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修复pro自适应夹爪urdf

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This commit is contained in:
wangWking 2024-12-10 10:57:59 +08:00
parent f00bbb2258
commit b90b00e34b
5 changed files with 15 additions and 15 deletions
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6
mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_gripper.urdf
View file

@ -193,7 +193,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae"/>
</geometry>
<origin xyz = "-0.036 -0.052 0.0 " rpy = " 0 0 1.5708"/>
<origin xyz = "-0.072 -0.05 0.0 " rpy = " 0 0 1.5708"/>
</collision>
</link>
@ -208,7 +208,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae"/>
</geometry>
<origin xyz = "-0.03 0.024 -0.018 " rpy = " 0 0 1.5708"/>
<origin xyz = "-0.066 0.023 -0.018 " rpy = " 0 0 1.5708"/>
</collision>
</link>
@ -224,7 +224,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae"/>
</geometry>
<origin xyz = "-0.034 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
<origin xyz = "0.0 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
</collision>
</link>

6
mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_moveit_gripper.urdf
View file

@ -194,7 +194,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae"/>
</geometry>
<origin xyz = "-0.036 -0.052 0.0 " rpy = " 0 0 1.5708"/>
<origin xyz = "-0.072 -0.05 0.0 " rpy = " 0 0 1.5708"/>
</collision>
</link>
@ -209,7 +209,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae"/>
</geometry>
<origin xyz = "-0.03 0.024 -0.018 " rpy = " 0 0 1.5708"/>
<origin xyz = "-0.066 0.023 -0.018 " rpy = " 0 0 1.5708"/>
</collision>
</link>
@ -225,7 +225,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae"/>
</geometry>
<origin xyz = "-0.034 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
<origin xyz = "0.0 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
</collision>
</link>

6
mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_gripper.urdf
View file

@ -193,7 +193,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_right1.dae"/>
</geometry>
<origin xyz = "-0.036 -0.052 0.0 " rpy = " 0 0 1.5708"/>
<origin xyz = "-0.072 -0.05 0.0 " rpy = " 0 0 1.5708"/>
</collision>
</link>
@ -208,7 +208,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_right2.dae"/>
</geometry>
<origin xyz = "-0.03 0.024 -0.018 " rpy = " 0 0 1.5708"/>
<origin xyz = "-0.066 0.023 -0.018 " rpy = " 0 0 1.5708"/>
</collision>
</link>
@ -224,7 +224,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_right3.dae"/>
</geometry>
<origin xyz = "-0.034 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
<origin xyz = "0.0 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
</collision>
</link>

6
mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_moveit_gripper.urdf
View file

@ -196,7 +196,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_right1.dae"/>
</geometry>
<origin xyz = "-0.036 -0.052 0.0 " rpy = " 0 0 1.5708"/>
<origin xyz = "-0.072 -0.05 0.0 " rpy = " 0 0 1.5708"/>
</collision>
</link>
@ -211,7 +211,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_right2.dae"/>
</geometry>
<origin xyz = "-0.03 0.024 -0.018 " rpy = " 0 0 1.5708"/>
<origin xyz = "-0.066 0.023 -0.018 " rpy = " 0 0 1.5708"/>
</collision>
</link>
@ -227,7 +227,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_right3.dae"/>
</geometry>
<origin xyz = "-0.034 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
<origin xyz = "0.0 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
</collision>
</link>

6
mycobot_description/urdf/pro_adaptive_gripper/mycobot_pro_adaptive_gripper.urdf
View file

@ -75,7 +75,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/gripper_right1.dae"/>
</geometry>
<origin xyz = "-0.036 -0.052 0.0 " rpy = " 0 0 1.5708"/>
<origin xyz = "-0.072 -0.05 0.0 " rpy = " 0 0 1.5708"/>
</collision>
</link>
@ -90,7 +90,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/gripper_right2.dae"/>
</geometry>
<origin xyz = "-0.03 0.024 -0.018 " rpy = " 0 0 1.5708"/>
<origin xyz = "-0.066 0.023 -0.018 " rpy = " 0 0 1.5708"/>
</collision>
</link>
@ -106,7 +106,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/gripper_right3.dae"/>
</geometry>
<origin xyz = "-0.034 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
<origin xyz = "0.0 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
</collision>
</link>