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improve mycobot_280_gripper_problem

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Tenero-Jz 2024-07-12 18:25:37 +08:00
parent 58d762a083
commit e3c82e8177
12 changed files with 29 additions and 3 deletions
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mycobot_280/mycobot_280jn/config/mycobot_jn.rviz Normal file → Executable file
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mycobot_280/mycobot_280jn/config/mycobot_with_marker.rviz Normal file → Executable file
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mycobot_280/mycobot_280jn/launch/detect_marker.launch Normal file → Executable file
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mycobot_280/mycobot_280jn/launch/detect_marker_with_topic.launch Normal file → Executable file
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mycobot_280/mycobot_280jn/launch/mycobot_follow.launch Normal file → Executable file
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mycobot_280/mycobot_280jn/launch/simple_gui.launch Normal file → Executable file
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mycobot_280/mycobot_280jn/launch/slider_control.launch Normal file → Executable file
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mycobot_280/mycobot_280jn/launch/teleop_keyboard.launch Normal file → Executable file
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mycobot_280/mycobot_280jn/launch/test.launch Normal file → Executable file
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mycobot_280/mycobot_280jn/src/camera_display.cpp Normal file → Executable file
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mycobot_280/mycobot_280jn/src/opencv_camera.cpp Normal file → Executable file
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mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf
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@ -169,7 +169,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left1.dae"/>
</geometry>
<origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
<origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
@ -184,7 +184,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left2.dae"/>
</geometry>
<origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
<origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
@ -201,7 +201,7 @@
<geometry>
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left3.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
<origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
</collision>
</link>
@ -346,6 +346,23 @@
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
</joint>
<!-- <joint name="gripper_left3_to_gripper_left2" 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_left2"/>
<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> -->
<joint name="gripper_base_to_gripper_right3" type="revolute">
<axis xyz="0 0 1"/>
@ -374,5 +391,14 @@
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>
<!-- <joint name="gripper_right2_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_right2"/>
<child link="gripper_right1"/>
<origin xyz= "0.020 0.030 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint> -->
</robot>