From 21595d31c18599610195fe462642e6e6cb416523 Mon Sep 17 00:00:00 2001
From: Tenero-Jz <2316126650@qq.com>
Date: Mon, 15 Jul 2024 11:28:58 +0800
Subject: [PATCH] improve 280_gripper

---
 .../mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf   | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf
index 52b5aa6..c3e6317 100644
--- a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf
+++ b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf
@@ -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"/>