From 4f42a53c05fdb549226175790c4ed22fd81f82b5 Mon Sep 17 00:00:00 2001 From: wangWking <842749351@qq.com> Date: Sat, 14 Sep 2024 11:46:09 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0280JN=E5=B9=B3=E8=A1=8C?= =?UTF-8?q?=E5=A4=B9=E7=88=AAURDF=E6=A8=A1=E5=9E=8B=E3=80=81=E6=9B=B4?= =?UTF-8?q?=E6=96=B0README.md=E8=AF=B4=E6=98=8E?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.md | 25 ++ .../280jn/mycobot_280jn_adaptive_gripper.png | Bin 0 -> 200665 bytes .../280jn/mycobot_280jn_parallel_gripper.png | Bin 0 -> 211394 bytes .../mycobot_adaptive_gripper.png | Bin 0 -> 179216 bytes .../mycobot_parallel_gripper.png | Bin 0 -> 192293 bytes .../mycobot_pro_adaptive_gripper.png | Bin 0 -> 215274 bytes .../slider_control_parallel_gripper.launch | 20 ++ .../launch/test_parallel_gripper.launch | 18 ++ .../slider_control_parallel_gripper.py | 58 ++++ .../mycobot_280_jn_parallel_gripper.urdf | 264 ++++++++++++++++++ .../urdf/parallel_gripper/gripper_base.dae | 186 ++++++++++++ .../urdf/parallel_gripper/gripper_left.dae | 186 ++++++++++++ .../urdf/parallel_gripper/gripper_right.dae | 186 ++++++++++++ .../mycobot_parallel_gripper.urdf | 70 +++++ 14 files changed, 1013 insertions(+) create mode 100644 demo_img/280jn/mycobot_280jn_adaptive_gripper.png create mode 100644 demo_img/280jn/mycobot_280jn_parallel_gripper.png create mode 100644 demo_img/single_gripper/mycobot_adaptive_gripper.png create mode 100644 demo_img/single_gripper/mycobot_parallel_gripper.png create mode 100644 demo_img/single_gripper/mycobot_pro_adaptive_gripper.png create mode 100755 mycobot_280/mycobot_280jn/launch/slider_control_parallel_gripper.launch create mode 100644 mycobot_280/mycobot_280jn/launch/test_parallel_gripper.launch create mode 100644 mycobot_280/mycobot_280jn/scripts/slider_control_parallel_gripper.py create mode 100644 mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_parallel_gripper.urdf create mode 100755 mycobot_description/urdf/parallel_gripper/gripper_base.dae create mode 100755 mycobot_description/urdf/parallel_gripper/gripper_left.dae create mode 100755 mycobot_description/urdf/parallel_gripper/gripper_right.dae create mode 100644 mycobot_description/urdf/parallel_gripper/mycobot_parallel_gripper.urdf diff --git a/README.md b/README.md index feb43451..fea283c9 100644 --- a/README.md +++ b/README.md @@ -20,6 +20,7 @@ Control or simulate myCobot series robots in ROS. * Ubuntu 18.04 / ROS Melodic * Ubuntu 20.04 / ROS Noetic +* The urdf model of a single gripper in this article is applicable to all machines that support this accessory. ## Installation @@ -183,6 +184,14 @@ Please adhere to this project's [code of conduct](CODE_OF_CONDUCT.md). ![280 jn](./demo_img/280jn/280jn.png) +[mycobot 280 JetsonNano Adaptive gripper](./mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_adaptive_gripper_parallel.urdf) + +![280 jn](./demo_img/280jn/mycobot_280jn_adaptive_gripper.png) + +[mycobot 280 JetsonNano Parallel gripper](./mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_parallel_gripper.urdf) + +![280 jn](./demo_img/280jn/mycobot_280jn_parallel_gripper.png) + [mycobot 280 Arduino](./mycobot_description/urdf/mycobot_280_arduino/mycobot_280_arduino.urdf) ![280 ar](./demo_img/280arduino/280_arduino.png) @@ -247,6 +256,22 @@ Please adhere to this project's [code of conduct](CODE_OF_CONDUCT.md). ![pro630](./demo_img/pro630/pro630.png) +## Single Gripper URDF Model Graph + +>> **This urdf model is applicable to all machines that support this accessory** + +[mycobot Adaptive gripper](./mycobot_description/urdf/adaptive_gripper/mycobot_adaptive_gripper.urdf) + +![280 jn](./demo_img/single_gripper/mycobot_adaptive_gripper.png) + +[mycobot Parallel gripper](./mycobot_description/urdf/parallel_gripper/mycobot_parallel_gripper.urdf) + +![280 jn](./demo_img/single_gripper/mycobot_adaptive_gripper.png) + +[mycobot Pro Adaptive gripper](./mycobot_description/urdf/pro_adaptive_gripper/mycobot_pro_adaptive_gripper.urdf) + +![280 jn](./demo_img/single_gripper/mycobot_pro_adaptive_gripper.png) + ## Contributors Thanks goes to these people ([Emoji Key](https://allcontributors.org/docs/en/emoji-key)): diff --git a/demo_img/280jn/mycobot_280jn_adaptive_gripper.png b/demo_img/280jn/mycobot_280jn_adaptive_gripper.png new file mode 100644 index 0000000000000000000000000000000000000000..31b1063d33bebf0a9989aa4a41a7dd7752861188 GIT binary patch literal 200665 zcmZ5{1yozh_BSmBN}*8PrD!Sc1WQ|>K(XTP?(SZ^I1~?1N-6H{?(Xgm!65-c;LCmY zzHi<4pGCqsv*u*>*|YbaEx(EQDlhr^73nJ^B&65UQsPQTNN6-jNXY6hQ4u|!-l=7X ze=nRrNvpg>G@q9y;fQ+@7YPj)WqUIhcS9#rBy&4^TT@nNV<%HnJ7)`fmowycQN*D4 ze+?3IGBtFuw6~*Hv9vWsQZ{s<=H#JPHg%xp;^5+;=HwLQ;uPfJqZU(E35ssSMM9!R zk{17{;sFA$y1U@3lJ#Glo&Jei!?1kwl0NY3?+^yL7cV}3VET?P(eaI%51-(TB1^!o zDh@#<^+HA9_jf}|WW-U>Bf!k5>s+FA8*{?+c(nexSVEd9KG19-Qx zHs)PAvIg|meFnduNb7K}vOd|K-K`UrhySZR6#wADu{2*VIevM0(YX(5?sZ4IcQ!qAN7$0N 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b/mycobot_280/mycobot_280jn/launch/test_parallel_gripper.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/mycobot_280/mycobot_280jn/scripts/slider_control_parallel_gripper.py b/mycobot_280/mycobot_280jn/scripts/slider_control_parallel_gripper.py new file mode 100644 index 00000000..48dba130 --- /dev/null +++ b/mycobot_280/mycobot_280jn/scripts/slider_control_parallel_gripper.py @@ -0,0 +1,58 @@ +#!/usr/bin/env python3 +# encoding: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_parallel_gripper.launch] related script. +Passable parameters: + port: serial prot string. Defaults is '/dev/ttyTHS1' + baud: serial prot baudrate. Defaults is 1000000. +""" +import time +import math +import rospy +from sensor_msgs.msg import JointState + +from pymycobot.mycobot import MyCobot + + +mc = None + + +def callback(data): + # rospy.loginfo(rospy.get_caller_id() + "%s", data.position) + data_list = [] + for index, value in enumerate(data.position): + data_list.append(round(value,3)) + # print(data_list[6:]) + + data_list = data_list[:7] + print("radians:%s"%data_list[:6]) + mc.send_radians(data_list[:6], 25) + # 线性插值公式 gripper_value = (current_value - min_value) / (max_value - min_value) * 100 + gripper_value = int((data_list[6] - (-0.007)) / (0 - (-0.007)) * 100) + print("gripper_value:%s"%gripper_value) + mc.set_gripper_value(gripper_value, 80, 3) + + +def listener(): + global mc + rospy.init_node("control_slider", anonymous=True) + + rospy.Subscriber("joint_states", JointState, callback) + port = rospy.get_param("~port", "/dev/ttyTHS1") + baud = rospy.get_param("~baud", 1000000) + print(port, baud) + mc = MyCobot(port, baud) + time.sleep(0.05) + mc.set_fresh_mode(1) + time.sleep(0.05) + + # spin() simply keeps python from exiting until this node is stopped + # spin()只是阻止python退出，直到该节点停止 + print("spin ...") + rospy.spin() + + +if __name__ == "__main__": + listener() diff --git a/mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_parallel_gripper.urdf b/mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_parallel_gripper.urdf new file mode 100644 index 00000000..019377dd --- /dev/null +++ b/mycobot_description/urdf/mycobot_280_jn/mycobot_280_jn_parallel_gripper.urdf @@ -0,0 +1,264 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/mycobot_description/urdf/parallel_gripper/gripper_base.dae b/mycobot_description/urdf/parallel_gripper/gripper_base.dae new file mode 100755 index 00000000..80adc368 --- /dev/null +++ b/mycobot_description/urdf/parallel_gripper/gripper_base.dae @@ -0,0 +1,186 @@ + + + + + Rhinoceros 7.0.20314.3001 + Output from Rhinoceros COLLADA Exporter + + 2024-09-13T10:44:06Z + 2024-09-13T10:44:06Z + + Z_UP + + + + + + + 56.189974 + 2.224324 + 168.338124 + 261.708893 + + + + + + + + + 1.0 + 2.224324 + 4.153472 + 61.353906 + + + + + + + + + 1.0 + 2.224324 + 3.674225 + 54.274609 + + + + + + + + + 1.0 + 2.224324 + 5.271714 + 77.872266 + + + + + + + + + + + + + + + + + 0.000000 0.000000 0.000000 1.000000 + + + 0.000000 0.000000 0.000000 1.000000 + + + 0.980392 0.980392 0.980392 1.000000 + + + 1.000000 1.000000 1.000000 1.000000 + + + 1.000000 1.000000 1.000000 1.000000 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