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] 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>