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https://github.com/elephantrobotics/mycobot_ros.git
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增加320力控夹爪滑块控制、320PI增加pro自适应夹爪
This commit is contained in:
wangWking
parent
31e01bbd23
commit
714065d24f
59 changed files with 39946 additions and 137 deletions
12
README.md
12
README.md
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@ -224,10 +224,22 @@ Please adhere to this project's [code of conduct](CODE_OF_CONDUCT.md).
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[mycobot 320 m5 2022 force control gripper](./mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_force_gripper.urdf)
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[mycobot 320 pi 2022](./mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022.urdf)
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[mycobot 320 pi 2022 gripper](./mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_gripper.urdf)
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[mycobot 320 pi 2022 force control gripper](./mycobot_description/urdf/mycobot_320_pi_2022/pro_320_pi_2022_force_gripper.urdf)
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[ultraArm P340](./mycobot_description/urdf/ultraArm_p340/ultraArm_p340.urdf)
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BIN
demo_img/320m5_2022/320m5_force_gripper_2022.png
Normal file
BIN
demo_img/320m5_2022/320m5_force_gripper_2022.png
Normal file
Binary file not shown.
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After Width: | Height: | Size: 246 KiB |
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@ -71,6 +71,7 @@ catkin_install_python(PROGRAMS
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scripts/mycobot_320_listen_real.py
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scripts/mycobot_320_listen_real_of_topic.py
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scripts/mycobot_320_simple_gui.py
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scripts/mycobot_320_force_gripper_slider.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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@ -13,7 +13,7 @@ Panels:
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- /TF1/Frames1
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- /TF1/Tree1
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Splitter Ratio: 0.5
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Tree Height: 657
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Tree Height: 609
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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@ -249,17 +249,17 @@ Visualization Manager:
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.3197958171367645
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Pitch: 0.42979562282562256
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Target Frame: <Fixed Frame>
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Yaw: 3.108586549758911
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Yaw: 3.2435879707336426
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 954
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Height: 906
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000031c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002da000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005c80000031c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002da000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005c8000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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17
mycobot_320/new_mycobot_320/launch/adaptive_gripper.launch
Normal file
17
mycobot_320/new_mycobot_320/launch/adaptive_gripper.launch
Normal file
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@ -0,0 +1,17 @@
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<launch>
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<arg name="model" default="$(find mycobot_description)/urdf/pro_adaptive_gripper/mycobot_pro_adaptive_gripper.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_description)/urdf/pro_adaptive_gripper/pro_adaptive_gripper.rviz" />
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<arg name="gui" default="true" />
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
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<param name="use_gui" value="$(arg gui)" />
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<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
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</node>
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<!-- Show in Rviz ，显示在Rviz-->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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</launch>
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@ -1,11 +1,17 @@
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<launch>
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<arg name="model" default="$(find mycobot_description)/urdf/force_control_gripper/mycobot_pro_force_gripper.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_description)/urdf/force_control_gripper/force_gripper.rviz" />
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<!-- <node pkg="tf2_ros" type="static_transform_publisher" name="static_transform_publisher" args="0 0 0 0 0 0 world gripper_base"/> -->
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<!-- 使用 RViz 显示 -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true"/>
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</launch>
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<arg name="rvizconfig" default="$(find mycobot_description)/urdf/pro_adaptive_gripper/pro_adaptive_gripper.rviz" />
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<arg name="gui" default="true" />
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
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<param name="use_gui" value="$(arg gui)" />
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<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
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</node>
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<!-- Show in Rviz ，显示在Rviz-->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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</launch>
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@ -0,0 +1,20 @@
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<launch>
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<arg name="port" default="/dev/ttyACM0" />
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<arg name="baud" default="115200" />
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<arg name="model" default="$(find mycobot_description)/urdf/mycobot_320_m5_2022/pro_320_m5_2022_force_gripper.urdf"/>
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<arg name="rvizconfig" default="$(find new_mycobot_320)/config/new_mycobot_320_gripper.rviz" />
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<arg name="gui" default="true" />
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<!-- new -->
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
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</node>
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<!-- Show in Rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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</launch>
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@ -0,0 +1,17 @@
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<launch>
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<arg name="model" default="$(find mycobot_description)/urdf/mycobot_320_m5_2022/pro_320_m5_2022_force_gripper.urdf"/>
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<arg name="rvizconfig" default="$(find new_mycobot_320)/config/new_mycobot_320_gripper.rviz" />
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<arg name="gui" default="true" />
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
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<param name="use_gui" value="$(arg gui)" />
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<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
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</node>
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<!-- Show in Rviz ，显示在Rviz-->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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</launch>
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@ -1,31 +1,20 @@
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<launch>
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<arg name="port" default="/dev/ttyUSB0" />
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<arg name="port" default="/dev/ttyACM0" />
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<arg name="baud" default="115200" />
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<arg name="model" default="$(find mycobot_description)/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_gripper.urdf"/>
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<arg name="rvizconfig" default="$(find new_mycobot_320)/config/new_mycobot_320_gripper.rviz" />
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<arg name="gui" default="true" />
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<!-- <include file="$(find mycobot_280)/launch/slider_control.launch">
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<arg name="model" value="$(arg model)" />
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<arg name="rvizconfig" value="$(arg rvizconfig)" />
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<arg name="gui" value="$(arg gui)" />
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</include> -->
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<!-- new -->
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<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
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<!-- Combinejoin values to TF -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
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<!-- <param name="use_gui" value="$(arg gui)" /> -->
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<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
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</node>
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<!-- Open control script -->
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<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py">
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<param name="port" type="string" value="$(arg port)" />
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<param name="baud" type="int" value="$(arg baud)" />
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</node> -->
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<!-- Show in Rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
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</launch>
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61
mycobot_320/new_mycobot_320/scripts/mycobot_320_force_gripper_slider.py
Executable file
61
mycobot_320/new_mycobot_320/scripts/mycobot_320_force_gripper_slider.py
Executable file
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@ -0,0 +1,61 @@
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#!/usr/bin/env python3
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# -*- coding:utf-8 -*-
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"""[summary]
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This file obtains the joint angle of the manipulator in ROS,
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and then sends it directly to the real manipulator using `pymycobot` API.
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This file is [slider_control.launch] related script.
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Passable parameters:
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port: serial prot string. Defaults is '/dev/ttyUSB0'
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baud: serial prot baudrate. Defaults is 115200.
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"""
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import rospy
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import time
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from sensor_msgs.msg import JointState
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import math
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from pymycobot.mycobot320 import MyCobot320
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mc = None
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gripper_value = []
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def callback(data):
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global mc
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# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
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data_list = []
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for index, value in enumerate(data.position):
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data_list.append(round(value, 3))
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data_list = data_list[:7]
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angles_list = [round(math.degrees(radian), 2) for radian in data_list[:6]]
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print("angles:%s"%angles_list)
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mc.send_angles(angles_list, 25)
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gripper_value = int(data_list[6]* 100)
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print("gripper_value:%s"%gripper_value)
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mc.set_pro_gripper_angle(14, gripper_value)
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def listener():
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global mc
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global gripper_value
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rospy.init_node("control_slider", anonymous=True)
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port = rospy.get_param("~port", "/dev/ttyACM0")
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baud = rospy.get_param("~baud", 115200)
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print(port, baud)
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mc = MyCobot320(port, baud)
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time.sleep(0.05)
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mc.set_fresh_mode(1)
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time.sleep(0.05)
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rospy.Subscriber("joint_states", JointState, callback)
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# spin() simply keeps python from exiting until this node is stopped
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print("spin ...")
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rospy.spin()
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if __name__ == "__main__":
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listener()
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@ -11,6 +11,7 @@ Passable parameters:
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import rospy
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import time
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import math
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from sensor_msgs.msg import JointState
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from pymycobot.mycobot import MyCobot
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@ -27,13 +28,13 @@ def callback(data):
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data_list.append(round(value, 3))
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data_list = data_list[:7]
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print("radians:%s"%data_list[:6])
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mc.send_radians(data_list[:6], 80)
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angles_list = [round(math.degrees(radian), 2) for radian in data_list[:6]]
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print("angles:%s"%angles_list)
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mc.send_angles(angles_list, 25)
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gripper_value = int(abs(-0.7-data_list[6])* 117)
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print("gripper_value:%s"%gripper_value)
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# mc.set_gripper_mode(0)
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# time.sleep(1)
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mc.set_gripper_value(gripper_value, 100)
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mc.set_gripper_value(gripper_value, 80)
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def listener():
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global mc
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@ -41,11 +42,14 @@ def listener():
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rospy.init_node("control_slider", anonymous=True)
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rospy.Subscriber("joint_states", JointState, callback)
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port = rospy.get_param("~port", "/dev/ttyUSB0")
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port = rospy.get_param("~port", "/dev/ttyACM0")
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baud = rospy.get_param("~baud", 115200)
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print(port, baud)
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mc = MyCobot(port, baud)
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time.sleep(0.05)
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mc.set_fresh_mode(1)
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time.sleep(0.05)
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rospy.Subscriber("joint_states", JointState, callback)
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# spin() simply keeps python from exiting until this node is stopped
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print("spin ...")
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@ -13,7 +13,7 @@ import time
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import rospy
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from sensor_msgs.msg import JointState
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from pymycobot.mycobot import MyCobot
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from pymycobot.mycobot320 import MyCobot320
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mc = None
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@ -34,14 +34,14 @@ def listener():
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rospy.init_node("control_slider", anonymous=True)
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rospy.Subscriber("joint_states", JointState, callback)
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port = rospy.get_param("~port", "/dev/ttyUSB0")
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port = rospy.get_param("~port", "/dev/ttyACM0")
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baud = rospy.get_param("~baud", 115200)
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print(port, baud)
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mc = MyCobot(port, baud)
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mc = MyCobot320(port, baud)
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time.sleep(0.05)
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mc.set_fresh_mode(1)
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time.sleep(0.05)
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rospy.Subscriber("joint_states", JointState, callback)
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# spin() simply keeps python from exiting until this node is stopped
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print("spin ...")
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rospy.spin()
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@ -72,6 +72,8 @@ catkin_install_python(PROGRAMS
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scripts/mycobot_320_listen_real.py
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scripts/mycobot_320_listen_real_of_topic.py
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scripts/mycobot_320_simple_gui.py
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scripts/mycobot_320_force_gripper_slider.py
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scripts/mycobot_320_gripper_slider.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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@ -0,0 +1,272 @@
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Panels:
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||||
- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
- /RobotModel1
|
||||
- /RobotModel1/Links1
|
||||
- /RobotModel1/Links1/link61/Position1
|
||||
- /TF1
|
||||
- /TF1/Tree1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 609
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
Preferences:
|
||||
PromptSaveOnExit: true
|
||||
Toolbars:
|
||||
toolButtonStyle: 2
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz/RobotModel
|
||||
Collision Enabled: false
|
||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_left1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_left2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_left3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_right1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_right2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_right3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
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
|
||||
Value: true
|
||||
link6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Filter (blacklist): ""
|
||||
Filter (whitelist): ""
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
base:
|
||||
Value: true
|
||||
gripper_base:
|
||||
Value: true
|
||||
gripper_left1:
|
||||
Value: true
|
||||
gripper_left2:
|
||||
Value: true
|
||||
gripper_left3:
|
||||
Value: true
|
||||
gripper_right1:
|
||||
Value: true
|
||||
gripper_right2:
|
||||
Value: true
|
||||
gripper_right3:
|
||||
Value: true
|
||||
link1:
|
||||
Value: true
|
||||
link2:
|
||||
Value: true
|
||||
link3:
|
||||
Value: true
|
||||
link4:
|
||||
Value: true
|
||||
link5:
|
||||
Value: true
|
||||
link6:
|
||||
Value: true
|
||||
Marker Alpha: 1
|
||||
Marker Scale: 0.20000000298023224
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
base:
|
||||
link1:
|
||||
link2:
|
||||
link3:
|
||||
link4:
|
||||
link5:
|
||||
link6:
|
||||
gripper_base:
|
||||
gripper_left2:
|
||||
{}
|
||||
gripper_left3:
|
||||
gripper_left1:
|
||||
{}
|
||||
gripper_right2:
|
||||
{}
|
||||
gripper_right3:
|
||||
gripper_right1:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Default Light: true
|
||||
Fixed Frame: base
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- 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
|
||||
Single click: true
|
||||
Topic: /clicked_point
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 1.6224035024642944
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Field of View: 0.7853981852531433
|
||||
Focal Point:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.3197968304157257
|
||||
Target Frame: <Fixed Frame>
|
||||
Yaw: 3.0535898208618164
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 906
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004b3000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1848
|
||||
X: 72
|
||||
Y: 27
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
<launch>
|
||||
<arg name="port" default="/dev/ttyAMA0" />
|
||||
<arg name="baud" default="115200" />
|
||||
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_320_pi_2022/pro_320_pi_2022_force_gripper.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find new_mycobot_320_pi)/config/new_mycobot_320_pi_gripper.rviz" />
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
<!-- new -->
|
||||
<param name="robot_description" command="$(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">
|
||||
|
||||
</node>
|
||||
|
||||
<!-- Show in Rviz -->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,17 @@
|
|||
<launch>
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_320_pi_2022/pro_320_pi_2022_force_gripper.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find new_mycobot_320_pi)/config/new_mycobot_320_pi_gripper.rviz" />
|
||||
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
|
||||
<param name="use_gui" value="$(arg gui)" />
|
||||
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
|
||||
</node>
|
||||
<!-- Show in Rviz ，显示在Rviz-->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
|
|
@ -0,0 +1,17 @@
|
|||
<launch>
|
||||
<arg name="model" default="$(find mycobot_description)/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_gripper.urdf"/>
|
||||
<arg name="rvizconfig" default="$(find new_mycobot_320_pi)/config/new_mycobot_320_pi_gripper.rviz" />
|
||||
|
||||
<arg name="gui" default="true" />
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
|
||||
|
||||
<!-- Combinejoin values to TF -->
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
|
||||
<param name="use_gui" value="$(arg gui)" />
|
||||
<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
|
||||
</node>
|
||||
<!-- Show in Rviz ，显示在Rviz-->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
|
||||
</launch>
|
||||
61
mycobot_320/new_mycobot_320_pi/scripts/mycobot_320_force_gripper_slider.py
Executable file
61
mycobot_320/new_mycobot_320_pi/scripts/mycobot_320_force_gripper_slider.py
Executable file
|
|
@ -0,0 +1,61 @@
|
|||
#!/usr/bin/env python3
|
||||
# -*- coding:utf-8 -*-
|
||||
"""[summary]
|
||||
This file obtains the joint angle of the manipulator in ROS,
|
||||
and then sends it directly to the real manipulator using `pymycobot` API.
|
||||
This file is [slider_control.launch] related script.
|
||||
Passable parameters:
|
||||
port: serial prot string. Defaults is '/dev/ttyUSB0'
|
||||
baud: serial prot baudrate. Defaults is 115200.
|
||||
"""
|
||||
|
||||
import rospy
|
||||
import time
|
||||
from sensor_msgs.msg import JointState
|
||||
import math
|
||||
from pymycobot.mycobot320 import MyCobot320
|
||||
|
||||
|
||||
mc = None
|
||||
gripper_value = []
|
||||
|
||||
def callback(data):
|
||||
global mc
|
||||
# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
|
||||
data_list = []
|
||||
for index, value in enumerate(data.position):
|
||||
data_list.append(round(value, 3))
|
||||
|
||||
data_list = data_list[:7]
|
||||
angles_list = [round(math.degrees(radian), 2) for radian in data_list[:6]]
|
||||
print("angles:%s"%angles_list)
|
||||
mc.send_angles(angles_list, 25)
|
||||
gripper_value = int(data_list[6]* 100)
|
||||
print("gripper_value:%s"%gripper_value)
|
||||
|
||||
mc.set_pro_gripper_angle(14, gripper_value)
|
||||
|
||||
def listener():
|
||||
global mc
|
||||
global gripper_value
|
||||
|
||||
rospy.init_node("control_slider", anonymous=True)
|
||||
|
||||
|
||||
port = rospy.get_param("~port", "/dev/ttyAMA0")
|
||||
baud = rospy.get_param("~baud", 115200)
|
||||
print(port, baud)
|
||||
mc = MyCobot320(port, baud)
|
||||
time.sleep(0.05)
|
||||
mc.set_fresh_mode(1)
|
||||
time.sleep(0.05)
|
||||
|
||||
rospy.Subscriber("joint_states", JointState, callback)
|
||||
|
||||
# spin() simply keeps python from exiting until this node is stopped
|
||||
print("spin ...")
|
||||
rospy.spin()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
listener()
|
||||
60
mycobot_320/new_mycobot_320_pi/scripts/mycobot_320_gripper_slider.py
Executable file
60
mycobot_320/new_mycobot_320_pi/scripts/mycobot_320_gripper_slider.py
Executable file
|
|
@ -0,0 +1,60 @@
|
|||
#!/usr/bin/env python3
|
||||
# -*- coding:utf-8 -*-
|
||||
"""[summary]
|
||||
This file obtains the joint angle of the manipulator in ROS,
|
||||
and then sends it directly to the real manipulator using `pymycobot` API.
|
||||
This file is [slider_control.launch] related script.
|
||||
Passable parameters:
|
||||
port: serial prot string. Defaults is '/dev/ttyUSB0'
|
||||
baud: serial prot baudrate. Defaults is 115200.
|
||||
"""
|
||||
|
||||
import rospy
|
||||
import time
|
||||
import math
|
||||
from sensor_msgs.msg import JointState
|
||||
|
||||
from pymycobot.mycobot import MyCobot
|
||||
|
||||
|
||||
mc = None
|
||||
gripper_value = []
|
||||
|
||||
def callback(data):
|
||||
global mc
|
||||
# rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
|
||||
data_list = []
|
||||
for index, value in enumerate(data.position):
|
||||
data_list.append(round(value, 3))
|
||||
|
||||
data_list = data_list[:7]
|
||||
angles_list = [round(math.degrees(radian), 2) for radian in data_list[:6]]
|
||||
print("angles:%s"%angles_list)
|
||||
mc.send_angles(angles_list, 25)
|
||||
gripper_value = int(abs(-0.7-data_list[6])* 117)
|
||||
print("gripper_value:%s"%gripper_value)
|
||||
|
||||
mc.set_gripper_value(gripper_value, 80)
|
||||
|
||||
def listener():
|
||||
global mc
|
||||
global gripper_value
|
||||
|
||||
rospy.init_node("control_slider", anonymous=True)
|
||||
|
||||
port = rospy.get_param("~port", "/dev/ttyAMA0")
|
||||
baud = rospy.get_param("~baud", 115200)
|
||||
print(port, baud)
|
||||
mc = MyCobot(port, baud)
|
||||
time.sleep(0.05)
|
||||
mc.set_fresh_mode(1)
|
||||
time.sleep(0.05)
|
||||
rospy.Subscriber("joint_states", JointState, callback)
|
||||
|
||||
# spin() simply keeps python from exiting until this node is stopped
|
||||
print("spin ...")
|
||||
rospy.spin()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
listener()
|
||||
|
|
@ -9,6 +9,8 @@ Panels:
|
|||
- /RobotModel1
|
||||
- /RobotModel1/Links1
|
||||
- /Axes1
|
||||
- /TF1
|
||||
- /TF1/Frames1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 609
|
||||
- Class: rviz/Selection
|
||||
|
|
@ -84,6 +86,23 @@ Visualization Manager:
|
|||
Reference Frame: <Fixed Frame>
|
||||
Show Trail: false
|
||||
Value: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Filter (blacklist): ""
|
||||
Filter (whitelist): ""
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
Marker Alpha: 1
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
|
|
@ -112,7 +131,7 @@ Visualization Manager:
|
|||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 2.352400302886963
|
||||
Distance: 0.5552865266799927
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
|
|
@ -128,9 +147,9 @@ Visualization Manager:
|
|||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.4347953796386719
|
||||
Pitch: 0.34979552030563354
|
||||
Target Frame: <Fixed Frame>
|
||||
Yaw: 3.4385883808135986
|
||||
Yaw: 3.7785885334014893
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
|
|
|
|||
|
|
@ -6,18 +6,167 @@
|
|||
<link name="gripper_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/force_control_gripper/force_control_gripper.dae"/>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.01 0.1 0.1 " rpy = " -1.5708 -1.5708 3.14"/>
|
||||
<origin xyz = "-0.107 0.012 0.0 " rpy = " 1.5708 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/force_control_gripper/force_control_gripper.dae"/>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.01 0 0.1 " rpy = " -1.5708 -1.5708 3.14"/>
|
||||
<origin xyz = "-0.107 0.012 0.0 " rpy = " 1.5708 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_left1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.047 -0.013 0.044 " rpy = " 1.5708 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_left1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.047 -0.013 0.044 " rpy = " 1.5708 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_left2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.0 0.03 0.004 " rpy = " 3.14159 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_left2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.0 0.03 0.004 " rpy = " 3.14159 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_left3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 -0.03 0.012 " rpy = " 1.5708 3.14159 1.5708"/>
|
||||
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_left3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 -0.03 0.012 " rpy = " 1.5708 3.14159 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_right1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.047 -0.013 -0.046 " rpy = " 1.5708 3.14 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_right1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.047 -0.013 -0.046 " rpy = " 1.5708 3.14 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_right2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.03 -0.005 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_right2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.03 -0.005 " rpy = " 0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_right3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.014 -0.029 0.004 " rpy = " 3.14 0 -1.5708"/>
|
||||
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/force_control_gripper/pro_gripper_right3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.014 -0.029 0.004 " rpy = " 3.14 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="gripper_controller" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "0" upper = "1" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_left3"/>
|
||||
<origin xyz= "-0.018 0.016 -0.02" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_left2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.8" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_left2"/>
|
||||
<origin xyz= "-0.0445 -0.004 -0.02" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_left3_to_gripper_left1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_left3"/>
|
||||
<child link="gripper_left1"/>
|
||||
<origin xyz= "0.01 0.06 0.0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_right3" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "1" upper = "0" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_right3"/>
|
||||
<origin xyz= "0.018 0.015 -0.0212" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_right2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.8" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_right2"/>
|
||||
<origin xyz= "0.0442 -0.004 -0.02" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_right3_to_gripper_right1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_right3"/>
|
||||
<child link="gripper_right1"/>
|
||||
<origin xyz= "-0.01 0.061 0.001" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
|
||||
</robot>
|
||||
|
||||
|
|
|
|||
8698
mycobot_description/urdf/force_control_gripper/pro_gripper_base.dae
Executable file
8698
mycobot_description/urdf/force_control_gripper/pro_gripper_base.dae
Executable file
File diff suppressed because one or more lines are too long
638
mycobot_description/urdf/force_control_gripper/pro_gripper_left1.dae
Executable file
638
mycobot_description/urdf/force_control_gripper/pro_gripper_left1.dae
Executable file
File diff suppressed because one or more lines are too long
189
mycobot_description/urdf/force_control_gripper/pro_gripper_left2.dae
Executable file
189
mycobot_description/urdf/force_control_gripper/pro_gripper_left2.dae
Executable file
File diff suppressed because one or more lines are too long
265
mycobot_description/urdf/force_control_gripper/pro_gripper_left3.dae
Executable file
265
mycobot_description/urdf/force_control_gripper/pro_gripper_left3.dae
Executable file
File diff suppressed because one or more lines are too long
638
mycobot_description/urdf/force_control_gripper/pro_gripper_right1.dae
Executable file
638
mycobot_description/urdf/force_control_gripper/pro_gripper_right1.dae
Executable file
File diff suppressed because one or more lines are too long
189
mycobot_description/urdf/force_control_gripper/pro_gripper_right2.dae
Executable file
189
mycobot_description/urdf/force_control_gripper/pro_gripper_right2.dae
Executable file
File diff suppressed because one or more lines are too long
260
mycobot_description/urdf/force_control_gripper/pro_gripper_right3.dae
Executable file
260
mycobot_description/urdf/force_control_gripper/pro_gripper_right3.dae
Executable file
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
|
|
@ -119,7 +119,7 @@
|
|||
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.87" upper = "2.87" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
|
||||
<parent link="base"/>
|
||||
<child link="link1"/>
|
||||
<origin xyz= "0 0 0.173" rpy = "0 0 0"/>
|
||||
|
|
@ -128,7 +128,7 @@
|
|||
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879" upper = "2.879" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
<origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/>
|
||||
|
|
@ -137,7 +137,7 @@
|
|||
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879" upper = "2.879" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
|
||||
<parent link="link2"/>
|
||||
<child link="link3"/>
|
||||
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/>
|
||||
|
|
@ -145,7 +145,7 @@
|
|||
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879" upper = "2.879" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
<origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
|
||||
|
|
@ -153,7 +153,7 @@
|
|||
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.879" upper = "2.879" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
|
||||
<parent link="link4"/>
|
||||
<child link="link5"/>
|
||||
<origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/>
|
||||
|
|
@ -161,7 +161,7 @@
|
|||
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
|
||||
<parent link="link5"/>
|
||||
<child link="link6"/>
|
||||
<origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/>
|
||||
|
|
|
|||
|
|
@ -234,7 +234,7 @@
|
|||
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
|
||||
<parent link="base"/>
|
||||
<child link="link1"/>
|
||||
<origin xyz= "0 0 0.173" rpy = "0 0 0"/>
|
||||
|
|
@ -243,7 +243,7 @@
|
|||
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
<origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/>
|
||||
|
|
@ -252,7 +252,7 @@
|
|||
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
|
||||
<parent link="link2"/>
|
||||
<child link="link3"/>
|
||||
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/>
|
||||
|
|
@ -260,7 +260,7 @@
|
|||
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
<origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
|
||||
|
|
@ -268,7 +268,7 @@
|
|||
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
|
||||
<parent link="link4"/>
|
||||
<child link="link5"/>
|
||||
<origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/>
|
||||
|
|
@ -276,7 +276,7 @@
|
|||
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
|
||||
<parent link="link5"/>
|
||||
<child link="link6"/>
|
||||
<origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/>
|
||||
|
|
|
|||
|
|
@ -119,7 +119,7 @@
|
|||
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
|
||||
<parent link="base"/>
|
||||
<child link="link1"/>
|
||||
<origin xyz= "0 0 0.173" rpy = "0 0 0"/>
|
||||
|
|
@ -128,7 +128,7 @@
|
|||
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
<origin xyz= "0 -0.086 0" rpy = "0 -1.57080 1.57080"/>
|
||||
|
|
@ -137,7 +137,7 @@
|
|||
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
|
||||
<parent link="link2"/>
|
||||
<child link="link3"/>
|
||||
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/>
|
||||
|
|
@ -145,7 +145,7 @@
|
|||
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
<origin xyz= "0.1195 0 0.082" rpy = "0 0 1.57080"/>
|
||||
|
|
@ -153,7 +153,7 @@
|
|||
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
|
||||
<parent link="link4"/>
|
||||
<child link="link5"/>
|
||||
<origin xyz= "0 -0.09415 0" rpy = "1.57080 0 0"/>
|
||||
|
|
@ -161,7 +161,7 @@
|
|||
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
|
||||
<parent link="link5"/>
|
||||
<child link="link6"/>
|
||||
<origin xyz= "0 0.055 0" rpy = "-1.57080 0 0 "/>
|
||||
|
|
|
|||
|
|
@ -0,0 +1,336 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
|
||||
<link name="base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/link1.dae"/>
|
||||
</geometry>
|
||||
|
||||
<origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/link1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/link2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/link2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/link3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/link3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/link4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/link4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/link5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/link5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/link6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/link6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/force_control_gripper/pro_gripper_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.107 0.012 0.0 " rpy = " 1.5708 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/force_control_gripper/pro_gripper_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.107 0.012 0.0 " rpy = " 1.5708 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/force_control_gripper/pro_gripper_left1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.047 -0.013 0.044 " rpy = " 1.5708 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/force_control_gripper/pro_gripper_left1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.047 -0.013 0.044 " rpy = " 1.5708 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/force_control_gripper/pro_gripper_left2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.0 0.03 0.004 " rpy = " 3.14159 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/force_control_gripper/pro_gripper_left2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.0 0.03 0.004 " rpy = " 3.14159 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/force_control_gripper/pro_gripper_left3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 -0.03 0.012 " rpy = " 1.5708 3.14159 1.5708"/>
|
||||
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/force_control_gripper/pro_gripper_left3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 -0.03 0.012 " rpy = " 1.5708 3.14159 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/force_control_gripper/pro_gripper_right1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.047 -0.013 -0.046 " rpy = " 1.5708 3.14 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/force_control_gripper/pro_gripper_right1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.047 -0.013 -0.046 " rpy = " 1.5708 3.14 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/force_control_gripper/pro_gripper_right2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.03 -0.005 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/force_control_gripper/pro_gripper_right2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.03 -0.005 " rpy = " 0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/force_control_gripper/pro_gripper_right3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.014 -0.029 0.004 " rpy = " 3.14 0 -1.5708"/>
|
||||
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/force_control_gripper/pro_gripper_right3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.014 -0.029 0.004 " rpy = " 3.14 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
|
||||
<parent link="base"/>
|
||||
<child link="link1"/>
|
||||
<origin xyz= "0 0 0.173" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
<origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
|
||||
<parent link="link2"/>
|
||||
<child link="link3"/>
|
||||
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
<origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
|
||||
<parent link="link4"/>
|
||||
<child link="link5"/>
|
||||
<origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
|
||||
<parent link="link5"/>
|
||||
<child link="link6"/>
|
||||
<origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_gripper_base" type="fixed">
|
||||
<!-- <axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/> -->
|
||||
<parent link="link6"/>
|
||||
<child link="gripper_base"/>
|
||||
<origin xyz= "0 0.0 0.034" rpy = "1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_controller" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "0" upper = "1" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_left3"/>
|
||||
<origin xyz= "-0.018 0.016 -0.02" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_left2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.8" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_left2"/>
|
||||
<origin xyz= "-0.0445 -0.004 -0.02" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_left3_to_gripper_left1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_left3"/>
|
||||
<child link="gripper_left1"/>
|
||||
<origin xyz= "0.01 0.06 0.0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_right3" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "1" upper = "0" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_right3"/>
|
||||
<origin xyz= "0.018 0.015 -0.0212" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_right2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.8" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_right2"/>
|
||||
<origin xyz= "0.0442 -0.004 -0.02" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_right3_to_gripper_right1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_right3"/>
|
||||
<child link="gripper_right1"/>
|
||||
<origin xyz= "-0.01 0.061 0.001" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
|
||||
</robot>
|
||||
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
248
mycobot_description/urdf/mycobot_320_pi_2022/gripper_left1.dae
Normal file
248
mycobot_description/urdf/mycobot_320_pi_2022/gripper_left1.dae
Normal file
File diff suppressed because one or more lines are too long
214
mycobot_description/urdf/mycobot_320_pi_2022/gripper_left2.dae
Normal file
214
mycobot_description/urdf/mycobot_320_pi_2022/gripper_left2.dae
Normal file
File diff suppressed because one or more lines are too long
248
mycobot_description/urdf/mycobot_320_pi_2022/gripper_left3.dae
Normal file
248
mycobot_description/urdf/mycobot_320_pi_2022/gripper_left3.dae
Normal file
File diff suppressed because one or more lines are too long
248
mycobot_description/urdf/mycobot_320_pi_2022/gripper_right1.dae
Normal file
248
mycobot_description/urdf/mycobot_320_pi_2022/gripper_right1.dae
Normal file
File diff suppressed because one or more lines are too long
209
mycobot_description/urdf/mycobot_320_pi_2022/gripper_right2.dae
Normal file
209
mycobot_description/urdf/mycobot_320_pi_2022/gripper_right2.dae
Normal file
File diff suppressed because one or more lines are too long
248
mycobot_description/urdf/mycobot_320_pi_2022/gripper_right3.dae
Normal file
248
mycobot_description/urdf/mycobot_320_pi_2022/gripper_right3.dae
Normal file
File diff suppressed because one or more lines are too long
|
|
@ -129,7 +129,7 @@
|
|||
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
|
||||
<parent link="base"/>
|
||||
<child link="link1"/>
|
||||
<origin xyz= "0 0 0.173" rpy = "0 0 0"/>
|
||||
|
|
@ -138,7 +138,7 @@
|
|||
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
<origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/>
|
||||
|
|
@ -147,7 +147,7 @@
|
|||
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
|
||||
<parent link="link2"/>
|
||||
<child link="link3"/>
|
||||
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/>
|
||||
|
|
@ -156,7 +156,7 @@
|
|||
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
<origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
|
||||
|
|
@ -165,7 +165,7 @@
|
|||
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
|
||||
<parent link="link4"/>
|
||||
<child link="link5"/>
|
||||
<origin xyz= "0 -0.09415 0" rpy = "1.5708 0 0"/>
|
||||
|
|
@ -173,7 +173,7 @@
|
|||
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
|
||||
<parent link="link5"/>
|
||||
<child link="link6"/>
|
||||
<origin xyz= "0 0.06635 0" rpy = "-1.5708 0 0"/>
|
||||
|
|
|
|||
|
|
@ -0,0 +1,344 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
|
||||
|
||||
<link name="base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link1.dae"/>
|
||||
</geometry>
|
||||
|
||||
<origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.02 0.012 -0.018 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.02 0.012 -0.018 " rpy = " 0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_left1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.036 -0.052 0.0 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_left1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.036 -0.052 0.0 " rpy = " 0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_left2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.03 0.024 -0.018 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_left2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.03 0.024 -0.018 " rpy = " 0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_left3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.034 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
|
||||
<!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
|
||||
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_left3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.034 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_right1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.072 -0.05 0.0 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_right1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.036 -0.052 0.0 " rpy = " 0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_right2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.066 0.023 -0.018 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_right2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.03 0.024 -0.018 " rpy = " 0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_right3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
|
||||
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_right3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.034 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
|
||||
<parent link="base"/>
|
||||
<child link="link1"/>
|
||||
<origin xyz= "0 0 0.173" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
<origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
|
||||
<parent link="link2"/>
|
||||
<child link="link3"/>
|
||||
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
<origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
|
||||
<parent link="link4"/>
|
||||
<child link="link5"/>
|
||||
<origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
||||
<parent link="link5"/>
|
||||
<child link="link6"/>
|
||||
<origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_gripper_base" type="fixed">
|
||||
<!-- <axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/> -->
|
||||
<parent link="link6"/>
|
||||
<child link="gripper_base"/>
|
||||
<origin xyz= "0 0.0 0.042" rpy = "1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_controller" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.7" upper = "0.3" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_left3"/>
|
||||
<origin xyz= "-0.018 0.016 0" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_left2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.8" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_left2"/>
|
||||
<origin xyz= "-0.05 -0.01 0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_left3_to_gripper_left1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_left3"/>
|
||||
<child link="gripper_left1"/>
|
||||
<origin xyz= "-0.0356 0.051 -0.018" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_right3" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.3" upper = "0.7" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_right3"/>
|
||||
<origin xyz= "0.018 0.016 0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_right2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.8" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_right2"/>
|
||||
<origin xyz= "0.046 -0.01 0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_right3_to_gripper_right1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_right3"/>
|
||||
<child link="gripper_right1"/>
|
||||
<origin xyz= "0.033 0.051 -0.018" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
|
||||
</robot>
|
||||
|
|
@ -119,7 +119,7 @@
|
|||
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
|
||||
<parent link="base"/>
|
||||
<child link="link1"/>
|
||||
<origin xyz= "0 0 0.173" rpy = "0 0 0"/>
|
||||
|
|
@ -128,7 +128,7 @@
|
|||
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
<origin xyz= "0 -0.086 0" rpy = "0 -1.57080 1.57080"/>
|
||||
|
|
@ -137,7 +137,7 @@
|
|||
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
|
||||
<parent link="link2"/>
|
||||
<child link="link3"/>
|
||||
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/>
|
||||
|
|
@ -145,7 +145,7 @@
|
|||
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
<origin xyz= "0.1195 0 0.082" rpy = "0 0 1.57080"/>
|
||||
|
|
@ -153,7 +153,7 @@
|
|||
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
|
||||
<parent link="link4"/>
|
||||
<child link="link5"/>
|
||||
<origin xyz= "0 -0.09415 0" rpy = "1.57080 0 0"/>
|
||||
|
|
@ -161,7 +161,7 @@
|
|||
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
|
||||
<parent link="link5"/>
|
||||
<child link="link6"/>
|
||||
<origin xyz= "0 0.055 0" rpy = "-1.57080 0 0 "/>
|
||||
|
|
|
|||
|
|
@ -139,7 +139,7 @@
|
|||
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
|
||||
<parent link="base"/>
|
||||
<child link="link1"/>
|
||||
<origin xyz= "0 0 0.173" rpy = "0 0 0"/>
|
||||
|
|
@ -148,7 +148,7 @@
|
|||
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
<origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/>
|
||||
|
|
@ -157,7 +157,7 @@
|
|||
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
|
||||
<parent link="link2"/>
|
||||
<child link="link3"/>
|
||||
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/>
|
||||
|
|
@ -166,7 +166,7 @@
|
|||
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
<origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
|
||||
|
|
@ -175,7 +175,7 @@
|
|||
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
|
||||
<parent link="link4"/>
|
||||
<child link="link5"/>
|
||||
<origin xyz= "0 -0.09415 0" rpy = "1.5708 0 0"/>
|
||||
|
|
@ -184,7 +184,7 @@
|
|||
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
|
||||
<parent link="link5"/>
|
||||
<child link="link6"/>
|
||||
<origin xyz= "0 0.055 0" rpy = "-1.5708 0 0"/>
|
||||
|
|
|
|||
|
|
@ -0,0 +1,336 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
|
||||
|
||||
<xacro:property name="width" value=".2" />
|
||||
|
||||
<link name="base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0 0 " rpy = " 0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link1.dae"/>
|
||||
</geometry>
|
||||
|
||||
<origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.078 " rpy = " 0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.04 " rpy = " 0 1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 0.039 " rpy = " 1.5708 1.5708 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 -0.0024 -0.05" rpy = " 1.5708 1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.05 " rpy = " 0 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.022 " rpy = " 1.5708 1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/link6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.0 0.0 -0.022 " rpy = " 1.5708 1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/force_control_gripper/pro_gripper_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.107 0.012 0.0 " rpy = " 1.5708 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/force_control_gripper/pro_gripper_base.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.107 0.012 0.0 " rpy = " 1.5708 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/force_control_gripper/pro_gripper_left1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.047 -0.013 0.044 " rpy = " 1.5708 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/force_control_gripper/pro_gripper_left1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.047 -0.013 0.044 " rpy = " 1.5708 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/force_control_gripper/pro_gripper_left2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.0 0.03 0.004 " rpy = " 3.14159 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/force_control_gripper/pro_gripper_left2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.0 0.03 0.004 " rpy = " 3.14159 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_left3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/force_control_gripper/pro_gripper_left3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 -0.03 0.012 " rpy = " 1.5708 3.14159 1.5708"/>
|
||||
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/force_control_gripper/pro_gripper_left3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 -0.03 0.012 " rpy = " 1.5708 3.14159 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/force_control_gripper/pro_gripper_right1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.047 -0.013 -0.046 " rpy = " 1.5708 3.14 -1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/force_control_gripper/pro_gripper_right1.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0.047 -0.013 -0.046 " rpy = " 1.5708 3.14 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/force_control_gripper/pro_gripper_right2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.03 -0.005 " rpy = " 0 0 1.5708"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/force_control_gripper/pro_gripper_right2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.03 -0.005 " rpy = " 0 0 1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_right3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/force_control_gripper/pro_gripper_right3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.014 -0.029 0.004 " rpy = " 3.14 0 -1.5708"/>
|
||||
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/force_control_gripper/pro_gripper_right3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.014 -0.029 0.004 " rpy = " 3.14 0 -1.5708"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="joint2_to_joint1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
|
||||
<parent link="base"/>
|
||||
<child link="link1"/>
|
||||
<origin xyz= "0 0 0.173" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
<origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint4_to_joint3" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
|
||||
<parent link="link2"/>
|
||||
<child link="link3"/>
|
||||
<origin xyz= "0.13635 0 -0.086 " rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
<origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
|
||||
<parent link="link4"/>
|
||||
<child link="link5"/>
|
||||
<origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
|
||||
<parent link="link5"/>
|
||||
<child link="link6"/>
|
||||
<origin xyz= "0 0.06635 0.0" rpy = "-1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_gripper_base" type="fixed">
|
||||
<!-- <axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/> -->
|
||||
<parent link="link6"/>
|
||||
<child link="gripper_base"/>
|
||||
<origin xyz= "0 0.0 0.026" rpy = "1.5708 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_controller" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "0" upper = "1" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_left3"/>
|
||||
<origin xyz= "-0.018 0.016 -0.02" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_left2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.8" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_left2"/>
|
||||
<origin xyz= "-0.0445 -0.004 -0.02" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_left3_to_gripper_left1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_left3"/>
|
||||
<child link="gripper_left1"/>
|
||||
<origin xyz= "0.01 0.06 0.0" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_right3" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "1" upper = "0" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_right3"/>
|
||||
<origin xyz= "0.018 0.015 -0.0212" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_base_to_gripper_right2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.8" velocity = "0"/>
|
||||
<parent link="gripper_base"/>
|
||||
<child link="gripper_right2"/>
|
||||
<origin xyz= "0.0442 -0.004 -0.02" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_right3_to_gripper_right1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
|
||||
<parent link="gripper_right3"/>
|
||||
<child link="gripper_right1"/>
|
||||
<origin xyz= "-0.01 0.061 0.001" rpy = "0 0 0"/>
|
||||
<mimic joint="gripper_controller" multiplier="1.0" offset="0" />
|
||||
</joint>
|
||||
|
||||
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,226 @@
|
|||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
- /RobotModel1
|
||||
- /RobotModel1/Links1
|
||||
- /TF1
|
||||
- /TF1/Frames1
|
||||
- /TF1/Tree1
|
||||
- /Axes1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 609
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
Preferences:
|
||||
PromptSaveOnExit: true
|
||||
Toolbars:
|
||||
toolButtonStyle: 2
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz/RobotModel
|
||||
Collision Enabled: false
|
||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
gripper_base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_left1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_left2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_left3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_right1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_right2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_right3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Filter (blacklist): ""
|
||||
Filter (whitelist): ""
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: false
|
||||
gripper_base:
|
||||
Value: true
|
||||
gripper_left1:
|
||||
Value: true
|
||||
gripper_left2:
|
||||
Value: true
|
||||
gripper_left3:
|
||||
Value: true
|
||||
gripper_right1:
|
||||
Value: true
|
||||
gripper_right2:
|
||||
Value: true
|
||||
gripper_right3:
|
||||
Value: true
|
||||
Marker Alpha: 1
|
||||
Marker Scale: 0.10000000149011612
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
gripper_base:
|
||||
gripper_left2:
|
||||
{}
|
||||
gripper_left3:
|
||||
gripper_left1:
|
||||
{}
|
||||
gripper_right2:
|
||||
{}
|
||||
gripper_right3:
|
||||
gripper_right1:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz/Axes
|
||||
Enabled: true
|
||||
Length: 0.10000000149011612
|
||||
Name: Axes
|
||||
Radius: 0.004999999888241291
|
||||
Reference Frame: <Fixed Frame>
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Default Light: true
|
||||
Fixed Frame: gripper_base
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- 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
|
||||
Single click: true
|
||||
Topic: /clicked_point
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 0.7158810496330261
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Field of View: 0.7853981852531433
|
||||
Focal Point:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.9447956681251526
|
||||
Target Frame: <Fixed Frame>
|
||||
Yaw: 5.838583469390869
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 906
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002da000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005c8000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1848
|
||||
X: 72
|
||||
Y: 27
|
||||
Loading…
Add table
Reference in a new issue