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fix joint2

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wangWking 2022-04-26 17:06:40 +08:00
parent 8665543818
commit 7bb9b67683
1 changed files with 13 additions and 13 deletions
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26
mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf
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@ -42,14 +42,14 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link2.dae"/>
</geometry>
<origin xyz = "-0.095 0.19 0 " rpy = " -1.5708 0 -2.70526"/>
<origin xyz = "-0.005 0.21 0.002 " rpy = " -1.5708 0 -3.1415926"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link2.dae"/>
</geometry>
<origin xyz = "-0.095 0.19 0 " rpy = " -1.5708 0 -2.70526"/>
<origin xyz = "-0.005 0.21 0.002 " rpy = " -1.5708 0 -3.1415926"/>
</collision>
@ -61,14 +61,14 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link3.dae"/>
</geometry>
<origin xyz = "-0.1 0.31 0.002 " rpy = "1.5708 3.1415926 0"/>
<origin xyz = "-0.09 0.306 0.005 " rpy = "1.5708 3.1415926 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link3.dae"/>
</geometry>
<origin xyz = "-0.1 0.31 0.002" rpy = "1.5708 3.1415926 0"/>
<origin xyz = "-0.09 0.306 0.005" rpy = "1.5708 3.1415926 0"/>
</collision>
</link>
@ -78,14 +78,14 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link4.dae"/>
</geometry>
<origin xyz = "0.01 -0.309 -0.23" rpy = " 0 1.5708 1.5708"/>
<origin xyz = "0.009 -0.311 -0.228" rpy = " 0 1.5708 1.5708"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link4.dae"/>
</geometry>
<origin xyz = "0.01 -0.309 -0.23" rpy = " 0 1.5708 1.5708"/>
<origin xyz = "0.009 -0.311 -0.228" rpy = " 0 1.5708 1.5708"/>
</collision>
</link>
@ -95,13 +95,13 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link5.dae"/>
</geometry>
<origin xyz = "-0.294 -0.316 -0.007 " rpy = " 1.5708 0 3.1415926"/>
<origin xyz = "-0.292 -0.318 -0.007 " rpy = " 1.5708 0 3.1415926"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link5.dae"/>
</geometry>
<origin xyz = "-0.294 -0.316 -0.007 " rpy = " 1.5708 0 3.1415926"/>
<origin xyz = "-0.292 -0.318 -0.007 " rpy = " 1.5708 0 3.1415926"/>
</collision>
</link>
@ -111,13 +111,13 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link6.dae"/>
</geometry>
<origin xyz = "-0.1644 0.0536 -0.214 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.1648 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/mecharm_pi/link6.dae"/>
</geometry>
<origin xyz = "-0.1644 0.0536 -0.214 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.1648 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
</collision>
</link>
@ -146,7 +146,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "0.785398" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.04 -0.096 0 " rpy = "0 0 0 "/>
<origin xyz= "0.0 -0.1 0 " rpy = "0 0 0 "/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
@ -154,7 +154,7 @@
<limit effort = "1000.0" lower = "-2.792527" upper = "2.792527" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.1 -0.003 -0.003" rpy = "0 1.5708 0 "/>
<origin xyz= "0.108 -0.005 -0.001" rpy = "0 1.5708 0 "/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
@ -171,6 +171,6 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
<parent link="link5"/>
<child link="link6"/>
<origin xyz= " 0.06 0.002 -0.0" rpy = " 0 1.5708 0 "/> </joint>
<origin xyz= " 0.06 0.00 -0.0" rpy = " 0 1.5708 0 "/> </joint>
</robot>