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init config

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LiuzhengSJ
2026-06-23 17:12:47 +01:00
parent 2d8ef78b8b
commit a14e2ff8bb
2 changed files with 166 additions and 88 deletions
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harvest_arm_rm/config/config.yaml
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@ -3,46 +3,61 @@ harvest_arm_rm:
robot_ip: "192.168.1.19"
host_ip: "192.168.1.101"
robot_port: 8899
port: 8089
level: 3
mode: 2
prefix: ""
left: true
savefile_flg: true
scissorgripper: -1
tool_name: "scissor"
max_velocity: 0.2
max_acceleration: 0.5
initial_joint: [-82.60, 20.28, -32.15, 50.28, 17.28, 64.055, -20.62]
max_joint: [155.0, 115.0, 172.0, 130.0, 175.0, 125.0, 179.0]
min_joint: [-155.0, -30.0, -172.0, -130.0, -175.0, -125.0, -179.0]
max_joint_speed: 180.0 # deg/s
max_joint_acc: 600.0
max_cartesian_speed: 1.0 # m/s
max_cartesian_angular_speed: 1.5 # rad/s
max_cartesian_acc: 1.0
max_cartesian_angular_acc: 2.0
use_sim_time: false
arm_installation: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
# 0~2 position, x, y, z, m
# 3~6 orientation, quaternion, x, y, z, w
# 7 mass, kg
# 8~11 center of mass, x, y, z, m
tools_in_ee.scissor: [
0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0,
0.66, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0
0.66, 0.0, 0.0, 0.06
]
tools_in_ee.omnipic: [
0.0, 0.0, 0.16, 0.0, 0.0, 0.0, 1.0,
0.43, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0
0.43, 0.0, 0.0, 0.06
]
tools_in_ee.minisci: [
0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0,
0.46, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0
0.46, 0.0, 0.0, 0.06
]
tools_in_ee.no_tool: [
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
0.0, 0.0, 0.0, 0.0
]
joint_max: [155.0, 115.0, 172.0, 130.0, 175.0, 125.0, 179.0]
joint_min: [-155.0, -30.0, -172.0, -130.0, -175.0, -125.0, -179.0]
joint_cmd_topic: "/joint_cmd"
joint_state_topic: "/joint_sts"
arm_enable_topic: "/arm_enable"
tool_cmd_topic: "/tool_cmd"
bounds_p_right: [-0.35, 0.7, -0.7, 0.4, 0.32, 0.7]