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This commit is contained in:
weijian 2022-09-01 14:13:54 +08:00
parent 0064082778
commit dc47266769
4 changed files with 8 additions and 10 deletions
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4
Mira/mira/scripts/simple_gui.py
View file

@ -337,8 +337,8 @@ class Window:
round(self.angles.joint_3, 2), round(self.angles.joint_3, 2),
] ]
print('coord:',self.record_coords) # print('coord:',self.record_coords)
print('angles:',self.res_angles) # print('angles:',self.res_angles)
# def send_input(self,dates): # def send_input(self,dates):
def show_j_date(self, date, way=""): def show_j_date(self, date, way=""):

2
Mira/mira/scripts/slider_control.py
View file

@ -28,7 +28,7 @@ def callback(data):
data_list.append(round(value,3)) data_list.append(round(value,3))
print('data_list:',data_list) print('data_list:',data_list)
ma.set_radians(data_list[0],data_list[1],data_list[2], 50) ma.set_radians(data_list[0],data_list[1],data_list[2], 80)
# time.sleep(0.5) # time.sleep(0.5)

8
Mira/mira_communication/scripts/mira_services.py
View file

@ -57,9 +57,8 @@ def get_angles(req):
angles = ma.get_angles_info() angles = ma.get_angles_info()
# angles = [0.0, 0.0, 0.0, 0.0] # angles = [0.0, 0.0, 0.0, 0.0]
if angles != None: if angles != None:
angles_data = angles[:3]
# print('angles:',angles) # print('angles:',angles)
return GetAnglesResponse(*angles_data) return GetAnglesResponse(*angles)
def set_coords(req): def set_coords(req):
@ -80,11 +79,10 @@ def set_coords(req):
def get_coords(req): def get_coords(req):
if ma: if ma:
# coords = ma.get_coords_info() # coords = ma.get_coords_info()
coords = [0.0, 0.0, 0.0, 0.0] coords = [0.0, 0.0, 0.0]
if coords != None: if coords != None:
coords_data = coords[:3]
# print('coords:',coords) # print('coords:',coords)
return GetCoordsResponse(*coords_data) return GetCoordsResponse(*coords)
def switch_status(req): def switch_status(req):

4
mycobot_description/urdf/mira_urdf/mira.urdf
View file

@ -73,7 +73,7 @@
<joint name="joint1_to_base" type="revolute"> <joint name="joint1_to_base" type="revolute">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "-2.967" upper = "2.967" velocity = "0"/> <limit effort = "1000.0" lower = "-2.36" upper = "2.967" velocity = "0"/>
<parent link="base"/> <parent link="base"/>
<child link="link1"/> <child link="link1"/>
<origin xyz= "0 0 0.12" rpy = "3.1415926 0 0"/> <origin xyz= "0 0 0.12" rpy = "3.1415926 0 0"/>
@ -82,7 +82,7 @@
<joint name="joint2_to_joint1" type="revolute"> <joint name="joint2_to_joint1" type="revolute">
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit effort = "1000.0" lower = "0" upper = "1.14" velocity = "0"/> <limit effort = "1000.0" lower = "0" upper = "0.90" velocity = "0"/>
<parent link="link1"/> <parent link="link1"/>
<child link="link2"/> <child link="link2"/>
<origin xyz= "0.03 0 0.01" rpy = " -1.5707963 3.1415926 3.1415926 "/> <origin xyz= "0.03 0 0.01" rpy = " -1.5707963 3.1415926 3.1415926 "/>