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] 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"/>