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fix urdf

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wangWking 2022-04-27 12:00:36 +08:00
parent 7bb9b67683
commit 099a86d662
1 changed files with 9 additions and 12 deletions
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21
mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf
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@ -42,17 +42,16 @@
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link2.dae"/> <mesh filename="package://mycobot_description/urdf/mecharm_pi/link2.dae"/>
</geometry> </geometry>
<origin xyz = "-0.005 0.21 0.002 " rpy = " -1.5708 0 -3.1415926"/> <origin xyz = "-0.005 -0.21 -0.002 " rpy = " 1.5708 0 3.1415926"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link2.dae"/> <mesh filename="package://mycobot_description/urdf/mecharm_pi/link2.dae"/>
</geometry> </geometry>
<origin xyz = "-0.005 0.21 0.002 " rpy = " -1.5708 0 -3.1415926"/> <origin xyz = "-0.005 -0.21 -0.002 " rpy = " 1.5708 0 3.1415926"/>
</collision> </collision>
</link> </link>
<link name="link3"> <link name="link3">
@ -95,13 +94,13 @@
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link5.dae"/> <mesh filename="package://mycobot_description/urdf/mecharm_pi/link5.dae"/>
</geometry> </geometry>
<origin xyz = "-0.292 -0.318 -0.007 " rpy = " 1.5708 0 3.1415926"/> <origin xyz = "-0.292 -0.318 -0.009" rpy = " 1.5708 0 3.1415926"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link5.dae"/> <mesh filename="package://mycobot_description/urdf/mecharm_pi/link5.dae"/>
</geometry> </geometry>
<origin xyz = "-0.292 -0.318 -0.007 " rpy = " 1.5708 0 3.1415926"/> <origin xyz = "-0.292 -0.318 -0.009 " rpy = " 1.5708 0 3.1415926"/>
</collision> </collision>
</link> </link>
@ -111,13 +110,13 @@
<!--- 0.0 0 -0.04 --> <!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link6.dae"/> <mesh filename="package://mycobot_description/urdf/mecharm_pi/link6.dae"/>
</geometry> </geometry>
<origin xyz = "-0.1648 0.0536 -0.211 " rpy = " 0 1.5708 0"/> <origin xyz = "-0.1625 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link6.dae"/> <mesh filename="package://mycobot_description/urdf/mecharm_pi/link6.dae"/>
</geometry> </geometry>
<origin xyz = "-0.1648 0.0536 -0.211 " rpy = " 0 1.5708 0"/> <origin xyz = "-0.1625 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
</collision> </collision>
</link> </link>
@ -136,8 +135,7 @@
<limit effort = "1000.0" lower = "-1.570796" upper = "1.570796" velocity = "0"/> <limit effort = "1000.0" lower = "-1.570796" upper = "1.570796" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0 0 0.038" rpy = " -1.5708 0 0 "/> <origin xyz= "0 0 0.038" rpy = " 1.5708 0 0 "/>
<!-- <origin xyz= "0 0 0" rpy = "0 -1.5708 1.5708"/> -->
</joint> </joint>
@ -146,7 +144,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "0.785398" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "0.785398" velocity = "0"/>
<parent link="link2"/> <parent link="link2"/>
<child link="link3"/> <child link="link3"/>
<origin xyz= "0.0 -0.1 0 " rpy = "0 0 0 "/> <origin xyz= "0.0 0.1 0 " rpy = "3.1415926 0 0 "/>
</joint> </joint>
<joint name="joint4_to_joint3" type="revolute"> <joint name="joint4_to_joint3" type="revolute">
@ -162,8 +160,7 @@
<limit effort = "1000.0" lower = "-1.745329" upper = "1.745329" velocity = "0"/> <limit effort = "1000.0" lower = "-1.745329" upper = "1.745329" velocity = "0"/>
<parent link="link4"/> <parent link="link4"/>
<child link="link5"/> <child link="link5"/>
<origin xyz= " 0 0 0.0" rpy = " 0 -1.5708 0 "/> <origin xyz= " -0.001 0 0.0" rpy = " 0 -1.5708 3.1415926"/>
<!-- <origin xyz= " 0.178 0 -0.005" rpy = " -1.5707963 0 0 "/> -->
</joint> </joint>
<joint name="joint6_to_joint5" type="revolute"> <joint name="joint6_to_joint5" type="revolute">