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update arm ctrl rm py

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LiuzhengSJ
2026-07-06 14:18:34 +01:00
parent a875ef6280
commit e3ca28fb99
8 changed files with 94 additions and 21 deletions
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37
harvest_arm_ctrl/config/config.yaml Normal file
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harvest_arm_ctrl:
ros__parameters:
urdf_path: '/home/zl/ws_Harvest/src/harvest_arm_rm/urdf/urdf_rm75/RM75.urdf'
meshes_path: '/home/zl/ws_Harvest/src/harvest_arm_rm/urdf/urdf_rm75'
qp_iteration: 200
joint_upper : [155.0, 115.0, 172.0, 130, 175.0, 125.0, 350.0 ]
joint_lower : [-155.0, -30.0, -172.0, -130, -175.0, -125.0, -350.0 ]
tool_name: "scissor"
# 0~2 position, x, y, z, m
# 3~6 orientation, quaternion, x, y, z, w
# 7 mass, kg
# 8~10 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
]
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
]
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
]
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
]