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fix urdf model

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weijian 2023-06-13 17:19:56 +08:00
parent 83b5a6e22d
commit 02a647a384
4 changed files with 9 additions and 8 deletions
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6
myArm/myarm/config/myarm.rviz
View file

@ -188,7 +188,7 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 1.444238305091858 Distance: 1.2526283264160156
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
@ -204,9 +204,9 @@ Visualization Manager:
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.009999999776482582 Near Clip Distance: 0.009999999776482582
Pitch: 0.36039817333221436 Pitch: 0.2103991061449051
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Yaw: 2.790395975112915 Yaw: 2.6453990936279297
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:

4
myArm/myarm/scripts/teleop_keyboard.py
View file

@ -80,8 +80,8 @@ def teleop_keyboard():
print("start error ...") print("start error ...")
exit(1) exit(1)
init_pose = [0, 0, 0, 0, 0, 0, speed] init_pose = [0, 0, 0, 0, 0, 0, 0, speed]
home_pose = [0, 8, -127, 40, 0, 0, speed] home_pose = [0, 0, 0, -90, 0, -90, 0, speed]
# rsp = set_angles(*init_pose) # rsp = set_angles(*init_pose)

1
myArm/myarm_communication/scripts/myarm_services.py
View file

@ -167,6 +167,7 @@ Joint Limit:
joint 4: -170 ~ +170 joint 4: -170 ~ +170
joint 5: -170 ~ +170 joint 5: -170 ~ +170
joint 6: -180 ~ +180 joint 6: -180 ~ +180
joint 7: -180 ~ +180
Connect Status: %s Connect Status: %s

6
mycobot_description/urdf/myarm/myarm_urdf.urdf
View file

@ -107,7 +107,7 @@
<mesh filename="package://mycobot_description/urdf/myarm/j6.dae"/> <mesh filename="package://mycobot_description/urdf/myarm/j6.dae"/>
</geometry> </geometry>
<origin xyz = "0.0 0 -0.0 " rpy = " 0 0 -1.5708"/> <origin xyz = "0.0 0 -0.0 " rpy = " 0 0 1.5708"/>
</visual> </visual>
<collision> <collision>
<geometry> <geometry>
@ -188,7 +188,7 @@
<limit effort = "1000.0" lower = "-1.5708" upper = "1.5708" velocity = "0"/> <limit effort = "1000.0" lower = "-1.5708" upper = "1.5708" velocity = "0"/>
<parent link="joint5"/> <parent link="joint5"/>
<child link="joint6"/> <child link="joint6"/>
<origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/> <origin xyz= "0 0.0 0" rpy = "-1.5708 3.14 0"/>
</joint> </joint>
<joint name="joint7_to_joint6" type="revolute"> <joint name="joint7_to_joint6" type="revolute">
@ -196,7 +196,7 @@
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="joint6"/> <parent link="joint6"/>
<child link="joint7"/> <child link="joint7"/>
<origin xyz= "0 -0.056 0" rpy = "1.5708 0 0"/> <origin xyz= "0 0.056 0" rpy = "-1.5708 1.5708 0"/>
</joint> </joint>