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fix 600 model initialize position.

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This commit is contained in:
张立军 2021-07-05 11:52:54 +08:00
parent 344bbf7392
commit 5ef34d2f72
1 changed files with 15 additions and 15 deletions
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30
urdf/600_urdf/mycobot_600_urdf.urdf
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@ -26,13 +26,13 @@
<geometry>
<mesh filename="package://mycobot_ros/urdf/600_urdf/link1.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
<origin xyz = "0 0 0 " rpy = "0 0 3.1415926"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_ros/urdf/600_urdf/link1.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
<origin xyz = "0 0 0 " rpy = " 0 0 3.1415926"/>
</collision>
</link>
@ -42,13 +42,13 @@
<geometry>
<mesh filename="package://mycobot_ros/urdf/600_urdf/link2.dae"/>
</geometry>
<origin xyz = "0 0 0.080 " rpy = " 0 0 3.1415926"/>
<origin xyz = "0 0 -0.080 " rpy = " 3.1415926 0 3.1415926"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_ros/urdf/600_urdf/link2.dae"/>
</geometry>
<origin xyz = "0 0 0.080 " rpy = " 0 0 3.1415926"/>
<origin xyz = "0 0 -0.080 " rpy = " 3.1415926 0 3.1415926"/>
</collision>
</link>
@ -59,14 +59,14 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_ros/urdf/600_urdf/link3.dae"/>
</geometry>
<origin xyz = "0 0 0.0855 " rpy = " 0 0 3.1415926"/>
<origin xyz = "0 0 -0.0855 " rpy = " 3.1415926 0 3.1415926"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_ros/urdf/600_urdf/link3.dae"/>
</geometry>
<origin xyz = "0 0 0.0855 " rpy = " 0 0 3.1415926"/>
<origin xyz = "0 0 -0.0855 " rpy = "3.1415926 0 3.1415926"/>
</collision>
</link>
@ -78,14 +78,14 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_ros/urdf/600_urdf/link4.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
<origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_ros/urdf/600_urdf/link4.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
<origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/>
</collision>
</link>
@ -96,14 +96,14 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_ros/urdf/600_urdf/link5.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 -1.5707"/>
<origin xyz = "0 0 0 " rpy = " 0 0 1.5707"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_ros/urdf/600_urdf/link5.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 -1.5707"/>
<origin xyz = "0 0 0 " rpy = " 0 0 1.5707"/>
</collision>
</link>
@ -116,7 +116,7 @@
<material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/>
</material>
<origin xyz = "-0.03 0 0" rpy = " 0 1.5707 0"/>
<origin xyz = "0.03 0 0" rpy = " 0 -1.5707 0"/>
</visual>
<collision>
<geometry>
@ -126,7 +126,7 @@
<material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/>
</material>
<origin xyz = "-0.03 0 0" rpy = " 0 1.5707 0"/>
<origin xyz = "0.03 0 0" rpy = " 0 -1.5707 0"/>
</collision>
</link>
@ -163,7 +163,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" 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 0"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
@ -175,11 +175,11 @@
</joint>
<joint name="joint6output_to_joint6" type="revolute">
<axis xyz="1 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link5"/>
<child link="link6"/>
<origin xyz= "0.07586 0 0" rpy = "-1.57080 0 0 "/>
<origin xyz= "-0.07586 0 0" rpy = "-1.57080 0 0 "/>
</joint>