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Remove the gripper of the 320 model

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This commit is contained in:
weiquan 2021-12-13 10:19:49 +08:00
parent 601941d65a
commit a22eb3a236
2 changed files with 12 additions and 33 deletions
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1
mycobot_320_moveit/config/firefighter.srdf
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@ -16,7 +16,6 @@
<joint name="joint5_to_joint4" />
<joint name="joint6_to_joint5" />
<joint name="joint6output_to_joint6" />
<joint name="gitpper_to_joint6output" />
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="init_pose" group="arm_group">

20
mycobot_description/urdf/320_urdf/mycobot_pro_320.urdf
View file

@ -117,16 +117,6 @@
</collision>
</link>
<link name="gripper">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/320_urdf/gripper.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
</visual>
</link>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
@ -177,15 +167,5 @@
<origin xyz= "0 0.06 0" rpy = "-1.57080 0 0 "/>
</joint>
<joint name="gitpper_to_joint6output" type="fixed">
<axis xyz="0 0 0"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="link6"/>
<child link="gripper"/>
<origin xyz= "0 0 0" rpy = "0 0 0 "/>
</joint>
</robot>