collision geometry misalignment

[fschiro]

Hello,

I'm unsure what is the correct URDF to use for MyCobot 320 M5 (2024) with adaptive gripper.

This URDF with the associated dae files look good in rviz and control the robot, but the collision geometry is twisted and does not match.

https://github.com/elephantrobotics/mycobot_ros/blob/noetic/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_moveit_gripper.urdf

I'm unsure what's the right URDF file to use for this model. But when I loaded this, I was getting weird collisions even when there was none. So I loaded the RViz RobotModel panel and saw the results below. The red is the collision geometry. It should follow the robot but instead it is off by 90 degrees in some spots and does not fit at all in others.

Please help, what is the correct URDF to use for this robot with the adaptive gripper?