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improve ros1 myarm-c650 code

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This commit is contained in:
Tenero-Jz 2024-05-13 17:15:02 +08:00
parent 8537ab39bb
commit 3f79f24b91
27 changed files with 13257 additions and 2031 deletions
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2
debug_1.py
View file

@ -17,7 +17,7 @@ def talker():
rospy.init_node('joint_state_publisher')
# 创建发布器，发布到'joint_states'话题，消息类型为JointState
pub = rospy.Publisher('joint_states', JointState, queue_size=10)
pub = rospy.Publisher('/joint_states', JointState, queue_size=10)
# 设置发布频率
rate = rospy.Rate(10)

77
myArm/myarm_c650/config/myarm_c650.rviz
View file

@ -10,7 +10,7 @@ Panels:
- /TF1
- /TF1/Frames1
Splitter Ratio: 0.5
Tree Height: 719
Tree Height: 523
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@ -69,32 +69,42 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
endeffector:
gripper:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint1:
gripper_left:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint2:
gripper_right:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint3:
link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint4:
link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
joint5:
link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link5:
Alpha: 1
Show Axes: false
Show Trail: false
@ -123,18 +133,22 @@ Visualization Manager:
All Enabled: false
base:
Value: false
endeffector:
gripper:
Value: false
joint1:
gripper_left:
Value: false
joint2:
gripper_right:
Value: false
joint3:
link1:
Value: false
joint4:
link2:
Value: false
link3:
Value: false
link4:
Value: false
link5:
Value: false
joint5:
Value: true
Marker Alpha: 1
Marker Scale: 0.5
Name: TF
@ -143,13 +157,16 @@ Visualization Manager:
Show Names: true
Tree:
base:
joint1:
joint2:
joint3:
joint4:
joint5:
endeffector:
{}
link1:
link2:
link3:
link4:
link5:
gripper:
gripper_left:
{}
gripper_right:
{}
Update Interval: 0
Value: true
Enabled: true
@ -180,7 +197,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 0.4026777744293213
Distance: 1.1106241941452026
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
@ -188,25 +205,25 @@ Visualization Manager:
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0.38038063049316406
Y: 0.01517818495631218
Z: 0.2767482399940491
X: 0.31777650117874146
Y: 0.11575467139482498
Z: 0.21179701387882233
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.5697963237762451
Pitch: 0.6647977232933044
Target Frame: <Fixed Frame>
Yaw: 0.16815289855003357
Yaw: 4.894510269165039
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1016
Height: 820
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c70000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000015600000296fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000296000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000296fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000296000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007320000003efc0100000002fb0000000800540069006d0065010000000000000732000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c10000029600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@ -215,6 +232,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 1848
Width: 1842
X: 72
Y: 27

28
myArm/myarm_c650/scripts/debug.py
View file

@ -19,13 +19,31 @@ import rospy, sys
import moveit_commander
from geometry_msgs.msg import Pose
global mam
mam = MyArmC('/dev/ttyACM0', debug=False)
angle = mam.get_joints_angle()
print(angle)
mam.set_tool_led_color(255,255,255)
# global mam
# mam = MyArmC('/dev/ttyACM0', debug=False)
# angle = mam.get_joints_angle()
# print(angle)
# mam.set_tool_led_color(255,255,255)
# for i in range(8):
# mam.set_servo_calibrate(i)
# time.sleep(0.5)
def linear_transform(x):
# 两个已知数据点
x1, y1 = -89.5, 0.022
x2, y2 = 0, 0
# 计算斜率
m = (y2 - y1) / (x2 - x1)
# 计算截距
c = y1 - m * x1
# 应用线性变换
y = m * x + c
return y
# 测试
print(linear_transform(-89.5)) # 应该输出0.022
# print(linear_transform(0)) # 应该输出0

26
myArm/myarm_c650/scripts/test.py
View file

@ -15,6 +15,21 @@ from std_msgs.msg import Header
from pymycobot.myarmc import MyArmC
import rosnode
def linear_transform(x):
# 两个已知数据点
x1, y1 = -89.5, 0.022
x2, y2 = 0, 0
# 计算斜率
m = (y2 - y1) / (x2 - x1)
# 计算截距
c = y1 - m * x1
# 应用线性变换
y = m * x + c
return y
global mam
mam = MyArmC('/dev/ttyACM0', debug=False)
@ -27,7 +42,7 @@ rospy.loginfo("已成功杀死节点")
# 创建发布者
pub = rospy.Publisher('/joint_states', JointState, queue_size=10)
# 设置发布频率
rate = rospy.Rate(50) # 50Hz
rate = rospy.Rate(100) # 100Hz
# 消息实例
joint_state = JointState()
# 发布消息
@ -35,11 +50,14 @@ while not rospy.is_shutdown():
joint_state.header = Header()
# 填充消息内容，例如关节名称、位置、速度和力
joint_state.header.stamp = rospy.Time.now()
joint_state.name = ['joint1_to_base', 'joint2_to_joint1', 'joint3_to_joint2','joint4_to_joint3', 'joint5_to_joint4', 'endeffector_to_joint5']
joint_state.name = ['joint1', 'joint2', 'joint3','joint4', 'joint5', 'joint6','gripper']
angles = mam.get_joints_angle()
angles.pop(6)
gripper_angle = angles.pop(6)
angle = [a/180*pi for a in angles]
gripper_angle = linear_transform(gripper_angle)
# gripper_angle = linear_transform(-107.66)
angle.append(gripper_angle)
joint_state.position = angle
joint_state.effort = []
joint_state.velocity = []

0
myArm/myarm_m/launch/test_0506.launch → myArm/myarm_m/launch/combined_control.launch
View file

0
myArm/myarm_m/launch/test.launch → myArm/myarm_m/launch/demo_rviz.launch
View file

23
myArm/myarm_m/scripts/combined_control.py
View file

@ -8,6 +8,7 @@ from math import pi
import subprocess
import sys
import time
import datetime
def shutdown_ros_node(node_name):
try:
@ -18,15 +19,18 @@ def shutdown_ros_node(node_name):
def set_angle(mam, angles, speed):
def set_angle(mam, angles, speed=40):
# 弧度转角度
angle = [-int(a*180/pi) for a in angles]
joint_id = {0:1, 1:2, 2:3, 3:4, 4:5, 5:6}
angle = [int(a*180/pi) for a in angles]
angle.append(0)
# joint_id = {0:1, 1:2, 2:3, 3:4, 4:5, 5:6}
# joint_id = [0,1,2,3,4,5,6]
mam.set_joints_angle(angle, speed)
for i in range(6):
# if joint_id[i] == 2 or joint_id[i] == 5:
# angle[i] *= -1
mam.set_joint_angle(joint_id[i], -angle[i], 20)
# for i in range(6):
# # if joint_id[i] == 2 or joint_id[i] == 5:
# # angle[i] *= -1
# mam.set_joint_angle(joint_id[i], -angle[i], 50)
def main():
# 初始化ROS节点
rospy.init_node("combined_control", anonymous=True)
@ -63,12 +67,17 @@ def main():
joint_state.velocity = []
# 发布消息
pub_m.publish(joint_state)
current_time1 = datetime.datetime.now()
joint_state.position = angle_c
pub_c.publish(joint_state)
current_time2 = datetime.datetime.now()
set_angle(myarm_m, angle_m, 30)
current_time = current_time2-current_time1
rospy.loginfo('消息成功发布')
rospy.loginfo(current_time)
# 等待，允许其他节点处理
rate.sleep()

22
myArm/myarm_m/scripts/read_data.py → myArm/myarm_m/scripts/control_by_rviz.py
View file

@ -1,5 +1,6 @@
#!/usr/bin/env python3
# encoding:utf-8
# 订阅RVIZ数据，控制实际机器人运动
from pymycobot import MyArmM
from sensor_msgs.msg import JointState
import rospy
@ -20,11 +21,14 @@ for i in range(8):
def callback_fun(msg): # 回调函数
# print(type(msg.position))
angle = list(msg.position)
angles = list(msg.position)
angles.pop(7)
gripper_angle = angles.pop(6)
angle = [a*180/pi for a in angles]
angle.append(gripper_angle*(-3500))
rospy.loginfo("The Subscriber Data:%s", angle)
set_angle(angle, 20)
set_angle(mam, angle, 10)
# set_angle(angle, 20)
# for i in range(6):
# mam.set_joint_angle(i, angle[i]*180/pi, 50) # 角度直接控制
# set_angle_by_encoder(i, angle[i]*180/pi, 50) # 电位值控制
@ -34,15 +38,9 @@ def main():
rospy.Subscriber('/joint_states', JointState, callback_fun)
rospy.spin()
def set_angle(angles, speed):
def set_angle(mam, angles, speed):
# 弧度转角度
angle = [-int(a*180/pi) for a in angles]
joint_id = {0:1, 1:2, 2:3, 3:4, 4:5, 5:6}
for i in range(6):
# if joint_id[i] == 2 or joint_id[i] == 5:
# angle[i] *= -1
mam.set_joint_angle(joint_id[i], -angle[i], 20)
mam.set_joints_angle(angles, speed)
# def set_angle_by_encoder(servo_id, angle, speed): # 输入角度 通过电位值控制机器人
# # 1:left 2:right 3:left 4:left 5:left 6:right 7:left

11
myArm/myarm_m/scripts/test02.py → myArm/myarm_m/scripts/read_control.py
View file

@ -1,6 +1,6 @@
#!/usr/bin/env python3
# encoding:utf-8
# 订阅RVIZ关节角数据，发送给机器人
# 读取机器人关节角数据，发送给RVIZ
from pymycobot import MyArmM
import rospy
@ -23,7 +23,7 @@ def shutdown_ros_node(node_name):
print(f"Error: {e}")
global mam
mam = MyArmM('/dev/ttyACM0', debug=False)
mam = MyArmM('/dev/ttyACM1', debug=False)
# 1 3 4 6
# 放松关节
for i in range(8):
@ -45,11 +45,14 @@ while not rospy.is_shutdown():
joint_state.header = Header()
# 填充消息内容，例如关节名称、位置、速度和力
joint_state.header.stamp = rospy.Time.now()
joint_state.name = ['joint1_to_base', 'joint2_to_joint1', 'joint3_to_joint2','joint4_to_joint3', 'joint5_to_joint4', 'endeffector_to_joint5']
joint_state.name = ['joint1', 'joint2', 'joint3','joint4', 'joint5', 'joint6', 'gripper']
angles = mam.get_joints_angle()
angles.pop(6)
gripper_angle = angles.pop(6)
gripper_angle /= -3500
# angle:弧度 angles:角度
angle = [a/180*pi for a in angles]
angle.append(gripper_angle)
print(angle)
joint_state.position = angle
joint_state.effort = []
joint_state.velocity = []

5168
mycobot_description/urdf/myarm_c650/myarm_basic_base.dae Executable file
View file

File diff suppressed because one or more lines are too long

119
mycobot_description/urdf/myarm_c650/myarm_c650.urdf
View file

@ -7,19 +7,19 @@
<link name="base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/base.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_basic_base.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/base.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_basic_base.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="joint1">
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/joint1.dae"/>
@ -34,7 +34,7 @@
</collision>
</link>
<link name="joint2">
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/joint2.dae"/>
@ -49,7 +49,7 @@
</collision>
</link>
<link name="joint3">
<link name="link3">
<visual>
<geometry>
@ -66,7 +66,7 @@
</link>
<link name="joint4">
<link name="link4">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/joint4.dae"/>
@ -82,7 +82,7 @@
</link>
<link name="joint5">
<link name="link5">
<visual>
<geometry>
@ -100,23 +100,62 @@
</link>
<link name="endeffector">
<link name="gripper">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/endeffector.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_Base.dae"/>
</geometry>
<origin xyz = "0 0 0.003 " rpy = " 3.14159 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/endeffector.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_Base.dae"/>
</geometry>
<origin xyz = "0 0 0.003 " rpy = " 3.14159 0 0"/>
</collision>
</link>
<link name="gripper_left">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_R.dae"/>
</geometry>
<origin xyz = "0.010 0 0 " rpy = " 1.5708 3.14159 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_R.dae"/>
</geometry>
<origin xyz = "0.010 0 0 " rpy = " 1.5708 3.14159 -1.5708"/>
</collision>
</link>
<link name="gripper_right">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_L.dae"/>
</geometry>
<origin xyz = "0.010 0 0 " rpy = " 1.5708 3.14159 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_L.dae"/>
</geometry>
<origin xyz = "0.010 0 0 " rpy = " 1.5708 3.14159 -1.5708"/>
</collision>
</link>
<!-- <link name="endeffector">
<visual>
<geometry>
@ -136,59 +175,77 @@
<joint name="joint1_to_base" type="revolute">
<joint name="joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.7925" upper = "2.7925" velocity = "0"/>
<parent link="base"/>
<child link="joint1"/>
<child link="link1"/>
<origin xyz= "0 0 0.070" rpy = "3.14159 0 0"/>
</joint>
<joint name="joint2_to_joint1" type="revolute">
<joint name="joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-1.3962" upper = "1.3962" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<parent link="link1"/>
<child link="link2"/>
<!-- <origin xyz= "0 0 0" rpy = "1.5708 3.14159 0"/> -->
<origin xyz= "0 0 -0.080" rpy = "1.5708 0 0"/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<joint name="joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<limit effort = "1000.0" lower = "-1.3962" upper = "1.32" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.0565 -0.296 0 " rpy = "0 0 0"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<joint name="joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-1.7453" upper = "1.3962" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<limit effort = "1000.0" lower = "-1.7453" upper = "1.7453" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.081 0 0.004" rpy = "0 -1.5708 0"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<joint name="joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<limit effort = "1000.0" lower = "-1.3962" upper = "1.3962" velocity = "0"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= "0.0 0.0003 -0.250" rpy = "-1.5708 3.14159 -1.5708"/>
</joint>
<joint name="endeffector_to_joint5" type="revolute">
<joint name="joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-1.9198" upper = "1.9198" velocity = "0"/>
<parent link="joint5"/>
<child link="endeffector"/>
<origin xyz= "0 -0.045 0" rpy = "-1.5708 0 0"/>
<parent link="link5"/>
<child link="gripper"/>
<origin xyz= "0 -0.055 0" rpy = "-1.5708 0 0"/>
</joint>
<joint name="gripper" type="prismatic">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "0" upper = "0.022" velocity = "0"/>
<parent link="gripper"/>
<child link="gripper_left"/>
<origin xyz= "-0.030 0 -0.066" rpy = "3.14 -1.57 1.57"/>
</joint>
<joint name="gripper_r" type="prismatic">
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "0" upper = "0.022" velocity = "0"/>
<parent link="gripper"/>
<child link="gripper_right"/>
<origin xyz= "-0.030 0 -0.066" rpy = "3.14 -1.57 1.57"/>
<!-- 跟随左手指运动 -->
<mimic joint="gripper" multiplier="1.0" offset="0" />
</joint>
<!-- <joint name="endeffector_to_endeffector" type="revolute">

108
mycobot_description/urdf/myarm_c650/myarm_c650.urdf.xacro
View file

@ -7,19 +7,19 @@
<link name="base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/base.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_basic_base.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/base.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_c650/bamyarm_basic_basese.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="joint1">
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/joint1.dae"/>
@ -34,7 +34,7 @@
</collision>
</link>
<link name="joint2">
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/joint2.dae"/>
@ -49,7 +49,7 @@
</collision>
</link>
<link name="joint3">
<link name="link3">
<visual>
<geometry>
@ -66,7 +66,7 @@
</link>
<link name="joint4">
<link name="link4">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/joint4.dae"/>
@ -82,7 +82,7 @@
</link>
<link name="joint5">
<link name="link5">
<visual>
<geometry>
@ -100,104 +100,134 @@
</link>
<link name="endeffector">
<link name="gripper">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/endeffector.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_Base.dae"/>
</geometry>
<origin xyz = "0 0 0.003 " rpy = " 3.14159 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/endeffector.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_Base.dae"/>
</geometry>
<origin xyz = "0 0 0.003 " rpy = " 3.14159 0 0"/>
</collision>
</link>
<!-- <link name="endeffector">
<link name="gripper_left">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/endeffector.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_R.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.009 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0.010 0 0 " rpy = " 1.5708 3.14159 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/endeffector.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_R.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.009 " rpy = " 0 0 -1.5708"/>
<origin xyz = "0.010 0 0 " rpy = " 1.5708 3.14159 -1.5708"/>
</collision>
</link> -->
</link>
<link name="gripper_right">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_L.dae"/>
</geometry>
<origin xyz = "0.010 0 0 " rpy = " 1.5708 3.14159 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_c650/myarm_c_grip_L.dae"/>
</geometry>
<origin xyz = "0.010 0 0 " rpy = " 1.5708 3.14159 -1.5708"/>
</collision>
</link>
<joint name="joint1_to_base" type="revolute">
<joint name="joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.7925" upper = "2.7925" velocity = "0"/>
<parent link="base"/>
<child link="joint1"/>
<child link="link1"/>
<origin xyz= "0 0 0.070" rpy = "3.14159 0 0"/>
</joint>
<joint name="joint2_to_joint1" type="revolute">
<joint name="joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-1.3962" upper = "1.3962" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<parent link="link1"/>
<child link="link2"/>
<!-- <origin xyz= "0 0 0" rpy = "1.5708 3.14159 0"/> -->
<origin xyz= "0 0 -0.080" rpy = "1.5708 0 0"/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<joint name="joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.0565 -0.296 0 " rpy = "0 0 0"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<joint name="joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-1.7453" upper = "1.3962" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.081 0 0.004" rpy = "0 -1.5708 0"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<joint name="joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= "0.0 0.0003 -0.2595" rpy = "-1.5708 3.14159 -1.5708"/>
</joint>
<joint name="endeffector_to_joint5" type="revolute">
<joint name="joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-1.9198" upper = "1.9198" velocity = "0"/>
<parent link="joint5"/>
<child link="endeffector"/>
<parent link="link5"/>
<child link="gripper"/>
<origin xyz= "0 -0.045 0" rpy = "-1.5708 0 0"/>
</joint>
<!-- <joint name="endeffector_to_endeffector" type="revolute">
<joint name="gripper" type="prismatic">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
<parent link="endeffector"/>
<child link="endeffector"/>
<origin xyz= "0 -0.056 0" rpy = "1.5708 0 0"/>
</joint> -->
<limit effort = "1000.0" lower = "0" upper = "0.022" velocity = "0"/>
<parent link="gripper"/>
<child link="gripper_left"/>
<origin xyz= "-0.030 0 -0.066" rpy = "3.14 -1.57 1.57"/>
</joint>
<joint name="gripper_r" type="prismatic">
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "0" upper = "0.022" velocity = "0"/>
<parent link="gripper"/>
<child link="gripper_right"/>
<origin xyz= "-0.030 0 -0.066" rpy = "3.14 -1.57 1.57"/>
<!-- 跟随左手指运动 -->
<mimic joint="gripper" multiplier="1.0" offset="0" />
</joint>

808
mycobot_description/urdf/myarm_c650/myarm_c_grip_Base.dae Executable file
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349
mycobot_description/urdf/myarm_c650/myarm_c_grip_L.dae Executable file
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349
mycobot_description/urdf/myarm_c650/myarm_c_grip_R.dae Executable file
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1815
mycobot_description/urdf/myarm_m/base.dae
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2236
mycobot_description/urdf/myarm_m/finger_holder.dae Executable file
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390
mycobot_description/urdf/myarm_m/finger_left.dae Executable file
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390
mycobot_description/urdf/myarm_m/finger_right.dae Executable file
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0
mycobot_description/urdf/myarm_m/joint1.dae → mycobot_description/urdf/myarm_m/link1.dae
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0
mycobot_description/urdf/myarm_m/joint2.dae → mycobot_description/urdf/myarm_m/link2.dae
View file

0
mycobot_description/urdf/myarm_m/joint3.dae → mycobot_description/urdf/myarm_m/link3.dae
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0
mycobot_description/urdf/myarm_m/joint4.dae → mycobot_description/urdf/myarm_m/link4.dae
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0
mycobot_description/urdf/myarm_m/joint5.dae → mycobot_description/urdf/myarm_m/link5.dae
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127
mycobot_description/urdf/myarm_m/myarm_m.urdf
View file

@ -9,165 +9,210 @@
<link name="base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/base.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/myarm_m_base.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/base.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/myarm_m_base.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="joint1">
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint1.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link1.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.1 " rpy = " 0 3.14 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint1.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link1.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.1 " rpy = "0 3.14 0"/>
</collision>
</link>
<link name="joint2">
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint2.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link2.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = "0 3.14159 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint2.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link2.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = "0 3.14159 0"/>
</collision>
</link>
<link name="joint3">
<link name="link3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint3.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link3.dae"/>
</geometry>
<origin xyz = "0.0 0 0" rpy = "0 3.14159 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint3.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link3.dae"/>
</geometry>
<origin xyz = "0.0 0 0.0" rpy = "0 3.14159 0"/>
</collision>
</link>
<link name="joint4">
<link name="link4">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint4.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link4.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 3.14159 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint4.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link4.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 3.14159 -1.5708"/>
</collision>
</link>
<link name="joint5">
<link name="link5">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint5.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link5.dae"/>
</geometry>
<origin xyz = "0 0.00 0" rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint5.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link5.dae"/>
</geometry>
<origin xyz = "0 0.00 0 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="endeffector">
<link name="gripper">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/endeffector.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/finger_holder.dae"/>
</geometry>
<origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/endeffector.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/finger_holder.dae"/>
</geometry>
<origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
</collision>
</link>
<link name="gripper_left">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/finger_left.dae"/>
</geometry>
<origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/finger_left.dae"/>
</geometry>
<origin xyz = "0 0.00 0" rpy = " 0 0 0"/>
</collision>
</link>
<joint name="joint1_to_base" type="revolute">
<link name="gripper_right">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/finger_right.dae"/>
</geometry>
<origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/finger_right.dae"/>
</geometry>
<origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
</collision>
</link>
<joint name="joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.0368" upper = "2.9147" velocity = "0"/>
<parent link="base"/>
<child link="joint1"/>
<child link="link1"/>
<origin xyz= "0 0 0" rpy = "0 3.14 0"/>
</joint>
<joint name="joint2_to_joint1" type="revolute">
<joint name="joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-1.6057" upper = "1.6232" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 -0.175" rpy = "-1.57079 -1.57079 0"/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<joint name="joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-1.5882" upper = "1.7977" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "-0.303 -0.057 0 " rpy = "0 3.14159 -1.57079"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<joint name="joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.9671" upper = "2.9671" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "-0.08 0 0" rpy = "0 1.57079 0"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<joint name="joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-1.6755" upper = "1.5533" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= "0 0 -0.258" rpy = "0 1.57079 0"/>
</joint>
<joint name="endeffector_to_joint5" type="revolute">
<joint name="joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.9671" upper = "2.9671" velocity = "0"/>
<parent link="joint5"/>
<child link="endeffector"/>
<parent link="link5"/>
<child link="gripper"/>
<origin xyz= "0.07 0 0" rpy = "0 -1.57079 0"/>
</joint>
<joint name="gripper" type="prismatic">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "0" upper = "0.0345" velocity = "0"/>
<parent link="gripper"/>
<child link="gripper_left"/>
<origin xyz= "0.008 0 -0.036" rpy = "-1.57 0 -1.57"/>
</joint>
<joint name="gripper_r" type="prismatic">
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "0" upper = "0.06" velocity = "0"/>
<parent link="gripper"/>
<child link="gripper_right"/>
<origin xyz= "-0.008 0 -0.036" rpy = "-1.57 0 -1.57"/>
<!-- 跟随左手指运动 -->
<mimic joint="gripper" multiplier="1.0" offset="0" />
</joint>
</robot>

127
mycobot_description/urdf/myarm_m/myarm_m.urdf.xacro
View file

@ -2,171 +2,214 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="myarm_m" >
<xacro:property name="ns" value="$(arg ns)/" />
<link name="base">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/base.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/myarm_m_base.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/base.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/myarm_m_base.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="joint1">
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint1.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link1.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.1 " rpy = " 0 3.14 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint1.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link1.dae"/>
</geometry>
<origin xyz = "0.0 0 -0.1 " rpy = "0 3.14 0"/>
</collision>
</link>
<link name="joint2">
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint2.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link2.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = "0 3.14159 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint2.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link2.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = "0 3.14159 0"/>
</collision>
</link>
<link name="joint3">
<link name="link3">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint3.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link3.dae"/>
</geometry>
<origin xyz = "0.0 0 0" rpy = "0 3.14159 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint3.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link3.dae"/>
</geometry>
<origin xyz = "0.0 0 0.0" rpy = "0 3.14159 0"/>
</collision>
</link>
<link name="joint4">
<link name="link4">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint4.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link4.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 3.14159 -1.5708"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint4.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link4.dae"/>
</geometry>
<origin xyz = "0.0 0 0 " rpy = " 0 3.14159 -1.5708"/>
</collision>
</link>
<link name="joint5">
<link name="link5">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint5.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link5.dae"/>
</geometry>
<origin xyz = "0 0.00 0" rpy = " 0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/joint5.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/link5.dae"/>
</geometry>
<origin xyz = "0 0.00 0 " rpy = " 0 0 0"/>
</collision>
</link>
<link name="endeffector">
<link name="gripper">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/endeffector.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/finger_holder.dae"/>
</geometry>
<origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/endeffector.dae"/>
<mesh filename="package://mycobot_description/urdf/myarm_m/finger_holder.dae"/>
</geometry>
<origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
</collision>
</link>
<link name="gripper_left">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/finger_left.dae"/>
</geometry>
<origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/finger_left.dae"/>
</geometry>
<origin xyz = "0 0.00 0" rpy = " 0 0 0"/>
</collision>
</link>
<joint name="joint1_to_base" type="revolute">
<link name="gripper_right">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/finger_right.dae"/>
</geometry>
<origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/myarm_m/finger_right.dae"/>
</geometry>
<origin xyz = "0 0.00 0" rpy = " 0 3.14159 -1.57079"/>
</collision>
</link>
<joint name="joint1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.0368" upper = "2.9147" velocity = "0"/>
<parent link="base"/>
<child link="joint1"/>
<child link="link1"/>
<origin xyz= "0 0 0" rpy = "0 3.14 0"/>
</joint>
<joint name="joint2_to_joint1" type="revolute">
<joint name="joint2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-1.6057" upper = "1.6232" velocity = "0"/>
<parent link="joint1"/>
<child link="joint2"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 -0.175" rpy = "-1.57079 -1.57079 0"/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<joint name="joint3" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-1.5882" upper = "1.7977" velocity = "0"/>
<parent link="joint2"/>
<child link="joint3"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "-0.303 -0.057 0 " rpy = "0 3.14159 -1.57079"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<joint name="joint4" type="revolute">
<axis xyz=" 0 0 1"/>
<limit effort = "1000.0" lower = "-2.9671" upper = "2.9671" velocity = "0"/>
<parent link="joint3"/>
<child link="joint4"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "-0.08 0 0" rpy = "0 1.57079 0"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<joint name="joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-1.6755" upper = "1.5533" velocity = "0"/>
<parent link="joint4"/>
<child link="joint5"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= "0 0 -0.258" rpy = "0 1.57079 0"/>
</joint>
<joint name="endeffector_to_joint5" type="revolute">
<joint name="joint6" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.9671" upper = "2.9671" velocity = "0"/>
<parent link="joint5"/>
<child link="endeffector"/>
<parent link="link5"/>
<child link="gripper"/>
<origin xyz= "0.07 0 0" rpy = "0 -1.57079 0"/>
</joint>
<joint name="gripper" type="prismatic">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "0" upper = "0.0345" velocity = "0"/>
<parent link="gripper"/>
<child link="gripper_left"/>
<origin xyz= "0.008 0 -0.036" rpy = "-1.57 0 -1.57"/>
</joint>
<joint name="gripper_r" type="prismatic">
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "0" upper = "0.06" velocity = "0"/>
<parent link="gripper"/>
<child link="gripper_right"/>
<origin xyz= "-0.008 0 -0.036" rpy = "-1.57 0 -1.57"/>
<!-- 跟随左手指运动 -->
<mimic joint="gripper" multiplier="1.0" offset="0" />
</joint>
</robot>

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mycobot_description/urdf/myarm_m/myarm_m_base.dae Executable file
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