fix cobota450 urdf model for joint7

elephantrobotics · Sep 18, 2023 · 6c4c85e · 6c4c85e
1 parent 5cdb177
commit 6c4c85e
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Showing 3 changed files with 9 additions and 223 deletions.
diff --git a/CobotX/cobotx_a450/config/cobotx_a450.rviz b/CobotX/cobotx_a450/config/cobotx_a450.rviz
@@ -8,11 +8,13 @@ Panels:
         - /Status1
         - /RobotModel1
         - /RobotModel1/Links1
+        - /RobotModel1/Links1/joint71
+        - /RobotModel1/Links1/joint71/Position1
         - /Axes1
         - /TF1
         - /TF1/Frames1
       Splitter Ratio: 0.5
-    Tree Height: 609
+    Tree Height: 657
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -190,7 +192,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.78243088722229
+      Distance: 1.706533432006836
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -206,17 +208,17 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.6454010605812073
+      Pitch: 0.48479700088500977
       Target Frame: <Fixed Frame>
-      Yaw: 3.4754045009613037
+      Yaw: 3.6504061222076416
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 906
+  Height: 954
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c7000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000031cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000031c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000031cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000031c000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c70000031c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:

diff --git a/CobotX/cobotx_a450/config/mycobot_with_marker.rviz b/CobotX/cobotx_a450/config/mycobot_with_marker.rviz
diff --git a/mycobot_description/urdf/cobotx_a450/cobotx_a450.urdf b/mycobot_description/urdf/cobotx_a450/cobotx_a450.urdf
@@ -195,7 +195,7 @@
     <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
     <parent link="joint6"/>
     <child link="joint7"/>
-    <origin xyz= "0.038 -0.046 0" rpy = "-1.5708 0 0"/>  
+    <origin xyz= "0.038 -0.046 0" rpy = "1.5708 0 0"/>  
   </joint>