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improve 280_gripper

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This commit is contained in:
Tenero-Jz 2024-07-15 11:27:03 +08:00
parent cf7ea4c991
commit d027d267f4
1 changed files with 3 additions and 1 deletions
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mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf
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@ -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"/>