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修复280PI urdf j4、j5

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This commit is contained in:
wangWking 2025-04-27 17:17:38 +08:00
parent 1cdd6ba34f
commit fdc13abb2e
6 changed files with 18 additions and 18 deletions
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6
mycobot_description/urdf/mycobot_280_pi/mycobot_280_pi.urdf
View file

@ -95,14 +95,14 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
<origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
<origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
</collision>
</link>
@ -193,7 +193,7 @@
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
<origin xyz= "0 -0.07318 -0.001" rpy = "1.5708 -1.5708 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">

6
mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange.urdf
View file

@ -95,14 +95,14 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
<origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
<origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
</collision>
</link>
@ -208,7 +208,7 @@
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
<origin xyz= "0 -0.07318 -0.001" rpy = "1.5708 -1.5708 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">

6
mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange_pump.urdf
View file

@ -110,14 +110,14 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
<origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
<origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
</collision>
</link>
@ -245,7 +245,7 @@
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
<origin xyz= "0 -0.07318 -0.001" rpy = "1.5708 -1.5708 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">

6
mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_pump.urdf
View file

@ -110,14 +110,14 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
<origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
<origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
</collision>
</link>
@ -233,7 +233,7 @@
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
<origin xyz= "0 -0.07318 -0.001" rpy = "1.5708 -1.5708 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">

6
mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_vision.urdf
View file

@ -85,14 +85,14 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = "-1.5708 0 0"/>
<origin xyz = "0.0 -0.001 -0.0345 " rpy = "-1.5708 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = "-1.5708 0 0"/>
<origin xyz = "0.0 -0.001 -0.0345 " rpy = "-1.5708 0 0"/>
</collision>
</link>
@ -176,7 +176,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
<origin xyz= "0 -0.07318 -0.001" rpy = "1.5708 -1.5708 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">

6
mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_vision_v2.urdf
View file

@ -86,14 +86,14 @@
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = "0 -1.5708 1.5708"/>
<origin xyz = "0.0 -0.001 -0.0345 " rpy = "0 -1.5708 1.5708"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.03356 " rpy = "0 -1.5708 1.5708"/>
<origin xyz = "0.0 -0.001 -0.0345 " rpy = "0 -1.5708 1.5708"/>
</collision>
</link>
@ -177,7 +177,7 @@
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint5"/>
<child link="joint6"/>
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
<origin xyz= "0 -0.07318 -0.001" rpy = "1.5708 -1.5708 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">