mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
add old 320 M5 gripper ros model
This commit is contained in:
weijian
parent
0d0472ccf1
commit
c472e256a3
14 changed files with 5978 additions and 25988 deletions
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@ -32,6 +32,7 @@ include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
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catkin_install_python(PROGRAMS
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scripts/mycobot_320_follow_display.py
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scripts/mycobot_320_slider.py
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scripts/mycobot_320_gripper_slider.py
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scripts/mycobot_320_teleop_keyboard.py
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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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270
mycobot_320/mycobot_320/config/mycobot_320_gripper.rviz
Normal file
270
mycobot_320/mycobot_320/config/mycobot_320_gripper.rviz
Normal file
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@ -0,0 +1,270 @@
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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /RobotModel1
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- /RobotModel1/Links1
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- /TF1
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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: 591
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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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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz/RobotModel
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Collision Enabled: false
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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gripper_base:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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gripper_left1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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gripper_left2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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gripper_left3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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gripper_right1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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gripper_right2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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gripper_right3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link1:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link2:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link3:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link4:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link5:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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link6:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Name: RobotModel
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Robot Description: robot_description
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Class: rviz/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: false
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base:
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Value: true
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gripper_base:
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Value: true
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gripper_left1:
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Value: true
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gripper_left2:
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Value: true
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gripper_left3:
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Value: true
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gripper_right1:
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Value: true
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gripper_right2:
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Value: true
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gripper_right3:
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Value: true
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link1:
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Value: true
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link2:
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Value: true
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link3:
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Value: true
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link4:
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Value: true
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link5:
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Value: true
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link6:
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Value: true
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Marker Alpha: 1
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Marker Scale: 0.20000000298023224
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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base:
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link1:
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link2:
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link3:
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link4:
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link5:
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link6:
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gripper_base:
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gripper_left2:
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{}
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gripper_left3:
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gripper_left1:
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{}
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gripper_right2:
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{}
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gripper_right3:
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gripper_right1:
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{}
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Update Interval: 0
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: base
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 1.5781474113464355
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Field of View: 0.7853981852531433
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Focal Point:
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X: 0
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Y: 0
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Z: 0
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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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: 0.5597966313362122
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Target Frame: <Fixed Frame>
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Yaw: 2.7535898685455322
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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: 888
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd00000004000000000000016a000002dafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002da000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002da000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005c8000002da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1848
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X: 72
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Y: 27
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@ -0,0 +1,31 @@
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<launch>
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<arg name="port" default="/dev/ttyUSB0" />
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<arg name="baud" default="115200" />
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<arg name="model" default="$(find mycobot_description)/urdf/320_urdf/mycobot_pro_320_gripper.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_320)/config/mycobot_320_gripper.rviz" />
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<arg name="gui" default="true" />
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<!-- <include file="$(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 $(arg rvizconfig)" required="true" />
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</launch>
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@ -0,0 +1,17 @@
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<launch>
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<arg name="model" default="$(find mycobot_description)/urdf/320_urdf/mycobot_pro_320_gripper.urdf"/>
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<arg name="rvizconfig" default="$(find mycobot_320)/config/mycobot_320_gripper.rviz" />
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<arg name="gui" default="true" />
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<param name="robot_description" command="$(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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56
mycobot_320/mycobot_320/scripts/mycobot_320_gripper_slider.py
Executable file
56
mycobot_320/mycobot_320/scripts/mycobot_320_gripper_slider.py
Executable file
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@ -0,0 +1,56 @@
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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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from pymycobot.mycobot import MyCobot
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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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print("radians:%s"%data_list[:6])
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mc.send_radians(data_list[:6], 80)
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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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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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rospy.Subscriber("joint_states", JointState, callback)
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port = rospy.get_param("~port", "/dev/ttyUSB0")
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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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# 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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File diff suppressed because one or more lines are too long
3833
mycobot_description/urdf/320_urdf/gripper_base.dae
Normal file
3833
mycobot_description/urdf/320_urdf/gripper_base.dae
Normal file
File diff suppressed because one or more lines are too long
248
mycobot_description/urdf/320_urdf/gripper_left1.dae
Normal file
248
mycobot_description/urdf/320_urdf/gripper_left1.dae
Normal file
File diff suppressed because one or more lines are too long
214
mycobot_description/urdf/320_urdf/gripper_left2.dae
Normal file
214
mycobot_description/urdf/320_urdf/gripper_left2.dae
Normal file
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248
mycobot_description/urdf/320_urdf/gripper_left3.dae
Normal file
248
mycobot_description/urdf/320_urdf/gripper_left3.dae
Normal file
File diff suppressed because one or more lines are too long
248
mycobot_description/urdf/320_urdf/gripper_right1.dae
Normal file
248
mycobot_description/urdf/320_urdf/gripper_right1.dae
Normal file
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209
mycobot_description/urdf/320_urdf/gripper_right2.dae
Normal file
209
mycobot_description/urdf/320_urdf/gripper_right2.dae
Normal file
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248
mycobot_description/urdf/320_urdf/gripper_right3.dae
Normal file
248
mycobot_description/urdf/320_urdf/gripper_right3.dae
Normal file
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355
mycobot_description/urdf/320_urdf/mycobot_pro_320_gripper.urdf
Normal file
355
mycobot_description/urdf/320_urdf/mycobot_pro_320_gripper.urdf
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
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<xacro:property name="width" value=".2" />
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<link name="base">
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<visual>
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<geometry>
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<!--- 0.0 0 -0.04 1.5708 3.14159-->
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<mesh filename="package://mycobot_description/urdf/320_urdf/base.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/>
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</visual>
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<collision>
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<geometry>
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<!--- 0.0 0 -0.04 1.5708 3.14159-->
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<mesh filename="package://mycobot_description/urdf/320_urdf/base.dae"/>
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</geometry>
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<origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/>
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</collision>
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</link>
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<link name="link1">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/320_urdf/link1.dae"/>
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</geometry>
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<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/320_urdf/link1.dae"/>
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</geometry>
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||||
<origin xyz = "0 0 0 " rpy = " 0 0 0"/>
|
||||
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/320_urdf/link2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0.0587 " rpy = " 0 0 3.1415926"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://mycobot_description/urdf/320_urdf/link2.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0.0587 " rpy = " 0 0 3.1415926"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/320_urdf/link3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0.038 " rpy = " 0 0 3.1415926"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/320_urdf/link3.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0 0.038 " rpy = " 0 0 3.1415926"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
<link name="link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/320_urdf/link4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 -0.001 0 " rpy = " 0 0 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/320_urdf/link4.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 -0.001 0 " rpy = " 0 0 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<link name="link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/320_urdf/link5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.002 0 " rpy = " 0 0 3.1415926"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/320_urdf/link5.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "0 0.002 0 " rpy = " 0 0 3.1415926"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/320_urdf/link6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.502 -0.090 -0.096 " rpy = " 0 1.5708 0"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/320_urdf/link6.dae"/>
|
||||
</geometry>
|
||||
<origin xyz = "-0.502 -0.090 -0.096 " rpy = " 0 1.5708 0"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="gripper_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<!--- 0.0 0 -0.04 -->
|
||||
<mesh filename="package://mycobot_description/urdf/320_urdf/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/320_urdf/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/320_urdf/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/320_urdf/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/320_urdf/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/320_urdf/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/320_urdf/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/320_urdf/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/320_urdf/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/320_urdf/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/320_urdf/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/320_urdf/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/320_urdf/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/320_urdf/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 = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="base"/>
|
||||
<child link="link1"/>
|
||||
<origin xyz= "0 0 0.17846" rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<joint name="joint3_to_joint2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
<origin xyz= "0 0 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 = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="link2"/>
|
||||
<child link="link3"/>
|
||||
<origin xyz= "0.13635 0 0 " rpy = "0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint5_to_joint4" type="revolute">
|
||||
<axis xyz=" 0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
<origin xyz = "0.1 0 0.09 " rpy = " 0 0 1.57080"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6_to_joint5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="link4"/>
|
||||
<child link="link5"/>
|
||||
<origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint6output_to_joint6" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
|
||||
<parent link="link5"/>
|
||||
<child link="link6"/>
|
||||
<origin xyz= "0.00 0.06635 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 2.6178"/>
|
||||
</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>
|
||||
|
||||
Loading…
Add table
Reference in a new issue