mycobot fix

Mordween · Mordween · commit 03846d34a15d · 2024-08-09T11:53:16.000+02:00
diff --git a/rtb-data/rtbdata/xacro/elephant_robotics/mycobot_280_pi/urdf/mycobot_280_pi.urdf b/rtb-data/rtbdata/xacro/elephant_robotics/mycobot_280_pi/urdf/mycobot_280_pi.urdf
@@ -143,8 +143,8 @@
   </link>
 
 
-  <joint name="g_base_to_joint1" type="fixed">
-    <axis xyz="0 0 0"/>
+  <joint name="g_base_to_joint1" type="revolute">
+    <axis xyz="0 0 1"/>
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="g_base"/>
     <child link="joint1"/>
@@ -196,7 +196,8 @@
     <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>  
   </joint>
 
-  <joint name="joint6output_to_joint6" type="revolute">
+  <!-- revolute -->
+  <joint name="joint6output_to_joint6" type="fixed">
     <axis xyz="0 0 1"/>
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="joint6"/>
