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280 gripper #134

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merged 8 commits into from
Jul 15, 2024
Merged

280 gripper #134

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e3c82e8
improve mycobot_280_gripper_problem
Tenero-Jz Jul 12, 2024
847abae
improve mycobot280_gripper_problem
Tenero-Jz Jul 12, 2024
31776d6
improve mycobot280_gripper
Tenero-Jz Jul 12, 2024
09edc76
improve 280 gripper
Tenero-Jz Jul 15, 2024
cf7ea4c
improve 280_gripper
Tenero-Jz Jul 15, 2024
d027d26
improve 280_gripper
Tenero-Jz Jul 15, 2024
21595d3
improve 280_gripper
Tenero-Jz Jul 15, 2024
d4a4679
improve 280_gripper
Tenero-Jz Jul 15, 2024
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Empty file modified mycobot_280/mycobot_280jn/config/mycobot_jn.rviz
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15 changes: 5 additions & 10 deletions mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -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>

Expand All @@ -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>

Expand All @@ -194,14 +194,12 @@
<mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left3.dae"/>
</geometry>
<origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
<!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->

</visual>
<collision>
<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>

Expand Down Expand Up @@ -267,7 +265,6 @@
<origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
</joint>


<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
Expand All @@ -276,7 +273,6 @@
<origin xyz= "0 0 0" rpy = "0 1.5708 -1.5708"/>
</joint>


<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
Expand Down Expand Up @@ -310,12 +306,12 @@
<origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>
</joint>


<joint name="joint6output_to_gripper_base" type="fixed">
<!-- <axis xyz="0 0 1"/>
<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>

Expand Down Expand Up @@ -346,7 +342,6 @@
<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"/>
Expand All @@ -373,6 +368,6 @@
<origin xyz= "0.027 0.016 0" rpy = "0 0 0"/>
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
</joint>

</robot>

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