添加

unilabos/device_mesh/devices/elite_robot/config/cs66/default_kinematics.yaml

@@ -5,7 +5,7 @@ kinematics:
     z: 0.1625
     roll: 0
     pitch: 0
-    yaw: 0
+    yaw: -0.16
   upperarm:
     x: 0
     y: 0
@@ -26,7 +26,7 @@ kinematics:
     z: 0.1475
     roll: 0
     pitch: 0
-    yaw: 0
+    yaw: 0.04
   wrist_2:
     x: 0
     y: -0.0965
@@ -39,5 +39,5 @@ kinematics:
     y: 0.0920
     z: 0
     roll: -1.570796326589793
-    pitch: 0
+    pitch: -0.59
     yaw: 0

unilabos/device_mesh/devices/elite_robot/macro_device.xacro

@@ -145,7 +145,7 @@
     type="fixed">
     <origin
       xyz="0 0 -0.003"
-      rpy="0 0 -2.356" />
+      rpy="0 0 -1.570796326589793" />
     <parent
       link="${station_name}${device_name}tool0" />
     <child