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fix urdf

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wangWking 2022-05-10 15:45:51 +08:00
parent 1064488751
commit ade2be13c8
1 changed files with 12 additions and 12 deletions
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24
mycobot_description/urdf/new_320_pi/new_mycobot_pro_320_pi.urdf
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@ -27,13 +27,13 @@
<mesh filename="package://mycobot_description/urdf/new_320_pi/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_pi/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_pi/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_pi/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_pi/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_pi/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>
@ -97,14 +97,14 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/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>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/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"/>
</collision>
</link>
@ -115,14 +115,14 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/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>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/new_320_pi/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"/>
</collision>
</link>
@ -168,7 +168,7 @@
<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" rpy = "1.5708 0 0"/>
</joint>
@ -177,7 +177,7 @@
<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" rpy = "-1.5708 0 0"/>
</joint>