
265
  <origin xyz="0 0 0.054"/>
 
286
  </link>
287
  <joint name="joint_7" type="revolute">
288
  <axis xyz="0 1 0"/>
289
+ <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
290
  <parent link="link_6"/>
291
  <child link="link_7"/>
292
  <origin xyz="0 0 0.0384"/>
 
338
  </link>
339
  <joint name="joint_0" type="revolute">
340
  <axis xyz="0 0 1"/>
341
+ <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
342
  <parent link="base_link"/>
343
  <child link="link_0"/>
344
  <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
 
364
  </inertial>
365
  </link>
366
  <joint name="joint_1" type="revolute">
367
+ <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
368
  <axis xyz="0 1 0"/>
369
  <parent link="link_0"/>
370
  <child link="link_1"/>
 
392
  </link>
393
  <joint name="joint_2" type="revolute">
394
  <axis xyz="0 1 0"/>
395
+ <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
396
  <parent link="link_1"/>
397
  <child link="link_2"/>
398
  <origin xyz="0 0 0.054"/>
 
419
  </link>
420
  <joint name="joint_3" type="revolute">
421
  <axis xyz="0 1 0"/>
422
+ <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
423
  <parent link="link_2"/>
424
  <child link="link_3"/>
425
  <origin xyz="0 0 0.0384"/>
 
499
  </link>
500
  <joint name="joint_12" type="revolute">
501
  <axis xyz="+1 0 0"/>
502
+ <limit effort="10.0" lower="0.363" upper="1.496" velocity="3.0"/>
503
  <parent link="base_link"/>
504
  <child link="link_12"/>
505
  <origin rpy="0 -1.65806278845 1.5707963259" xyz="-0.0182 -0.019333 -0.045987"/>
 
528
  </link>
529
  <joint name="joint_13" type="revolute">
530
  <axis xyz="0 0 -1"/>
531
+ <limit effort="10.0" lower="-0.205" upper="1.163" velocity="3.0"/>
532
  <parent link="link_12"/>
533
  <child link="link_13"/>
534
  <!-- RIGHT -->
 
559
  </link>
560
  <joint name="joint_14" type="revolute">
561
  <axis xyz="0 1 0"/>
562
+ <limit effort="10.0" lower="-0.289" upper="1.644" velocity="3.0"/>
563
  <parent link="link_13"/>
564
  <child link="link_14"/>
565
  <origin xyz="0 0 0.0177"/>
 
587
  </link>
588
  <joint name="joint_15" type="revolute">
589
  <axis xyz="0 1 0"/>
590
+ <limit effort="10.0" lower="-0.262" upper="1.819" velocity="3.0"/>
591
  <parent link="link_14"/>
592
  <child link="link_15"/>
593
  <origin xyz="0 0 0.0514"/>
robots/franka_allegro_hand/urdf/allegro_right.urdf CHANGED
@@ -72,7 +72,7 @@ and one fixed link will be added for the tip. -->
72
  </link>
73
  <joint name="joint_0" type="revolute">
74
  <axis xyz="0 0 1"/>
75
- <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
76
  <parent link="base_link"/>
77
  <child link="link_0"/>
78
  <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
@@ -98,7 +98,7 @@ and one fixed link will be added for the tip. -->
98
  </inertial>
99
  </link>
100
  <joint name="joint_1" type="revolute">
101
- <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
102
  <axis xyz="0 1 0"/>
103
  <parent link="link_0"/>
104
  <child link="link_1"/>
@@ -126,7 +126,7 @@ and one fixed link will be added for the tip. -->
126
  </link>
127
  <joint name="joint_2" type="revolute">
128
  <axis xyz="0 1 0"/>
129
- <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
130
  <parent link="link_1"/>
131
  <child link="link_2"/>
132
  <origin xyz="0 0 0.054"/>
@@ -153,7 +153,7 @@ and one fixed link will be added for the tip. -->
153
  </link>
154
  <joint name="joint_3" type="revolute">
155
  <axis xyz="0 1 0"/>
156
- <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
157
  <parent link="link_2"/>
158
  <child link="link_3"/>
159
  <origin xyz="0 0 0.0384"/>
@@ -205,7 +205,7 @@ and one fixed link will be added for the tip. -->
205
  </link>
206
  <joint name="joint_4" type="revolute">
207
  <axis xyz="0 0 1"/>
208
- <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
209
  <parent link="base_link"/>
210
  <child link="link_4"/>
211
  <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
@@ -231,7 +231,7 @@ and one fixed link will be added for the tip. -->
231
  </inertial>
232
  </link>
233
  <joint name="joint_5" type="revolute">
234
- <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
235
  <axis xyz="0 1 0"/>
236
  <parent link="link_4"/>
237
  <child link="link_5"/>
@@ -259,7 +259,7 @@ and one fixed link will be added for the tip. -->
259
  </link>
260
  <joint name="joint_6" type="revolute">
261
  <axis xyz="0 1 0"/>
262
- <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
263
  <parent link="link_5"/>
264
  <child link="link_6"/>
265
  <origin xyz="0 0 0.054"/>
@@ -286,7 +286,7 @@ and one fixed link will be added for the tip. -->
286
  </link>
287
  <joint name="joint_7" type="revolute">
288
  <axis xyz="0 1 0"/>
289
- <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
290
  <parent link="link_6"/>
291
  <child link="link_7"/>
292
  <origin xyz="0 0 0.0384"/>
@@ -338,7 +338,7 @@ and one fixed link will be added for the tip. -->
338
  </link>
339
  <joint name="joint_8" type="revolute">
340
  <axis xyz="0 0 1"/>
341
- <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
342
  <parent link="base_link"/>
343
  <child link="link_8"/>
344
  <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
@@ -364,7 +364,7 @@ and one fixed link will be added for the tip. -->
364
  </inertial>
365
  </link>
366
  <joint name="joint_9" type="revolute">
367
- <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
368
  <axis xyz="0 1 0"/>
369
  <parent link="link_8"/>
370
  <child link="link_9"/>
@@ -392,7 +392,7 @@ and one fixed link will be added for the tip. -->
392
  </link>
393
  <joint name="joint_10" type="revolute">
394
  <axis xyz="0 1 0"/>
395
- <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
396
  <parent link="link_9"/>
397
  <child link="link_10"/>
398
  <origin xyz="0 0 0.054"/>
@@ -419,7 +419,7 @@ and one fixed link will be added for the tip. -->
419
  </link>
420
  <joint name="joint_11" type="revolute">
421
  <axis xyz="0 1 0"/>
422
- <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
423
  <parent link="link_10"/>
424
  <child link="link_11"/>
425
  <origin xyz="0 0 0.0384"/>
@@ -480,7 +480,7 @@ and one fixed link will be added for the tip. -->
480
  </link>
481
  <joint name="joint_12" type="revolute">
482
  <axis xyz="-1 0 0"/>
483
- <limit effort="0.7" lower="0.263" upper="1.396" velocity="7.0"/>
484
  <parent link="base_link"/>
485
  <child link="link_12"/>
486
  <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
@@ -509,7 +509,7 @@ and one fixed link will be added for the tip. -->
509
  </link>
510
  <joint name="joint_13" type="revolute">
511
  <axis xyz="0 0 1"/>
512
- <limit effort="0.7" lower="-0.105" upper="1.163" velocity="7.0"/>
513
  <parent link="link_12"/>
514
  <child link="link_13"/>
515
  <!-- RIGHT -->
@@ -540,7 +540,7 @@ and one fixed link will be added for the tip. -->
540
  </link>
541
  <joint name="joint_14" type="revolute">
542
  <axis xyz="0 1 0"/>
543
- <limit effort="0.7" lower="-0.189" upper="1.644" velocity="7.0"/>
544
  <parent link="link_13"/>
545
  <child link="link_14"/>
546
  <origin xyz="0 0 0.0177"/>
@@ -568,7 +568,7 @@ and one fixed link will be added for the tip. -->
568
  </link>
569
  <joint name="joint_15" type="revolute">
570
  <axis xyz="0 1 0"/>
571
- <limit effort="0.7" lower="-0.162" upper="1.719" velocity="7.0"/>
572
  <parent link="link_14"/>
573
  <child link="link_15"/>
574
  <origin xyz="0 0 0.0514"/>
 
72
  </link>
73
  <joint name="joint_0" type="revolute">
74
  <axis xyz="0 0 1"/>
75
+ <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
76
  <parent link="base_link"/>
77
  <child link="link_0"/>
78
  <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
 
98
  </inertial>
99
  </link>
100
  <joint name="joint_1" type="revolute">
101
+ <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
102
  <axis xyz="0 1 0"/>
103
  <parent link="link_0"/>
104
  <child link="link_1"/>
 
126
  </link>
127
  <joint name="joint_2" type="revolute">
128
  <axis xyz="0 1 0"/>
129
+ <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
130
  <parent link="link_1"/>
131
  <child link="link_2"/>
132
  <origin xyz="0 0 0.054"/>
 
153
  </link>
154
  <joint name="joint_3" type="revolute">
155
  <axis xyz="0 1 0"/>
156
+ <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
157
  <parent link="link_2"/>
158
  <child link="link_3"/>
159
  <origin xyz="0 0 0.0384"/>
 
205
  </link>
206
  <joint name="joint_4" type="revolute">
207
  <axis xyz="0 0 1"/>
208
+ <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
209
  <parent link="base_link"/>
210
  <child link="link_4"/>
211
  <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
 
231
  </inertial>
232
  </link>
233
  <joint name="joint_5" type="revolute">
234
+ <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
235
  <axis xyz="0 1 0"/>
236
  <parent link="link_4"/>
237
  <child link="link_5"/>
 
259
  </link>
260
  <joint name="joint_6" type="revolute">
261
  <axis xyz="0 1 0"/>
262
+ <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
263
  <parent link="link_5"/>
264
  <child link="link_6"/>
265
  <origin xyz="0 0 0.054"/>
 
286
  </link>
287
  <joint name="joint_7" type="revolute">
288
  <axis xyz="0 1 0"/>
289
+ <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
290
  <parent link="link_6"/>
291
  <child link="link_7"/>
292
  <origin xyz="0 0 0.0384"/>
 
338
  </link>
339
  <joint name="joint_8" type="revolute">
340
  <axis xyz="0 0 1"/>
341
+ <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
342
  <parent link="base_link"/>
343
  <child link="link_8"/>
344
  <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
 
364
  </inertial>
365
  </link>
366
  <joint name="joint_9" type="revolute">
367
+ <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
368
  <axis xyz="0 1 0"/>
369
  <parent link="link_8"/>
370
  <child link="link_9"/>
 
392
  </link>
393
  <joint name="joint_10" type="revolute">
394
  <axis xyz="0 1 0"/>
395
+ <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
396
  <parent link="link_9"/>
397
  <child link="link_10"/>
398
  <origin xyz="0 0 0.054"/>
 
419
  </link>
420
  <joint name="joint_11" type="revolute">
421
  <axis xyz="0 1 0"/>
422
+ <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
423
  <parent link="link_10"/>
424
  <child link="link_11"/>
425
  <origin xyz="0 0 0.0384"/>
 
480
  </link>
481
  <joint name="joint_12" type="revolute">
482
  <axis xyz="-1 0 0"/>
483
+ <limit effort="10.0" lower="0.363" upper="1.496" velocity="3.0"/>
484
  <parent link="base_link"/>
485
  <child link="link_12"/>
486
  <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
 
509
  </link>
510
  <joint name="joint_13" type="revolute">
511
  <axis xyz="0 0 1"/>
512
+ <limit effort="10.0" lower="-0.205" upper="1.163" velocity="3.0"/>
513
  <parent link="link_12"/>
514
  <child link="link_13"/>
515
  <!-- RIGHT -->
 
540
  </link>
541
  <joint name="joint_14" type="revolute">
542
  <axis xyz="0 1 0"/>
543
+ <limit effort="10.0" lower="-0.289" upper="1.644" velocity="3.0"/>
544
  <parent link="link_13"/>
545
  <child link="link_14"/>
546
  <origin xyz="0 0 0.0177"/>
 
568
  </link>
569
  <joint name="joint_15" type="revolute">
570
  <axis xyz="0 1 0"/>
571
+ <limit effort="10.0" lower="-0.262" upper="1.819" velocity="3.0"/>
572
  <parent link="link_14"/>
573
  <child link="link_15"/>
574
  <origin xyz="0 0 0.0514"/>
robots/franka_allegro_hand/urdf/franka_allegro_left.urdf CHANGED
@@ -219,7 +219,7 @@
219
  </link>
220
  <joint name="joint_8" type="revolute">
221
  <axis xyz="0 0 1"/>
222
- <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
223
  <parent link="base_link"/>
224
  <child link="link_8"/>
225
  <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
@@ -245,7 +245,7 @@
245
  </inertial>
246
  </link>
247
  <joint name="joint_9" type="revolute">
248
- <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
249
  <axis xyz="0 1 0"/>
250
  <parent link="link_8"/>
251
  <child link="link_9"/>
@@ -273,7 +273,7 @@
273
  </link>
274
  <joint name="joint_10" type="revolute">
275
  <axis xyz="0 1 0"/>
276
- <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
277
  <parent link="link_9"/>
278
  <child link="link_10"/>
279
  <origin xyz="0 0 0.054"/>
@@ -300,7 +300,7 @@
300
  </link>
301
  <joint name="joint_11" type="revolute">
302
  <axis xyz="0 1 0"/>
303
- <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
304
  <parent link="link_10"/>
305
  <child link="link_11"/>
306
  <origin xyz="0 0 0.0384"/>
@@ -352,7 +352,7 @@
352
  </link>
353
  <joint name="joint_4" type="revolute">
354
  <axis xyz="0 0 1"/>
355
- <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
356
  <parent link="base_link"/>
357
  <child link="link_4"/>
358
  <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
@@ -378,7 +378,7 @@
378
  </inertial>
379
  </link>
380
  <joint name="joint_5" type="revolute">
381
- <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
382
  <axis xyz="0 1 0"/>
383
  <parent link="link_4"/>
384
  <child link="link_5"/>
@@ -406,7 +406,7 @@
406
  </link>
407
  <joint name="joint_6" type="revolute">
408
  <axis xyz="0 1 0"/>
409
- <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
410
  <parent link="link_5"/>
411
  <child link="link_6"/>
412
  <origin xyz="0 0 0.054"/>
@@ -433,7 +433,7 @@
433
  </link>
434
  <joint name="joint_7" type="revolute">
435
  <axis xyz="0 1 0"/>
436
- <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
437
  <parent link="link_6"/>
438
  <child link="link_7"/>
439
  <origin xyz="0 0 0.0384"/>
@@ -485,7 +485,7 @@
485
  </link>
486
  <joint name="joint_0" type="revolute">
487
  <axis xyz="0 0 1"/>
488
- <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
489
  <parent link="base_link"/>
490
  <child link="link_0"/>
491
  <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
@@ -511,7 +511,7 @@
511
  </inertial>
512
  </link>
513
  <joint name="joint_1" type="revolute">
514
- <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
515
  <axis xyz="0 1 0"/>
516
  <parent link="link_0"/>
517
  <child link="link_1"/>
@@ -539,7 +539,7 @@
539
  </link>
540
  <joint name="joint_2" type="revolute">
541
  <axis xyz="0 1 0"/>
542
- <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
543
  <parent link="link_1"/>
544
  <child link="link_2"/>
545
  <origin xyz="0 0 0.054"/>
@@ -566,7 +566,7 @@
566
  </link>
567
  <joint name="joint_3" type="revolute">
568
  <axis xyz="0 1 0"/>
569
- <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
570
  <parent link="link_2"/>
571
  <child link="link_3"/>
572
  <origin xyz="0 0 0.0384"/>
@@ -646,7 +646,7 @@
646
  </link>
647
  <joint name="joint_12" type="revolute">
648
  <axis xyz="+1 0 0"/>
649
- <limit effort="0.7" lower="0.263" upper="1.396" velocity="7.0"/>
650
  <parent link="base_link"/>
651
  <child link="link_12"/>
652
  <origin rpy="0 -1.65806278845 1.5707963259" xyz="-0.0182 -0.019333 -0.045987"/>
@@ -675,7 +675,7 @@
675
  </link>
676
  <joint name="joint_13" type="revolute">
677
  <axis xyz="0 0 -1"/>
678
- <limit effort="0.7" lower="-0.105" upper="1.163" velocity="7.0"/>
679
  <parent link="link_12"/>
680
  <child link="link_13"/>
681
  <!-- RIGHT -->
@@ -706,7 +706,7 @@
706
  </link>
707
  <joint name="joint_14" type="revolute">
708
  <axis xyz="0 1 0"/>
709
- <limit effort="0.7" lower="-0.189" upper="1.644" velocity="7.0"/>
710
  <parent link="link_13"/>
711
  <child link="link_14"/>
712
  <origin xyz="0 0 0.0177"/>
@@ -734,7 +734,7 @@
734
  </link>
735
  <joint name="joint_15" type="revolute">
736
  <axis xyz="0 1 0"/>
737
- <limit effort="0.7" lower="-0.162" upper="1.719" velocity="7.0"/>
738
  <parent link="link_14"/>
739
  <child link="link_15"/>
740
  <origin xyz="0 0 0.0514"/>
 
219
  </link>
220
  <joint name="joint_8" type="revolute">
221
  <axis xyz="0 0 1"/>
222
+ <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
223
  <parent link="base_link"/>
224
  <child link="link_8"/>
225
  <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
 
245
  </inertial>
246
  </link>
247
  <joint name="joint_9" type="revolute">
248
+ <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
249
  <axis xyz="0 1 0"/>
250
  <parent link="link_8"/>
251
  <child link="link_9"/>
 
273
  </link>
274
  <joint name="joint_10" type="revolute">
275
  <axis xyz="0 1 0"/>
276
+ <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
277
  <parent link="link_9"/>
278
  <child link="link_10"/>
279
  <origin xyz="0 0 0.054"/>
 
300
  </link>
301
  <joint name="joint_11" type="revolute">
302
  <axis xyz="0 1 0"/>
303
+ <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
304
  <parent link="link_10"/>
305
  <child link="link_11"/>
306
  <origin xyz="0 0 0.0384"/>
 
352
  </link>
353
  <joint name="joint_4" type="revolute">
354
  <axis xyz="0 0 1"/>
355
+ <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
356
  <parent link="base_link"/>
357
  <child link="link_4"/>
358
  <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
 
378
  </inertial>
379
  </link>
380
  <joint name="joint_5" type="revolute">
381
+ <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
382
  <axis xyz="0 1 0"/>
383
  <parent link="link_4"/>
384
  <child link="link_5"/>
 
406
  </link>
407
  <joint name="joint_6" type="revolute">
408
  <axis xyz="0 1 0"/>
409
+ <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
410
  <parent link="link_5"/>
411
  <child link="link_6"/>
412
  <origin xyz="0 0 0.054"/>
 
433
  </link>
434
  <joint name="joint_7" type="revolute">
435
  <axis xyz="0 1 0"/>
436
+ <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
437
  <parent link="link_6"/>
438
  <child link="link_7"/>
439
  <origin xyz="0 0 0.0384"/>
 
485
  </link>
486
  <joint name="joint_0" type="revolute">
487
  <axis xyz="0 0 1"/>
488
+ <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
489
  <parent link="base_link"/>
490
  <child link="link_0"/>
491
  <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
 
511
  </inertial>
512
  </link>
513
  <joint name="joint_1" type="revolute">
514
+ <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
515
  <axis xyz="0 1 0"/>
516
  <parent link="link_0"/>
517
  <child link="link_1"/>
 
539
  </link>
540
  <joint name="joint_2" type="revolute">
541
  <axis xyz="0 1 0"/>
542
+ <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
543
  <parent link="link_1"/>
544
  <child link="link_2"/>
545
  <origin xyz="0 0 0.054"/>
 
566
  </link>
567
  <joint name="joint_3" type="revolute">
568
  <axis xyz="0 1 0"/>
569
+ <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
570
  <parent link="link_2"/>
571
  <child link="link_3"/>
572
  <origin xyz="0 0 0.0384"/>
 
646
  </link>
647
  <joint name="joint_12" type="revolute">
648
  <axis xyz="+1 0 0"/>
649
+ <limit effort="10.0" lower="0.363" upper="1.496" velocity="3.0"/>
650
  <parent link="base_link"/>
651
  <child link="link_12"/>
652
  <origin rpy="0 -1.65806278845 1.5707963259" xyz="-0.0182 -0.019333 -0.045987"/>
 
675
  </link>
676
  <joint name="joint_13" type="revolute">
677
  <axis xyz="0 0 -1"/>
678
+ <limit effort="10.0" lower="-0.205" upper="1.163" velocity="3.0"/>
679
  <parent link="link_12"/>
680
  <child link="link_13"/>
681
  <!-- RIGHT -->
 
706
  </link>
707
  <joint name="joint_14" type="revolute">
708
  <axis xyz="0 1 0"/>
709
+ <limit effort="10.0" lower="-0.289" upper="1.644" velocity="3.0"/>
710
  <parent link="link_13"/>
711
  <child link="link_14"/>
712
  <origin xyz="0 0 0.0177"/>
 
734
  </link>
735
  <joint name="joint_15" type="revolute">
736
  <axis xyz="0 1 0"/>
737
+ <limit effort="10.0" lower="-0.262" upper="1.819" velocity="3.0"/>
738
  <parent link="link_14"/>
739
  <child link="link_15"/>
740
  <origin xyz="0 0 0.0514"/>
robots/franka_allegro_hand/urdf/franka_allegro_right.urdf CHANGED
@@ -219,7 +219,7 @@
219
  </link>
220
  <joint name="joint_0" type="revolute">
221
  <axis xyz="0 0 1"/>
222
- <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
223
  <parent link="base_link"/>
224
  <child link="link_0"/>
225
  <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
@@ -245,7 +245,7 @@
245
  </inertial>
246
  </link>
247
  <joint name="joint_1" type="revolute">
248
- <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
249
  <axis xyz="0 1 0"/>
250
  <parent link="link_0"/>
251
  <child link="link_1"/>
@@ -273,7 +273,7 @@
273
  </link>
274
  <joint name="joint_2" type="revolute">
275
  <axis xyz="0 1 0"/>
276
- <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
277
  <parent link="link_1"/>
278
  <child link="link_2"/>
279
  <origin xyz="0 0 0.054"/>
@@ -300,7 +300,7 @@
300
  </link>
301
  <joint name="joint_3" type="revolute">
302
  <axis xyz="0 1 0"/>
303
- <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
304
  <parent link="link_2"/>
305
  <child link="link_3"/>
306
  <origin xyz="0 0 0.0384"/>
@@ -352,7 +352,7 @@
352
  </link>
353
  <joint name="joint_4" type="revolute">
354
  <axis xyz="0 0 1"/>
355
- <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
356
  <parent link="base_link"/>
357
  <child link="link_4"/>
358
  <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
@@ -378,7 +378,7 @@
378
  </inertial>
379
  </link>
380
  <joint name="joint_5" type="revolute">
381
- <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
382
  <axis xyz="0 1 0"/>
383
  <parent link="link_4"/>
384
  <child link="link_5"/>
@@ -406,7 +406,7 @@
406
  </link>
407
  <joint name="joint_6" type="revolute">
408
  <axis xyz="0 1 0"/>
409
- <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
410
  <parent link="link_5"/>
411
  <child link="link_6"/>
412
  <origin xyz="0 0 0.054"/>
@@ -433,7 +433,7 @@
433
  </link>
434
  <joint name="joint_7" type="revolute">
435
  <axis xyz="0 1 0"/>
436
- <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
437
  <parent link="link_6"/>
438
  <child link="link_7"/>
439
  <origin xyz="0 0 0.0384"/>
@@ -485,7 +485,7 @@
485
  </link>
486
  <joint name="joint_8" type="revolute">
487
  <axis xyz="0 0 1"/>
488
- <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7.0"/>
489
  <parent link="base_link"/>
490
  <child link="link_8"/>
491
  <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
@@ -511,7 +511,7 @@
511
  </inertial>
512
  </link>
513
  <joint name="joint_9" type="revolute">
514
- <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7.0"/>
515
  <axis xyz="0 1 0"/>
516
  <parent link="link_8"/>
517
  <child link="link_9"/>
@@ -539,7 +539,7 @@
539
  </link>
540
  <joint name="joint_10" type="revolute">
541
  <axis xyz="0 1 0"/>
542
- <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7.0"/>
543
  <parent link="link_9"/>
544
  <child link="link_10"/>
545
  <origin xyz="0 0 0.054"/>
@@ -566,7 +566,7 @@
566
  </link>
567
  <joint name="joint_11" type="revolute">
568
  <axis xyz="0 1 0"/>
569
- <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7.0"/>
570
  <parent link="link_10"/>
571
  <child link="link_11"/>
572
  <origin xyz="0 0 0.0384"/>
@@ -627,7 +627,7 @@
627
  </link>
628
  <joint name="joint_12" type="revolute">
629
  <axis xyz="-1 0 0"/>
630
- <limit effort="0.7" lower="0.263" upper="1.396" velocity="7.0"/>
631
  <parent link="base_link"/>
632
  <child link="link_12"/>
633
  <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
@@ -656,7 +656,7 @@
656
  </link>
657
  <joint name="joint_13" type="revolute">
658
  <axis xyz="0 0 1"/>
659
- <limit effort="0.7" lower="-0.105" upper="1.163" velocity="7.0"/>
660
  <parent link="link_12"/>
661
  <child link="link_13"/>
662
  <!-- RIGHT -->
@@ -687,7 +687,7 @@
687
  </link>
688
  <joint name="joint_14" type="revolute">
689
  <axis xyz="0 1 0"/>
690
- <limit effort="0.7" lower="-0.189" upper="1.644" velocity="7.0"/>
691
  <parent link="link_13"/>
692
  <child link="link_14"/>
693
  <origin xyz="0 0 0.0177"/>
@@ -715,7 +715,7 @@
715
  </link>
716
  <joint name="joint_15" type="revolute">
717
  <axis xyz="0 1 0"/>
718
- <limit effort="0.7" lower="-0.162" upper="1.719" velocity="7.0"/>
719
  <parent link="link_14"/>
720
  <child link="link_15"/>
721
  <origin xyz="0 0 0.0514"/>
 
219
  </link>
220
  <joint name="joint_0" type="revolute">
221
  <axis xyz="0 0 1"/>
222
+ <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
223
  <parent link="base_link"/>
224
  <child link="link_0"/>
225
  <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
 
245
  </inertial>
246
  </link>
247
  <joint name="joint_1" type="revolute">
248
+ <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
249
  <axis xyz="0 1 0"/>
250
  <parent link="link_0"/>
251
  <child link="link_1"/>
 
273
  </link>
274
  <joint name="joint_2" type="revolute">
275
  <axis xyz="0 1 0"/>
276
+ <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
277
  <parent link="link_1"/>
278
  <child link="link_2"/>
279
  <origin xyz="0 0 0.054"/>
 
300
  </link>
301
  <joint name="joint_3" type="revolute">
302
  <axis xyz="0 1 0"/>
303
+ <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
304
  <parent link="link_2"/>
305
  <child link="link_3"/>
306
  <origin xyz="0 0 0.0384"/>
 
352
  </link>
353
  <joint name="joint_4" type="revolute">
354
  <axis xyz="0 0 1"/>
355
+ <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
356
  <parent link="base_link"/>
357
  <child link="link_4"/>
358
  <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
 
378
  </inertial>
379
  </link>
380
  <joint name="joint_5" type="revolute">
381
+ <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
382
  <axis xyz="0 1 0"/>
383
  <parent link="link_4"/>
384
  <child link="link_5"/>
 
406
  </link>
407
  <joint name="joint_6" type="revolute">
408
  <axis xyz="0 1 0"/>
409
+ <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
410
  <parent link="link_5"/>
411
  <child link="link_6"/>
412
  <origin xyz="0 0 0.054"/>
 
433
  </link>
434
  <joint name="joint_7" type="revolute">
435
  <axis xyz="0 1 0"/>
436
+ <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
437
  <parent link="link_6"/>
438
  <child link="link_7"/>
439
  <origin xyz="0 0 0.0384"/>
 
485
  </link>
486
  <joint name="joint_8" type="revolute">
487
  <axis xyz="0 0 1"/>
488
+ <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
489
  <parent link="base_link"/>
490
  <child link="link_8"/>
491
  <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
 
511
  </inertial>
512
  </link>
513
  <joint name="joint_9" type="revolute">
514
+ <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
515
  <axis xyz="0 1 0"/>
516
  <parent link="link_8"/>
517
  <child link="link_9"/>
 
539
  </link>
540
  <joint name="joint_10" type="revolute">
541
  <axis xyz="0 1 0"/>
542
+ <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
543
  <parent link="link_9"/>
544
  <child link="link_10"/>
545
  <origin xyz="0 0 0.054"/>
 
566
  </link>
567
  <joint name="joint_11" type="revolute">
568
  <axis xyz="0 1 0"/>
569
+ <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
570
  <parent link="link_10"/>
571
  <child link="link_11"/>
572
  <origin xyz="0 0 0.0384"/>
 
627
  </link>
628
  <joint name="joint_12" type="revolute">
629
  <axis xyz="-1 0 0"/>
630
+ <limit effort="10.0" lower="0.363" upper="1.496" velocity="3.0"/>
631
  <parent link="base_link"/>
632
  <child link="link_12"/>
633
  <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
 
656
  </link>
657
  <joint name="joint_13" type="revolute">
658
  <axis xyz="0 0 1"/>
659
+ <limit effort="10.0" lower="-0.205" upper="1.163" velocity="3.0"/>
660
  <parent link="link_12"/>
661
  <child link="link_13"/>
662
  <!-- RIGHT -->
 
687
  </link>
688
  <joint name="joint_14" type="revolute">
689
  <axis xyz="0 1 0"/>
690
+ <limit effort="10.0" lower="-0.289" upper="1.644" velocity="3.0"/>
691
  <parent link="link_13"/>
692
  <child link="link_14"/>
693
  <origin xyz="0 0 0.0177"/>
 
715
  </link>
716
  <joint name="joint_15" type="revolute">
717
  <axis xyz="0 1 0"/>
718
+ <limit effort="10.0" lower="-0.262" upper="1.819" velocity="3.0"/>
719
  <parent link="link_14"/>
720
  <child link="link_15"/>
721
  <origin xyz="0 0 0.0514"/>