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improve 280_gripper

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This commit is contained in:
Tenero-Jz 2024-07-15 11:28:58 +08:00
parent d027d267f4
commit 21595d31c1
1 changed files with 1 additions and 3 deletions
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mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf
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@ -310,6 +310,7 @@
<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>
</joint>
<joint name="joint6output_to_gripper_base" type="fixed">
<!-- <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
@ -327,7 +328,6 @@
<origin xyz= "-0.012 0.005 0" rpy = "0 0 0"/>
</joint>
<joint name="gripper_base_to_gripper_left2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.8" upper = "0.5" velocity = "0"/>
@ -337,7 +337,6 @@
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
<joint name="gripper_left3_to_gripper_left1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
@ -347,7 +346,6 @@
<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"/>