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change urdf

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This commit is contained in:
wangWking 2022-05-12 15:56:58 +08:00
parent a9242701c5
commit befabb84f0
1 changed files with 6 additions and 4 deletions
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10
mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf
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@ -142,16 +142,17 @@
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 0" rpy = "1.5708 -1.5708 0"/>
<!-- <origin xyz= "0 0 0" rpy = "1.5708 -1.5708 0"/> -->
<origin xyz= "0 0 0" rpy = "1.5708 0 0"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<axis xyz=" 0 0 -1"/>
<limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
@ -163,7 +164,8 @@
<limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.25 0 -0.1091" rpy = "0 0 1.5708"/>
<!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 1.5708"/> -->
<origin xyz= "0.25 0 -0.1091" rpy = "0 0 0"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">