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update mycobot 630 urdf

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This commit is contained in:
wangWking 2024-03-06 10:39:53 +08:00
parent df7a68e648
commit 64bb5d8e83
16 changed files with 2022 additions and 209822 deletions
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25733
mycobot_description/urdf/mycobot_630/base.dae Normal file → Executable file
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mycobot_description/urdf/mycobot_630/link1.dae Normal file → Executable file
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mycobot_description/urdf/mycobot_630/link2.dae Normal file → Executable file
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mycobot_description/urdf/mycobot_630/link3.dae Normal file → Executable file
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mycobot_description/urdf/mycobot_630/link4.dae Normal file → Executable file
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mycobot_description/urdf/mycobot_630/link5.dae Normal file → Executable file
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mycobot_description/urdf/mycobot_630/link6.dae Normal file → Executable file
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126
mycobot_description/urdf/mycobot_630/mycobot_630.urdf
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@ -7,32 +7,30 @@
<link name="base">
<visual>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/600_urdf/base.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/base.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
<origin xyz = "0 0 0 " rpy = " 1.5707 0 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/600_urdf/base.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/base.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
<origin xyz = "0 0 0 " rpy = " 1.5707 0 0"/>
</collision>
</link>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/600_urdf/link1.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link1.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = "0 0 3.1415926"/>
<origin xyz = "0 0 -0.06 " rpy = "0 0 3.1415926"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/600_urdf/link1.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link1.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 3.1415926"/>
<origin xyz = "0 0 -0.06 " rpy = " 0 0 3.1415926"/>
</collision>
</link>
@ -40,15 +38,15 @@
<link name="link2">
<visual>
<geometry>
<mesh filename="package://mycobot_description/urdf/600_urdf/link2.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link2.dae"/>
</geometry>
<origin xyz = "0 0 -0.080 " rpy = " 3.1415926 0 3.1415926"/>
<origin xyz = "0 0 -0.0446 " rpy = " 0 -1.5707 -1.5707"/>
</visual>
<collision>
<geometry>
<mesh filename="package://mycobot_description/urdf/600_urdf/link2.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link2.dae"/>
</geometry>
<origin xyz = "0 0 -0.080 " rpy = " 3.1415926 0 3.1415926"/>
<origin xyz = "0 0 -0.0446 " rpy = " 0 -1.5707 -1.5707"/>
</collision>
</link>
@ -56,36 +54,31 @@
<link name="link3">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/600_urdf/link3.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link3.dae"/>
</geometry>
<origin xyz = "0 0 -0.0855 " rpy = " 3.1415926 0 3.1415926"/>
<origin xyz = "0 0 -0.0444 " rpy = " 0 1.5707 -1.5707"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/600_urdf/link3.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link3.dae"/>
</geometry>
<origin xyz = "0 0 -0.0855 " rpy = "3.1415926 0 3.1415926"/>
<origin xyz = "0 0 -0.0444 " rpy = "0 1.5707 -1.5707"/>
</collision>
</link>
<link name="link4">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/600_urdf/link4.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link4.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/>
<origin xyz = "0 0 0.041 " rpy = " -1.5707 0 1.5707"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/600_urdf/link4.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link4.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/>
<origin xyz = "0 0 0.041 " rpy = " -1.5707 0 1.5707"/>
</collision>
</link>
@ -93,97 +86,88 @@
<link name="link5">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/600_urdf/link5.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link5.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 1.5707"/>
<origin xyz = "-0.043 0 0 " rpy = " 0 -1.5707 3.1415926"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/600_urdf/link5.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link5.dae"/>
</geometry>
<origin xyz = "0 0 0 " rpy = " 0 0 1.5707"/>
<origin xyz = "-0.043 0 0 " rpy = " 0 -1.5707 3.1415926"/>
</collision>
</link>
<link name="link6">
<visual>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/600_urdf/link6.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link6.dae"/>
</geometry>
<material name = "grey">
<!-- <material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/>
</material>
<origin xyz = "0.03 0 0" rpy = " 0 -1.5707 0"/>
</material> -->
<origin xyz = "0.01 0 0" rpy = " 0 1.5707 0"/>
</visual>
<collision>
<geometry>
<!--- 0.0 0 -0.04 -->
<mesh filename="package://mycobot_description/urdf/600_urdf/link6.dae"/>
<mesh filename="package://mycobot_description/urdf/mycobot_630/link6.dae"/>
</geometry>
<material name = "grey">
<!-- <material name = "grey">
<color rgba = "0.5 0.5 0.5 1"/>
</material>
<origin xyz = "0.03 0 0" rpy = " 0 -1.5707 0"/>
</material> -->
<origin xyz = "0.01 0 0" rpy = " 0 1.5707 0"/>
</collision>
</link>
<joint name="joint2_to_joint1" type="revolute">
<joint name="joint1_to_base" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
<parent link="base"/>
<child link="link1"/>
<origin xyz= "0 0 0.19934" rpy = "0 0 0"/>
<origin xyz= "0 0 0.22934" rpy = "0 0 0"/>
</joint>
<joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "-4.71" upper = "1.5707" velocity = "0"/>
<parent link="link1"/>
<child link="link2"/>
<origin xyz= "0 0 0" rpy = "1.5707 0 0"/>
</joint>
<joint name="joint3_to_joint2" type="revolute">
<axis xyz="0 0 -1"/>
<limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/>
<!-- <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> -->
<parent link="link1"/>
<child link="link2"/>
<!-- <origin xyz= "0 0 0" rpy = "1.5708 -1.5708 0"/> -->
<origin xyz= "0 0 0" rpy = "1.5708 0 0"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 -1"/>
<limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/>
<parent link="link2"/>
<child link="link3"/>
<origin xyz= "0.25 0 0 " rpy = "0 0 0"/>
<origin xyz= "0.27 0 0 " rpy = "0 0 0"/>
</joint>
<joint name="joint4_to_joint3" type="revolute">
<axis xyz=" 0 0 -1"/>
<limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/>
<parent link="link3"/>
<child link="link4"/>
<origin xyz= "0.267 0 -0.0745" rpy = "0 0 0"/>
</joint>
<joint name="joint5_to_joint4" type="revolute">
<axis xyz=" 0 0 -1"/>
<limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/>
<!-- <limit effort = "1000.0" lower = "-2.96" upper = "2.97" velocity = "0"/> -->
<parent link="link3"/>
<child link="link4"/>
<!-- <origin xyz= "0.25 0 -0.1091" rpy = "0 0 1.5708"/> -->
<origin xyz= "0.25 0 -0.1091" rpy = "0 0 0"/>
</joint>
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "0"/>
<parent link="link4"/>
<child link="link5"/>
<origin xyz= "0 -0.108 0" rpy = "1.57080 -1.57080 0"/>
<origin xyz= "0 -0.095 0.002" rpy = "1.5707 -1.5707 0"/>
</joint>
<joint name="joint6output_to_joint6" type="revolute">
<joint name="joint6_to_joint5" type="revolute">
<axis xyz="-1 0 0"/>
<limit effort = "1000.0" lower = "-3.03" upper = "3.0368" velocity = "0"/>
<parent link="link5"/>
<child link="link6"/>
<origin xyz= "-0.07586 0 0" rpy = "-1.57080 0 0 "/>
<origin xyz= "-0.054 0 0" rpy = "-1.5707 0 0 "/>
</joint>

61
mycobot_pro/mycobot_630/config/mycobot_630.rviz
View file

@ -8,8 +8,9 @@ Panels:
- /Status1
- /RobotModel1
- /TF1
- /TF1/Frames1
Splitter Ratio: 0.5
Tree Height: 775
Tree Height: 609
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@ -18,17 +19,18 @@ Panels:
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
@ -40,7 +42,7 @@ Visualization Manager:
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
@ -105,13 +107,15 @@ Visualization Manager:
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: true
All Enabled: false
base:
Value: true
link1:
Value: true
Value: false
link2:
Value: true
link3:
@ -122,7 +126,8 @@ Visualization Manager:
Value: true
link6:
Value: true
Marker Scale: 0.300000012
Marker Alpha: 1
Marker Scale: 0.20000000298023224
Name: TF
Show Arrows: true
Show Axes: true
@ -138,6 +143,15 @@ Visualization Manager:
{}
Update Interval: 0
Value: true
- Alpha: 1
Class: rviz/Axes
Enabled: true
Length: 0.20000000298023224
Name: Axes
Radius: 0.004999999888241291
Reference Frame: <Fixed Frame>
Show Trail: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
@ -153,7 +167,10 @@ Visualization Manager:
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
@ -163,33 +180,33 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 2.0593462
Distance: 1.5878180265426636
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: -0.0706475973
Y: -0.0814988762
Z: 0.107583851
X: -0.07064759731292725
Y: -0.0814988762140274
Z: 0.10758385062217712
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.660398126
Near Clip Distance: 0.009999999776482582
Pitch: 0.5947973132133484
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.10539246
Yaw: 2.5353903770446777
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1056
Height: 906
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001d0000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003f2000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@ -198,6 +215,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 1855
X: 65
Y: 24
Width: 1848
X: 72
Y: 27

4
mycobot_pro/mycobot_630_moveit/config/fake_controllers.yaml
View file

@ -1,9 +1,9 @@
controller_list:
- name: fake_arm_group_controller
joints:
- joint1_to_base
- joint2_to_joint1
- joint3_to_joint2
- joint4_to_joint3
- joint5_to_joint4
- joint6_to_joint5
- joint6output_to_joint6
- joint6_to_joint5

12
mycobot_pro/mycobot_630_moveit/config/firefighter.srdf
View file

@ -10,21 +10,21 @@
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="arm_group">
<joint name="joint1_to_base" />
<joint name="joint2_to_joint1" />
<joint name="joint3_to_joint2" />
<joint name="joint4_to_joint3" />
<joint name="joint5_to_joint4" />
<joint name="joint6_to_joint5" />
<joint name="joint6output_to_joint6" />
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="init_pose" group="arm_group">
<joint name="joint2_to_joint1" value="0" />
<joint name="joint3_to_joint2" value="-1.5708" />
<joint name="joint4_to_joint3" value="0" />
<joint name="joint5_to_joint4" value="-1.5708" />
<joint name="joint1_to_base" value="0" />
<joint name="joint2_to_joint1" value="-1.5708" />
<joint name="joint3_to_joint2" value="0" />
<joint name="joint4_to_joint3" value="-1.5708" />
<joint name="joint5_to_joint4" value="0" />
<joint name="joint6_to_joint5" value="0" />
<joint name="joint6output_to_joint6" value="0" />
</group_state>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->

10
mycobot_pro/mycobot_630_moveit/config/joint_limits.yaml
View file

@ -2,6 +2,11 @@
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits:
joint1_to_base:
has_velocity_limits: true
max_velocity: 3.14
has_acceleration_limits: false
max_acceleration: 30
joint2_to_joint1:
has_velocity_limits: true
max_velocity: 3.14
@ -23,11 +28,6 @@ joint_limits:
has_acceleration_limits: false
max_acceleration: 30
joint6_to_joint5:
has_velocity_limits: true
max_velocity: 3.14
has_acceleration_limits: false
max_acceleration: 30
joint6output_to_joint6:
has_velocity_limits: true
max_velocity: 3.14
has_acceleration_limits: false

2
mycobot_pro/mycobot_630_moveit/config/ros_controllers.yaml
View file

@ -10,12 +10,12 @@ generic_hw_control_loop:
hardware_interface:
joints:
- vitual_joint
- joint1_to_base
- joint2_to_joint1
- joint3_to_joint2
- joint4_to_joint3
- joint5_to_joint4
- joint6_to_joint5
- joint6output_to_joint6
sim_control_mode: 1 # 0: position, 1: velocity
# Publish all joint states
# Creates the /joint_states topic necessary in ROS

2
mycobot_pro/mycobot_630_moveit/launch/demo_gazebo.launch
View file

@ -22,7 +22,7 @@
<arg name="gazebo_gui" default="true"/>
<arg name="paused" default="false"/>
<!-- By default, use the urdf location provided from the package -->
<arg name="urdf_path" default="$(find mycobot_description)/urdf/600_urdf/mycobot_630_urdf.urdf"/>
<arg name="urdf_path" default="$(find mycobot_description)/urdf/mycobot_630/mycobot_630.urdf"/>
<!-- launch the gazebo simulator and spawn the robot -->
<include file="$(find mycobot_630_moveit)/launch/gazebo.launch" >

49
mycobot_pro/mycobot_630_moveit/launch/moveit.rviz
View file

@ -9,8 +9,8 @@ Panels:
- /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1
- /MotionPlanning1/Planned Path1
Splitter Ratio: 0.742560029
Tree Height: 195
Splitter Ratio: 0.7425600290298462
Tree Height: 197
- Class: rviz/Help
Name: Help
- Class: rviz/Views
@ -18,6 +18,8 @@ Panels:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
@ -29,7 +31,7 @@ Visualization Manager:
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
@ -49,12 +51,10 @@ Visualization Manager:
MoveIt_Allow_External_Program: false
MoveIt_Allow_Replanning: false
MoveIt_Allow_Sensor_Positioning: false
MoveIt_Goal_Tolerance: 0
MoveIt_Planning_Attempts: 10
MoveIt_Planning_Time: 5
MoveIt_Use_Cartesian_Path: false
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Port: 33829
MoveIt_Workspace:
Center:
X: 0
@ -118,18 +118,19 @@ Visualization Manager:
State Display Time: 0.05 s
Trail Step Size: 1
Trajectory Topic: move_group/display_planned_path
Use Sim Time: false
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
TextHeight: 0.0799999982
TextHeight: 0.07999999821186066
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0.109999999
Interactive Marker Size: 0.10999999940395355
Joint Violation Color: 255; 0; 255
Planning Group: arm_group
Query Goal State: true
@ -142,7 +143,7 @@ Visualization Manager:
Scene Geometry:
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.200000003
Scene Display Time: 0.20000000298023224
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
@ -210,30 +211,30 @@ Visualization Manager:
Views:
Current:
Class: rviz/XYOrbit
Distance: 1.39158678
Distance: 1.3915867805480957
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0.113567002
Y: 0.105920002
Z: 2.23518001e-07
X: 0.11356700211763382
Y: 0.10592000186443329
Z: 2.2351800055275817e-07
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.354796648
Near Clip Distance: 0.009999999776482582
Pitch: 0.3547966480255127
Target Frame: base
Value: XYOrbit (rviz)
Yaw: 2.02676558
Yaw: 2.0267655849456787
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 898
Height: 906
Help:
collapsed: false
Hide Left Dock: false
@ -242,9 +243,9 @@ Window Geometry:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff000004710000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000100000000000001f300000330fc0200000007fb000000100044006900730070006c006100790073010000003d00000156000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000199000000420000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001e10000018c0000017d00ffffff0000053f0000033000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1828
X: 60
Y: 15
Width: 1848
X: 72
Y: 27

2
mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py
View file

@ -24,7 +24,7 @@ def callback(data):
data_list.append(radians_to_angles)
rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
mc.write_angles(data_list, 1000)
mc.write_angles(data_list, 800)
def listener():