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更新三指dae模型文件

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wangWking 2025-01-16 09:56:10 +08:00
parent 2aa63607bb
commit 41fcf86aa1
4 changed files with 1826 additions and 2672 deletions
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2
mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_moveit_three_gripper.urdf
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@ -122,7 +122,7 @@
<material name = "grey"> <material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/> <color rgba = "0.5 0.5 0.5 1"/>
</material> </material>
<origin xyz = "0.026 -0.026 0.0 " rpy = " 1.5708 0 3.14159"/> <origin xyz = "0.04 -0.026 0.03 " rpy = " 1.5708 0 3.14159"/>
</visual> </visual>
<collision> <collision>
<origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 0 3.14159"/> <origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 0 3.14159"/>

2
mycobot_description/urdf/mycobot_pro_630/mycobot_pro_630_moveit_three_grip.urdf
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@ -121,7 +121,7 @@
<geometry> <geometry>
<mesh filename="package://mycobot_description/urdf/three_gripper/three_myhand.dae"/> <mesh filename="package://mycobot_description/urdf/three_gripper/three_myhand.dae"/>
</geometry> </geometry>
<origin xyz = "0.054 0 0.026" rpy = " 0 1.5707 3.14159"/> <origin xyz = "0.054 -0.03 0.04" rpy = " 0 1.5707 3.14159"/>
</visual> </visual>
<collision> <collision>
<origin xyz = "0.006 0.0 -0.0 " rpy = " 0 1.5708 3.14159"/> <origin xyz = "0.006 0.0 -0.0 " rpy = " 0 1.5708 3.14159"/>

4478
mycobot_description/urdf/three_gripper/three_myhand.dae
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File diff suppressed because one or more lines are too long

16
mycobot_pro/mycobot_630/launch/test_three_gripper.launch Executable file
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@ -0,0 +1,16 @@
<launch>
<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_pro_630_moveit_three_grip.urdf"/>
<arg name="rvizconfig" default="$(find mycobot_630)/config/mycobot_630.rviz" />
<arg name="gui" default="true" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
<!-- Combinejoin values to TF -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
<!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>