fix: suit dae model.

.gitignore

@@ -1,5 +1,6 @@
 
 .DS_Store
+.VSCodeCounter/
 
 .vscode/
 

mycobot_280_moveit/scripts/testing.py

@@ -45,13 +45,13 @@ class MoveItIkDemo:
         target_pose = PoseStamped()
         target_pose.header.frame_id = reference_frame
         target_pose.header.stamp = rospy.Time.now()
-        target_pose.pose.position.x = 0.14996
+        target_pose.pose.position.x = 0.132
-        target_pose.pose.position.y = 0.12317
+        target_pose.pose.position.y = 0.150
-        target_pose.pose.position.z = 0.21203
+        target_pose.pose.position.z = 0.075
-        target_pose.pose.orientation.x = -0.59375
+        target_pose.pose.orientation.x =  0.026
-        target_pose.pose.orientation.y = -0.60903
+        target_pose.pose.orientation.y = 1.0
-        target_pose.pose.orientation.z = -0.13927
+        target_pose.pose.orientation.z = 0.0
-        target_pose.pose.orientation.w = 0.5071
+        target_pose.pose.orientation.w = 0.014
 
         # 设置机器臂当前的状态作为运动初始状态
         arm.set_start_state_to_current_state()
@@ -67,14 +67,18 @@ class MoveItIkDemo:
         rospy.sleep(1)
 
         # 控制机械臂终端向右移动5cm 參數1是代表y， 0,1,2,3,4,5 代表xyzrpy
-        arm.shift_pose_target(1, -0.05, end_effector_link)
+        arm.shift_pose_target(1, 0.12, end_effector_link)
+        arm.go()
+        rospy.sleep(1)
+
+        arm.shift_pose_target(1, 0.1, end_effector_link)
         arm.go()
         rospy.sleep(1)
 
         # 控制机械臂终端反向旋转90度  0,1,2,3,4,5 代表xyzrpy
-        arm.shift_pose_target(3, -1.57, end_effector_link)
+        # arm.shift_pose_target(3, -1.57, end_effector_link)
-        arm.go()
+        # arm.go()
-        rospy.sleep(1)
+        # rospy.sleep(1)
 
         # 控制机械臂回到初始化位置
         # arm.set_named_target("home")

mycobot_description/urdf/mycobot/mycobot_with_vision.urdf

@@ -6,9 +6,9 @@
     <visual>
       <geometry>
 	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
-       <mesh filename="package://mycobot_description/urdf/mycobot/210110_6000_001_asm.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot/suit_env.dae"/>
       </geometry>
-      <origin xyz = "0 0 0 " rpy = "1.5708 0 -1.5708"/>
+      <origin xyz = "0 0 -0.02 " rpy = "1.5708 0 -1.5708"/>
     </visual>
   </link>
 

mycobot_description/urdf/mycobot/mycobot_with_vision_copy.urdf

@@ -9,9 +9,9 @@
     <visual>
       <geometry>
 	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
-       <mesh filename="package://mycobot_description/urdf/mycobot/210110_6000_001_asm.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot/suit_env.dae"/>
       </geometry>
-      <origin xyz = "0 0 0 " rpy = "1.5708 0 -1.5708"/>
+      <origin xyz = "0 0 -0.02 " rpy = "1.5708 0 -1.5708"/>
     </visual>
   </link>