cartesian_pathサンプルの追加 #173
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Kuwamai
requested changes
Jul 22, 2025
| @@ -15,6 +15,7 @@ | |||
| - [Gazeboでサンプルプログラムを実行する場合](#gazeboでサンプルプログラムを実行する場合) | |||
| - [Examples](#examples) | |||
| - [gripper\_control](#gripper_control) | |||
| - [cartesian\_path](#cartesian_path) | |||
| move_group_gripper.setJointValueTarget(gripper_joint_values); | ||
| move_group_gripper.move(); | ||
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| // 座標(x=0.3, y=0.0161 z=0.1)を中心に、XY平面上に半径0.1 mの円を3回描くように手先を動かす |
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中心のy座標がかなり細かい数値になっていますがこれにはなにか理由があるのでしょうか?
可動範囲の問題であれば0.1等キリのいい数値でいいかと思います。
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0.161 -> 0.2 に変更しました。円を描く上で、テーブルの上のキューブにぶつからないキリの良い数値であるため0.2としました。
0.161とした理由は、動作前のポーズであるl_arm_init_poseから大きく肩を動かさないような値に設定したためです。そのため、l_link2のY座標0.1605から四捨五入した0.161としていました。
Co-authored-by: Kuwamai <[email protected]>
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What does this implement/fix?
cartesian_pathサンプルを追加します。
動作概要は、CRANE X7のcartesian_pathサンプルと同様です。
Does this close any currently open issues?
しません。
How has this been tested?
Gzebo上でテストしました。
Any other comments?
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