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update pro urdf collision.

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This commit is contained in:
张立军 2021-06-22 14:16:07 +08:00
parent 8d5276899f
commit 3d702c8de0
3 changed files with 9 additions and 9 deletions
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4
scripts/follow_and_pump.py
View file

@ -80,7 +80,7 @@ def grippercallback(data):
x -= x_offset
y -= y_offset
pub_coords(x, y, 280)
pub_coords(x-20, y, 280)
time.sleep(.1)
temp_x, temp_y, temp_z = x, y, z
@ -91,7 +91,7 @@ def grippercallback(data):
# detect heigth + pump height + limit height + offset
x += x_offset
y += y_offset
z = z + 88 + 25 + z_offset
z = z + 88 + z_offset
pub_coords(x, y, z)

2
scripts/slider_control.py
View file

@ -14,7 +14,7 @@ mc = None
def callback(data):
#rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
# print(data.position)
print(data.position)
data_list = []
for index, value in enumerate(data.position):
data_list.append(value)

12
urdf/320_urdf/mycobot_pro_320.urdf
View file

@ -43,9 +43,9 @@
<origin xyz = "0 0 0.0587 " rpy = " 0 0 3.1415926"/>
</visual>
<collision>
<origin xyz = "0.04 0 0.095 " rpy = " 0 -1.5708 0"/>
<origin xyz = "0.07 0 0.095 " rpy = " 0 -1.5708 0"/>
<geometry>
<cylinder length="0.21" radius="0.036"/>
<cylinder length="0.18" radius="0.036"/>
</geometry>
</collision>
</link>
@ -59,9 +59,9 @@
<origin xyz = "0 0 0.038 " rpy = " 0 0 3.1415926"/>
</visual>
<collision>
<origin xyz = "0.034 0 0 " rpy = " 0 -1.5708 0"/>
<origin xyz = "0.044 0 0 " rpy = " 0 -1.5708 0"/>
<geometry>
<cylinder length="0.119" radius="0.0305"/>
<cylinder length="0.14" radius="0.0305"/>
</geometry>
</collision>
</link>
@ -76,9 +76,9 @@
<origin xyz = "0 -0.001 0 " rpy = " 0 0 0"/>
</visual>
<collision>
<origin xyz = "0.0 -0.012 0 " rpy = " 0 -1.5708 1.5708"/>
<origin xyz = "0.0 -0.014 0 " rpy = " 0 -1.5708 1.5708"/>
<geometry>
<cylinder length="0.085" radius="0.029"/>
<cylinder length="0.083" radius="0.029"/>
</geometry>
</collision>
</link>