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improve 280 gripper

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Tenero-Jz 2024-07-15 10:22:33 +08:00
parent 31776d6653
commit 09edc76b0c
1 changed files with 0 additions and 26 deletions
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mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf
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@ -346,24 +346,6 @@
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<!-- <joint name="gripper_left3_to_gripper_left2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
<parent link="gripper_left3"/>
<child link="gripper_left2"/>
<origin xyz= "-0.027 0.016 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint> -->
<!-- <joint name="gripper_left2_to_gripper_left1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
<parent link="gripper_left2"/>
<child link="gripper_left1"/>
<origin xyz= "-0.040 0.050 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint> -->
<joint name="gripper_base_to_gripper_right3" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.15" upper = "0.7" velocity = "0"/>
@ -390,14 +372,6 @@
<origin xyz= "0.027 0.016 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
<!-- <joint name="gripper_left2_to_gripper_left1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
<parent link="gripper_left2"/>
<child link="gripper_left1"/>
<origin xyz= "-0.040 0.050 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint> -->
</robot>