提取lh的joint发布

2025-12-17 04:51:10 +00:00 · 2025-05-13 21:45:13 +08:00
parent 013c25f3aa
commit 6a33f9986b
5 changed files with 297 additions and 112 deletions
--- a/unilabos/devices/ros_dev/lh_joint_config.json
+++ b/unilabos/devices/ros_dev/lh_joint_config.json
@@ -0,0 +1,32 @@
+{
+    "OTdeck":{
+        "joint_names":[
+            "first_joint",
+            "second_joint",
+            "third_joint",
+            "fourth_joint"
+        ],
+        "y":{
+            "first_joint":{
+            "factor":-1,
+            "offset":0.0
+            }
+        },
+        "x":{
+            "second_joint":{
+            "factor":-1,
+            "offset":0.0
+            }
+        },
+        "z":{
+            "third_joint":{
+            "factor":1,
+            "offset":0.0
+            },
+            "fourth_joint":{
+            "factor":1,
+            "offset":0.0
+            }
+        }
+    }
+}