From 263da78ecbef0280b4bb90a82b0fce39fd1611eb Mon Sep 17 00:00:00 2001
From: ZFEI <zfei@zju.edu.cn>
Date: Tue, 26 Dec 2023 14:00:02 +0800
Subject: [PATCH] update collision model

---
 .../gripper => meshes/visual}/hitbot_gripper.STL    | Bin
 robots/z1_description/xacro/robot.xacro             |   6 +++---
 2 files changed, 3 insertions(+), 3 deletions(-)
 rename robots/z1_description/{xacro/gripper => meshes/visual}/hitbot_gripper.STL (100%)

diff --git a/robots/z1_description/xacro/gripper/hitbot_gripper.STL b/robots/z1_description/meshes/visual/hitbot_gripper.STL
similarity index 100%
rename from robots/z1_description/xacro/gripper/hitbot_gripper.STL
rename to robots/z1_description/meshes/visual/hitbot_gripper.STL
diff --git a/robots/z1_description/xacro/robot.xacro b/robots/z1_description/xacro/robot.xacro
index 494a540..421a741 100644
--- a/robots/z1_description/xacro/robot.xacro
+++ b/robots/z1_description/xacro/robot.xacro
@@ -343,16 +343,16 @@
             <visual>
                 <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                    <mesh filename="package://z1_description/xacro/gripper/hitbot_gripper.STL" />
+                    <mesh filename="package://z1_description/meshes/visual/hitbot_gripper.STL" />
                 </geometry>
                 <material name="">
                     <color  rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
                 </material>
             </visual>
             <collision>
-                <origin xyz="0.5 0 0.2" rpy="0 0 0" />
+                <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                    <mesh filename="package://z1_description/xacro/gripper/hitbot_gripper.STL" />
+                    <mesh filename="package://z1_description/meshes/visual/hitbot_gripper.STL" />
                 </geometry>
             </collision>
         </link>