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fix urdf

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wangWking 2022-05-06 18:06:45 +08:00
parent 2a3ecb24fd
commit 83ce716bdc
1 changed files with 16 additions and 14 deletions
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30
mycobot_description/urdf/new_320_urdf/new_mycobot_pro_320.urdf
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@ -27,13 +27,13 @@
<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>
<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"/>
</collision>
</link>
@ -44,13 +44,13 @@
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link2.dae"/>
</geometry>
<origin xyz = "-0.090 0.0 -0.138 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.092 0.0 -0.146 " rpy = " 0 1.5708 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link2.dae"/>
</geometry>
<origin xyz = "-0.090 0.0 -0.138 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.092 0.0 -0.146 " rpy = " 0 1.5708 0"/>
</collision>
</link>
@ -61,14 +61,14 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link3.dae"/>
</geometry>
<origin xyz = "-0.22 0 0.093 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.221 0 0.093 " rpy = " 0 1.5708 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link3.dae"/>
</geometry>
<origin xyz = "-0.22 0 0.093 " rpy = " 0 1.5708 0"/>
<origin xyz = "-0.221 0 0.093 " rpy = " 0 1.5708 0"/>
</collision>
</link>
@ -79,14 +79,15 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link4.dae"/>
</geometry>
<origin xyz = "0 0.275 -0.096 " rpy = " 1.5708 1.5708 0"/>
<!-- <origin xyz = "0 0.276 -0.10 " rpy = " 1.5708 1.5708 0"/> -->
<origin xyz = "0 0.275 -0.096 " rpy = " 1.5708 1.5708 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link4.dae"/>
</geometry>
<origin xyz = "0 0.275 -0.096 " rpy = " 1.5708 1.5708 0"/>
<origin xyz = "0 0.276 -0.10 " rpy = " 1.5708 1.5708 0"/>
</collision>
</link>
@ -97,7 +98,7 @@
<!--- 0.0 0 -0.04 -->
<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>
<geometry>
@ -115,7 +116,7 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_urdf/link6.dae"/>
</geometry>
<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>
<geometry>
@ -132,7 +133,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="base"/>
<child link="link1"/>
<origin xyz= "0 0 0.16846" rpy = "0 0 0"/>
<origin xyz= "0 0 0.17846" rpy = "0 0 0"/>
</joint>
@ -141,7 +142,7 @@
<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 -1.5708 1.5708"/>
<origin xyz= "0 0 -0.014" rpy = "0 -1.5708 1.5708"/>
</joint>
@ -168,7 +169,8 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= "0 -0.080 0" rpy = "1.5708 0 0"/>
<origin xyz= "0 -0.090 0.0" rpy = "1.5708 0 0"/>
<!-- <origin xyz= "0 -0.07813 -0.0" rpy = "1.5708 0 0"/> -->
</joint>
@ -177,7 +179,7 @@
<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 = "-1.5708 0 0"/>
<origin xyz= "0 0.06635 0.0" rpy = "-1.5708 0 0"/>
</joint>