更新三指dae模型文件

elephantrobotics · Jan 16, 2025 · 41fcf86 · 41fcf86
1 parent 2aa6360
commit 41fcf86
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Showing 4 changed files with 942 additions and 1,788 deletions.
diff --git a/mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_moveit_three_gripper.urdf b/mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_moveit_three_gripper.urdf
@@ -122,7 +122,7 @@
       <material name = "grey">
         <color rgba = "0.5 0.5 0.5 1"/>
       </material>
-      <origin xyz = "0.026 -0.026 0.0 " rpy = " 1.5708 0 3.14159"/>
+      <origin xyz = "0.04 -0.026 0.03 " rpy = " 1.5708 0 3.14159"/>
     </visual>
     <collision>
       <origin xyz = "0.0 0.0 -0.0115 " rpy = " 1.5708 0 3.14159"/>

diff --git a/mycobot_description/urdf/mycobot_pro_630/mycobot_pro_630_moveit_three_grip.urdf b/mycobot_description/urdf/mycobot_pro_630/mycobot_pro_630_moveit_three_grip.urdf
@@ -121,7 +121,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/three_gripper/three_myhand.dae"/>
       </geometry>
-    <origin xyz = "0.054 0 0.026" rpy = " 0 1.5707  3.14159"/>
+    <origin xyz = "0.054 -0.03 0.04" rpy = " 0 1.5707  3.14159"/>
     </visual>
      <collision>
       <origin xyz = "0.006 0.0 -0.0 " rpy = " 0 1.5708 3.14159"/>

diff --git a/mycobot_description/urdf/three_gripper/three_myhand.dae b/mycobot_description/urdf/three_gripper/three_myhand.dae
diff --git a/mycobot_pro/mycobot_630/launch/test_three_gripper.launch b/mycobot_pro/mycobot_630/launch/test_three_gripper.launch
@@ -0,0 +1,16 @@
+<launch>
+	<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_pro_630_moveit_three_grip.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_630)/config/mycobot_630.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" />
+
+	<!-- Show in Rviz -->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>