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修改模型方向，在yaml中添加变换属性

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zhangshixiang
2025-04-25 10:47:46 +08:00
committed by Junhan Chang
parent 0d24606d46
commit 2990e70c25
7 changed files with 1173 additions and 67 deletions
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4
unilabos/device_mesh/devices/opentrons_liquid_handler/macro_device.xacro
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@@ -8,14 +8,14 @@
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
<origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
<parent link="${station_name}${device_name}${parent_link}"/>
<parent link="${parent_link}"/>
<child link="${station_name}${device_name}device_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name="${station_name}${device_name}device_link"/>
<joint name="${station_name}${device_name}device_link_joint" type="fixed">
<origin xyz="-0.31 0.28 0" rpy="0 0 0" />
<origin xyz="-0.11565 0.496 0" rpy="0 0 0" />
<parent link="${station_name}${device_name}device_link"/>
<child link="${station_name}${device_name}main_link"/>
<axis xyz="0 0 0"/>