<<PackageHeader(schunk_description)>>
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## AUTOGENERATED DON'T DELETE
## CategoryPackage

== 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 [[http://mobile.schunk-microsite.com/en/produkte/produkte/dextrous-lightweight-arm-lwa-4d.html | 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 [[http://mobile.schunk-microsite.com/en/produkte/produkte/powerball-lightweight-arm-lwa-4p.html | 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 [[http://mobile.schunk-microsite.com/en/produkte/produkte/powerball-lightweight-arm-lwa-4p.html | 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 [[http://mobile.schunk-microsite.com/en/produkte/produkte/pg-plus-70-2-finger-parallel-gripper.html| PG 70 -Schunk official website]]

=== SDH ===
Further information [[http://mobile.schunk-microsite.com/en/produkte/produkte/servoelektrische-3-finger-greifhand-sdh.html| SDH -Schunk official website]]