From 0437914db0a479bd7a2d9dc4be06c534320a34a5 Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Mon, 18 Apr 2022 12:18:36 +0800
Subject: [PATCH] fix urdf

---
 .../urdf/320_urdf/mycobot_pro_320.urdf        | 74 +++++++++++++++----
 .../urdf/320_urdf/mycobot_pro_320moveit.urdf  |  4 +-
 2 files changed, 62 insertions(+), 16 deletions(-)

diff --git a/mycobot_description/urdf/320_urdf/mycobot_pro_320.urdf b/mycobot_description/urdf/320_urdf/mycobot_pro_320.urdf
index dcc387b..da0c65f 100644
--- a/mycobot_description/urdf/320_urdf/mycobot_pro_320.urdf
+++ b/mycobot_description/urdf/320_urdf/mycobot_pro_320.urdf
@@ -10,8 +10,15 @@
 	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
        <mesh filename="package://mycobot_description/urdf/320_urdf/base.dae"/>
       </geometry>
-    <origin xyz = "0 0 0 " rpy = " 0 0 3.1415926"/>
+    <origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/>
     </visual>
+    <collision>
+      <geometry>
+	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
+       <mesh filename="package://mycobot_description/urdf/320_urdf/base.dae"/>
+        </geometry>
+        <origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/>
+    </collision>
   </link>
 
   <link name="link1">
@@ -21,17 +28,29 @@
       </geometry>
     <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
     </visual>
+    <collision>
+     <geometry>
+       <mesh filename="package://mycobot_description/urdf/320_urdf/link1.dae"/>
+      </geometry>
+      <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
+
+    </collision>
   </link>
 
 
   <link name="link2">
     <visual>
       <geometry>
-       
        <mesh filename="package://mycobot_description/urdf/320_urdf/link2.dae"/>
       </geometry>
-    <origin xyz = "0 0 0.0587 " rpy = " 0 0 3.1415926"/>
+      <origin xyz = "0 0 0.0587 " rpy = " 0 0 3.1415926"/>
     </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/320_urdf/link2.dae"/>
+      </geometry>
+      <origin xyz = "0 0 0.0587 " rpy = " 0 0 3.1415926"/>
+    </collision>
   </link>
 
 
@@ -43,11 +62,18 @@
       </geometry>
     <origin xyz = "0 0 0.038 " rpy = " 0 0 3.1415926"/>
     </visual>
+    <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/320_urdf/link3.dae"/>
+      </geometry>
+      <origin xyz = "0 0 0.038 " rpy = " 0 0 3.1415926"/>
+    </collision>
   </link>
 
 
 
-<link name="link4">
+  <link name="link4">
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
@@ -55,6 +81,13 @@
       </geometry>
     <origin xyz = "0 -0.001 0 " rpy = " 0 0 0"/>
     </visual>
+    <collision>
+       <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/320_urdf/link4.dae"/>
+      </geometry>
+      <origin xyz = "0 -0.001 0 " rpy = " 0 0 0"/>
+    </collision>
   </link>
 
 
@@ -66,26 +99,40 @@
       </geometry>
     <origin xyz = "0 0.002  0 " rpy = " 0  0 3.1415926"/>
     </visual>
+    <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/320_urdf/link5.dae"/>
+      </geometry>
+    <origin xyz = "0 0.002  0 " rpy = " 0  0 3.1415926"/>
+    </collision>
   </link>
 
   <link name="link6">
     <visual>
       <geometry>
+      <!--- 0.0 0 -0.04 -->
        <mesh filename="package://mycobot_description/urdf/320_urdf/link6.dae"/>
       </geometry>
-    <origin xyz = "-0.03 0.001 0.5" rpy = " -3.04159 0.0157 3.1415926"/>
-    
+    <origin xyz = "-0.502 -0.090 -0.096 " rpy = " 0 1.5708 0"/>
     </visual>
+    <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/320_urdf/link6.dae"/>
+      </geometry>
+    <origin xyz = "-0.502 -0.090 -0.096 " rpy = " 0 1.5708 0"/>
+    </collision>
   </link>
 
 
 
-    <joint name="joint2_to_joint1" type="revolute">
+  <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 1"/>
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="base"/>
     <child link="link1"/>
-    <origin xyz= "0 0 0.17846" rpy = "0 0 0"/>  
+    <origin xyz= "0 0 0.17846" rpy = "0 0 0"/> 
   </joint>
 
 
@@ -94,7 +141,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-    <origin xyz= "0 0  0" rpy = "0 -1.57080  1.57080"/>  
+    <origin xyz= "0 0 0" rpy = "0 -1.5708 1.5708"/> 
   </joint>
 
 
@@ -111,7 +158,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-    <origin xyz= "0.1 0  0.090" rpy = "0 0 1.57080"/>  
+     <origin xyz = "0.1 0 0.09 " rpy = " 0 0 1.57080"/>
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">
@@ -119,18 +166,17 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
-    <origin xyz= "0 -0.08515 0" rpy = "1.57080 -1.57080 0"/>  
+     <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
-    <axis xyz="1 0 0"/>
+    <axis xyz="0 0 1"/>
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="link5"/>
     <child link="link6"/>
-    <origin xyz= "0.02155 -0.01 -0.034" rpy = "1.57080 0 1.57080 "/>  
+    <origin xyz= "0.00 0.06635 0" rpy = "-1.5708 0 0"/>
   </joint>
 
 
-
 </robot>
 
diff --git a/mycobot_description/urdf/320_urdf/mycobot_pro_320moveit.urdf b/mycobot_description/urdf/320_urdf/mycobot_pro_320moveit.urdf
index cedd967..47f8977 100644
--- a/mycobot_description/urdf/320_urdf/mycobot_pro_320moveit.urdf
+++ b/mycobot_description/urdf/320_urdf/mycobot_pro_320moveit.urdf
@@ -9,10 +9,10 @@
       <geometry>
         <mesh filename="package://mycobot_description/urdf/320_urdf/base.dae"/>
       </geometry>
-      <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 0 " rpy = " 0 0 3.1415926"/>
     </visual>
     <collision>
-      <origin xyz = "0 0 0.05 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 0.05 " rpy = " 0 0 3.1415926"/>
       <geometry>
         <cylinder length="0.102" radius="0.0725"/>
       </geometry>