From 0a0e02847a6d9709163ffd7c876dbc08dd977d4a Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Tue, 10 May 2022 18:17:54 +0800
Subject: [PATCH] fix urdf

---
 mycobot_description/urdf/260_pi/mypal_260_pi.urdf | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/mycobot_description/urdf/260_pi/mypal_260_pi.urdf b/mycobot_description/urdf/260_pi/mypal_260_pi.urdf
index a093a8e..a5bdd3c 100644
--- a/mycobot_description/urdf/260_pi/mypal_260_pi.urdf
+++ b/mycobot_description/urdf/260_pi/mypal_260_pi.urdf
@@ -94,6 +94,7 @@
       <geometry>
        <!--- 0.0 0 -0.04 -->
        <cylinder length="0.015" radius="0.0152"/>
+        <!-- <mesh filename="package://mycobot_description/urdf/260_pi/link5.dae"/> -->
       </geometry>
       <material name = "grey">
         <color rgba = "0.5 0.5 0.5 1"/>
@@ -135,9 +136,9 @@
     <origin xyz= "0.0 -0.14 0   " rpy = "0 0 0 "/>  
   </joint>
 
-  <joint name="joint4_to_joint3" type="revolute">
-    <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "0" upper = "1.5707963" velocity = "0"/>
+  <joint name="joint4_to_joint3" type="fixed">
+    <!-- <axis xyz=" 0 0 1"/> -->
+    <!-- <limit effort = "1000.0" lower = "0" upper = "1.5707963" velocity = "0"/> -->
     <parent link="link3"/>
     <child link="link4"/>
     <origin xyz= "0.134 -0.005   0.0" rpy = "3.1415926 0 0 "/>