From e3c82e8177172d3eb91ea8adbd39e7a5fedd53e1 Mon Sep 17 00:00:00 2001
From: Tenero-Jz <2316126650@qq.com>
Date: Fri, 12 Jul 2024 18:25:37 +0800
Subject: [PATCH 1/8] improve mycobot_280_gripper_problem

---
 .../mycobot_280jn/config/mycobot_jn.rviz      |  0
 .../config/mycobot_with_marker.rviz           |  0
 .../mycobot_280jn/launch/detect_marker.launch |  0
 .../launch/detect_marker_with_topic.launch    |  0
 .../launch/mycobot_follow.launch              |  0
 .../mycobot_280jn/launch/simple_gui.launch    |  0
 .../launch/slider_control.launch              |  0
 .../launch/teleop_keyboard.launch             |  0
 mycobot_280/mycobot_280jn/launch/test.launch  |  0
 .../mycobot_280jn/src/camera_display.cpp      |  0
 .../mycobot_280jn/src/opencv_camera.cpp       |  0
 .../mycobot_280m5_with_gripper_parallel.urdf  | 32 +++++++++++++++++--
 12 files changed, 29 insertions(+), 3 deletions(-)
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/config/mycobot_jn.rviz
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/config/mycobot_with_marker.rviz
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/launch/detect_marker.launch
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/launch/detect_marker_with_topic.launch
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/launch/mycobot_follow.launch
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/launch/simple_gui.launch
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/launch/slider_control.launch
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/launch/teleop_keyboard.launch
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/launch/test.launch
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/src/camera_display.cpp
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/src/opencv_camera.cpp

diff --git a/mycobot_280/mycobot_280jn/config/mycobot_jn.rviz b/mycobot_280/mycobot_280jn/config/mycobot_jn.rviz
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/config/mycobot_with_marker.rviz b/mycobot_280/mycobot_280jn/config/mycobot_with_marker.rviz
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/detect_marker.launch b/mycobot_280/mycobot_280jn/launch/detect_marker.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/detect_marker_with_topic.launch b/mycobot_280/mycobot_280jn/launch/detect_marker_with_topic.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/mycobot_follow.launch b/mycobot_280/mycobot_280jn/launch/mycobot_follow.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/simple_gui.launch b/mycobot_280/mycobot_280jn/launch/simple_gui.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/slider_control.launch b/mycobot_280/mycobot_280jn/launch/slider_control.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/teleop_keyboard.launch b/mycobot_280/mycobot_280jn/launch/teleop_keyboard.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/test.launch b/mycobot_280/mycobot_280jn/launch/test.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/src/camera_display.cpp b/mycobot_280/mycobot_280jn/src/camera_display.cpp
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/src/opencv_camera.cpp b/mycobot_280/mycobot_280jn/src/opencv_camera.cpp
old mode 100644
new mode 100755
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 3a7395b..1d25abd 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
@@ -169,7 +169,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left1.dae"/>
       </geometry>
-        <origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
+        <origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -184,7 +184,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left2.dae"/>
       </geometry>
-        <origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
+        <origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -201,7 +201,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left3.dae"/>
       </geometry>
-    <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
+    <origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -346,6 +346,23 @@
     <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"/>
@@ -374,5 +391,14 @@
     <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
   </joint>
 
+  <!-- <joint name="gripper_right2_to_gripper_right1" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
+    <parent link="gripper_right2"/>
+    <child link="gripper_right1"/>
+    <origin xyz= "0.020 0.030 0" rpy = "0 0 0"/> 
+    <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
+  </joint> -->
+
 </robot>
 

From 847abae427d3aaddffeaf90a551073b6e728b3c4 Mon Sep 17 00:00:00 2001
From: Tenero-Jz <2316126650@qq.com>
Date: Fri, 12 Jul 2024 18:49:12 +0800
Subject: [PATCH 2/8] improve mycobot280_gripper_problem

---
 .../mycobot_280m5_with_gripper_parallel.urdf             | 9 +--------
 1 file changed, 1 insertion(+), 8 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 1d25abd..49a7032 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
@@ -391,14 +391,7 @@
     <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
   </joint>
 
-  <!-- <joint name="gripper_right2_to_gripper_right1" type="revolute">
-    <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
-    <parent link="gripper_right2"/>
-    <child link="gripper_right1"/>
-    <origin xyz= "0.020 0.030 0" rpy = "0 0 0"/> 
-    <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
-  </joint> -->
+  
 
 </robot>
 

From 31776d6653f8f2621b7de2cfb5a86b7955b8ab75 Mon Sep 17 00:00:00 2001
From: Tenero-Jz <2316126650@qq.com>
Date: Fri, 12 Jul 2024 19:25:22 +0800
Subject: [PATCH 3/8] improve mycobot280_gripper

---
 .../mycobot_280m5_with_gripper_parallel.urdf             | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

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 49a7032..71df8ad 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
@@ -390,7 +390,14 @@
     <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>

From 09edc76b0ce4f6840f2d44684690aeab8ed27532 Mon Sep 17 00:00:00 2001
From: Tenero-Jz <2316126650@qq.com>
Date: Mon, 15 Jul 2024 10:22:33 +0800
Subject: [PATCH 4/8] improve 280 gripper

---
 .../mycobot_280m5_with_gripper_parallel.urdf  | 26 -------------------
 1 file changed, 26 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 71df8ad..c683b85 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
@@ -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>

From cf7ea4c991a5efdf04beb2b23932354ed330a487 Mon Sep 17 00:00:00 2001
From: Tenero-Jz <2316126650@qq.com>
Date: Mon, 15 Jul 2024 11:11:34 +0800
Subject: [PATCH 5/8] improve 280_gripper

---
 .../urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf | 1 -
 1 file changed, 1 deletion(-)

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 c683b85..10ed815 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
@@ -373,6 +373,5 @@
     <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
   </joint>
   
-
 </robot>
 

From d027d267f4bc9b5dc4902c738f043e32eec5e782 Mon Sep 17 00:00:00 2001
From: Tenero-Jz <2316126650@qq.com>
Date: Mon, 15 Jul 2024 11:27:03 +0800
Subject: [PATCH 6/8] improve 280_gripper

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

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 10ed815..52b5aa6 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
@@ -315,7 +315,6 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
     <parent link="joint6_flange"/>
     <child link="gripper_base"/>
-    <!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/>   -->
     <origin xyz= "0 0 0.034" rpy = "1.579 0 0"/>  
   </joint>
 
@@ -328,6 +327,7 @@
     <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"/>
@@ -337,6 +337,7 @@
     <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"/>
@@ -346,6 +347,7 @@
     <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"/>

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 7/8] 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"/>

From d4a467978f903a297a4703f636a076edea12c370 Mon Sep 17 00:00:00 2001
From: Tenero-Jz <2316126650@qq.com>
Date: Mon, 15 Jul 2024 11:34:40 +0800
Subject: [PATCH 8/8] improve 280_gripper

---
 .../mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf   | 4 ----
 1 file changed, 4 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 c3e6317..24af1e5 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
@@ -194,8 +194,6 @@
        <mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left3.dae"/>
       </geometry>
     <origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
-    <!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
-
     </visual>
     <collision>
       <geometry>
@@ -267,7 +265,6 @@
     <origin xyz= "0 0 0.13156" rpy = "0 0 0"/>  
   </joint>
 
-
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz="0 0 1"/>
     <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
@@ -276,7 +273,6 @@
     <origin xyz= "0 0  0" rpy = "0 1.5708 -1.5708"/>  
   </joint>
 
-
   <joint name="joint4_to_joint3" type="revolute">
     <axis xyz=" 0 0 1"/>
     <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>