增加新pro自适应夹爪URDF模型-添加了更多细节

README.md

@@ -280,10 +280,14 @@ Please adhere to this project's [code of conduct](CODE_OF_CONDUCT.md).
 
 ![280 jn](./demo_img/single_gripper/mycobot_parallel_gripper.png)
 
-[mycobot Pro Adaptive gripper](./mycobot_description/urdf/pro_adaptive_gripper/mycobot_pro_adaptive_gripper.urdf)
+[mycobot Pro Adaptive gripper](./mycobot_description/urdf/pro_adaptive_gripper/mycobot_pro_adaptive_gripper.urdf) - old version
 
 ![280 jn](./demo_img/single_gripper/mycobot_pro_adaptive_gripper.png)
 
+[mycobot Pro Adaptive gripper](./mycobot_description/urdf/pro_adaptive_gripper/new_gripper/mycobot_pro_adaptive_gripper_new.urdf) (new version - Added more details)
+
+![320 gripper](./demo_img/single_gripper/new_mycobot_pro_adaptive_gripper.png)
+
 ## Contributors
 
 Thanks goes to these people ([Emoji Key](https://allcontributors.org/docs/en/emoji-key)):

mycobot_description/urdf/pro_adaptive_gripper/new_gripper/mycobot_pro_adaptive_gripper_new.urdf

@@ -0,0 +1,167 @@
+<?xml version="1.0"?>
+<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
+	
+<xacro:property name="width" value=".2" />
+
+  <link name="gripper_base">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/new_gripper/gripper_base.dae"/>
+      </geometry>
+    <origin xyz = "-0.02 0.012 -0.018 " rpy = " 1.5708 0 1.5708"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/new_gripper/gripper_base.dae"/>
+      </geometry>
+    <origin xyz = "-0.02 0.012 -0.018 " rpy = " 1.5708 0 1.5708"/>
+    </collision>
+  </link>
+
+  <link name="gripper_left1">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/new_gripper/gripper_left1.dae"/>
+      </geometry>
+    <origin xyz = "0.048 -0.035 -0.003 " rpy = " 1.5708 0 1.5708"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/new_gripper/gripper_left1.dae"/>
+      </geometry>
+        <origin xyz = "0.048 -0.035 -0.003 " rpy = " 1.5708 0 1.5708"/>
+    </collision>
+  </link>
+
+  <link name="gripper_left2">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/new_gripper/gripper_left2.dae"/>
+      </geometry>
+    <origin xyz = "0.026 0.022 -0.018 " rpy = " 1.5708 0 1.5708"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/new_gripper/gripper_left2.dae"/>
+      </geometry>
+        <origin xyz = "0.026 0.022 -0.018 " rpy = " 1.5708 0 1.5708"/>
+    </collision>
+  </link>
+
+  <link name="gripper_left3">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/new_gripper/gripper_left3.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0.0 -0.018 " rpy = " 1.5708 0 1.5708"/>
+
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/new_gripper/gripper_left3.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0.0 -0.018 " rpy = " 1.5708 0 1.5708"/>
+    </collision>
+  </link>
+
+  <link name="gripper_right1">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/new_gripper/gripper_right1.dae"/>
+      </geometry>
+    <origin xyz = "-0.086 -0.036 -0.003 " rpy = " 1.5708 0 1.5708"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/new_gripper/gripper_right1.dae"/>
+      </geometry>
+        <origin xyz = "-0.086 -0.036 -0.003 " rpy = " 1.5708 0 1.5708"/>
+    </collision>
+  </link>
+
+  <link name="gripper_right2">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/new_gripper/gripper_right2.dae"/>
+      </geometry>
+    <origin xyz = "-0.062 0.0224 -0.018 " rpy = " 1.5708 0 1.5708"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/new_gripper/gripper_right2.dae"/>
+      </geometry>
+        <origin xyz = "-0.062 0.0224 -0.018 " rpy = " 1.5708 0 1.5708"/>
+    </collision>
+  </link>
+
+  <link name="gripper_right3">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/new_gripper/gripper_right3.dae"/>
+      </geometry>
+    <origin xyz = "-0.034 0.0 -0.018 " rpy = " 1.5708 0 1.5708"/>
+
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/new_gripper/gripper_right3.dae"/>
+      </geometry>
+    <origin xyz = "-0.034 0.0 -0.018 " rpy = " 1.5708 0 1.5708"/>
+    </collision>
+  </link>
+
+    <joint name="gripper_controller" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-1.11" upper = "0" velocity = "0"/>
+    <parent link="gripper_base"/>
+    <child link="gripper_left3"/>
+    <origin xyz= "-0.018 0.015 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"/>
+    <parent link="gripper_base"/>
+    <child link="gripper_left2"/>
+    <origin xyz= "-0.047 -0.01 0" rpy = "0 0 0"/> 
+    <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"/>
+    <parent link="gripper_left3"/>
+    <child link="gripper_left1"/>
+    <origin xyz= "-0.05 0.035 -0.015" 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 = "-0.3" upper = "0.7" velocity = "0"/>
+    <parent link="gripper_base"/>
+    <child link="gripper_right3"/>
+    <origin xyz= "0.016 0.014 0" rpy = "0 0 0"/> 
+    <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
+  </joint>
+
+  <joint name="gripper_base_to_gripper_right2" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-0.5" upper = "0.8" velocity = "0"/>
+    <parent link="gripper_base"/>
+    <child link="gripper_right2"/>
+    <origin xyz= "0.044 -0.01 0" rpy = "0 0 0"/> 
+    <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
+  </joint>
+
+  <joint name="gripper_right3_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_right3"/>
+    <child link="gripper_right1"/>
+    <origin xyz= "0.052 0.035 -0.015" rpy = "0 0 0"/> 
+    <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
+  </joint>
+
+
+</robot>