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
    ]