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fix bug

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This commit is contained in:
wangWking 2022-05-10 15:34:43 +08:00
parent 3aa412babd
commit 77c07ff74d
1 changed files with 9 additions and 9 deletions
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18
mycobot_description/urdf/new_320_urdf/new_mycobot_pro_320moveit.urdf
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@ -12,7 +12,7 @@
<origin xyz = "0 0 0 " rpy = " 0 0 3.1415926"/>
</visual>
<collision>
<origin xyz = "0 0 0.05 " rpy = " 0 0 3.1415926"/>
<origin xyz = "0 0 0 " rpy = " 0 0 3.1415926"/>
<geometry>
<cylinder length="0.102" radius="0.0725"/>
</geometry>
@ -24,7 +24,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link1.dae"/>
</geometry>
<origin xyz = "-0.29156 -0.220 -0.085 " rpy = " 0 0 1.5708"/>
<origin xyz = "-0.29 -0.2165 -0.099 " rpy = " 0 0 1.5708"/>
</visual>
<collision>
<origin xyz = "0 0 -0.02 " rpy = " 0 0 1.5708"/>
@ -89,7 +89,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link5.dae"/>
</geometry>
<origin xyz = "0.0012 -0.044 -0.456 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0.001 -0.044 -0.456 " rpy = " 0 0 -1.5708"/>
</visual>
<collision>
<origin xyz = "0 -0.01 0 " rpy = " 0 0 -1.5708"/>
@ -107,10 +107,10 @@
<material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/>
</material>
<origin xyz = "-0.431 0.0009 -0.16536 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.431 0.0009 -0.16 " rpy = " 0 1.5708 0"/>
</visual>
<collision>
<origin xyz = "-0.431 0.0009 -0.16536 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.431 0.0009 -0.16 " rpy = " 0 1.5708 0"/>
<geometry>
<cylinder length="0.0225" radius="0.026"/>
</geometry>
@ -131,7 +131,7 @@
<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 -0.014" rpy = "0 -1.57080 1.57080"/>
</joint>
@ -148,7 +148,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.12 0 0.090" rpy = "0 0 1.57080"/>
<origin xyz= "0.12 0 0.09" rpy = "0 0 1.57080"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
@ -156,7 +156,7 @@
<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 0 0"/>
<origin xyz= "0 -0.090 0" rpy = "1.57080 0 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">
@ -164,7 +164,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link5"/>
<child link="link6"/>
<origin xyz= "0 0.0760 0" rpy = "-1.57080 0 0 "/>
<origin xyz= "0 0.06635 0" rpy = "-1.57080 0 0 "/>
</joint>
</robot>