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fix mycobot_600_urdf

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wangWking 2022-05-11 10:19:22 +08:00
parent 13597a2f48
commit 2a48f8ecb2
1 changed files with 9 additions and 9 deletions
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18
mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf
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@ -142,17 +142,17 @@
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 0" rpy = "1.5708 0 0"/>
<origin xyz= "0 0 0" rpy = "1.5708 -1.5708 0"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 -1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.25 0 0 " rpy = "0 0 0"/>
@ -160,15 +160,15 @@
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 -1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.25 0 -0.1091" rpy = "0 0 0"/>
<origin xyz= "0.25 0 -0.1091" rpy = "0 0 1.5708"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "0"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= "0 -0.108 0" rpy = "1.57080 -1.57080 0"/>
@ -176,7 +176,7 @@
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="-1 0 0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<limit effort = "1000.0" lower = "-3.03" upper = "3.0368" velocity = "0"/>
<parent link="link5"/>
<child link="link6"/>
<origin xyz= "-0.07586 0 0" rpy = "-1.57080 0 0 "/>