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修改物料跟随与物料添加逻辑

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修改物料跟随与物料添加逻辑
将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写
This commit is contained in:
zhangshixiang
2025-05-16 18:43:26 +08:00
parent 6a33f9986b
commit 498c997ad7
5 changed files with 168 additions and 57 deletions
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20
unilabos/devices/ros_dev/lh_joint_config.json
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@@ -1,30 +1,36 @@
{
"OTdeck":{
"OTDeck":{
"joint_names":[
"first_joint",
"second_joint",
"third_joint",
"fourth_joint"
],
"link_names":[
"first_link",
"second_link",
"third_link",
"fourth_link"
],
"y":{
"first_joint":{
"factor":-1,
"offset":0.0
"factor":-0.001,
"offset":0.163
}
},
"x":{
"second_joint":{
"factor":-1,
"offset":0.0
"factor":-0.001,
"offset":0.1775
}
},
"z":{
"third_joint":{
"factor":1,
"factor":0.001,
"offset":0.0
},
"fourth_joint":{
"factor":1,
"factor":0.001,
"offset":0.0
}
}