From e3c82e8177172d3eb91ea8adbd39e7a5fedd53e1 Mon Sep 17 00:00:00 2001
From: Tenero-Jz <2316126650@qq.com>
Date: Fri, 12 Jul 2024 18:25:37 +0800
Subject: [PATCH] improve mycobot_280_gripper_problem

---
 .../mycobot_280jn/config/mycobot_jn.rviz      |  0
 .../config/mycobot_with_marker.rviz           |  0
 .../mycobot_280jn/launch/detect_marker.launch |  0
 .../launch/detect_marker_with_topic.launch    |  0
 .../launch/mycobot_follow.launch              |  0
 .../mycobot_280jn/launch/simple_gui.launch    |  0
 .../launch/slider_control.launch              |  0
 .../launch/teleop_keyboard.launch             |  0
 mycobot_280/mycobot_280jn/launch/test.launch  |  0
 .../mycobot_280jn/src/camera_display.cpp      |  0
 .../mycobot_280jn/src/opencv_camera.cpp       |  0
 .../mycobot_280m5_with_gripper_parallel.urdf  | 32 +++++++++++++++++--
 12 files changed, 29 insertions(+), 3 deletions(-)
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/config/mycobot_jn.rviz
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/config/mycobot_with_marker.rviz
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/launch/detect_marker.launch
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/launch/detect_marker_with_topic.launch
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/launch/mycobot_follow.launch
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/launch/simple_gui.launch
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/launch/slider_control.launch
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/launch/teleop_keyboard.launch
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/launch/test.launch
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/src/camera_display.cpp
 mode change 100644 => 100755 mycobot_280/mycobot_280jn/src/opencv_camera.cpp

diff --git a/mycobot_280/mycobot_280jn/config/mycobot_jn.rviz b/mycobot_280/mycobot_280jn/config/mycobot_jn.rviz
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/config/mycobot_with_marker.rviz b/mycobot_280/mycobot_280jn/config/mycobot_with_marker.rviz
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/detect_marker.launch b/mycobot_280/mycobot_280jn/launch/detect_marker.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/detect_marker_with_topic.launch b/mycobot_280/mycobot_280jn/launch/detect_marker_with_topic.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/mycobot_follow.launch b/mycobot_280/mycobot_280jn/launch/mycobot_follow.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/simple_gui.launch b/mycobot_280/mycobot_280jn/launch/simple_gui.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/slider_control.launch b/mycobot_280/mycobot_280jn/launch/slider_control.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/teleop_keyboard.launch b/mycobot_280/mycobot_280jn/launch/teleop_keyboard.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/test.launch b/mycobot_280/mycobot_280jn/launch/test.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/src/camera_display.cpp b/mycobot_280/mycobot_280jn/src/camera_display.cpp
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/src/opencv_camera.cpp b/mycobot_280/mycobot_280jn/src/opencv_camera.cpp
old mode 100644
new mode 100755
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 3a7395b..1d25abd 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
@@ -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>