From 7bb9b6768321293a1a255903f8bea40d24a6dbb1 Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Tue, 26 Apr 2022 17:06:40 +0800
Subject: [PATCH] fix joint2

---
 .../urdf/mecharm_pi/mecharm_pi.urdf           | 26 +++++++++----------
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf b/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf
index 676f577..87cfd0f 100644
--- a/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf
+++ b/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf
@@ -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>
\ No newline at end of file