48 lines
1.0 KiB
YAML
48 lines
1.0 KiB
YAML
harvest_arm_rm:
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ros__parameters:
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robot_ip: "192.168.1.19"
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host_ip: "192.168.1.101"
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robot_port: 8899
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port: 8089
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level: 3
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mode: 2
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prefix: ""
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left: true
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savefile_flg: true
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scissorgripper: -1
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tool_name: "scissor"
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max_velocity: 0.2
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max_acceleration: 0.5
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use_sim_time: false
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arm_installation: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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tools_in_ee.scissor: [
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0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0,
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0.66, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0
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]
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tools_in_ee.omnipic: [
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0.0, 0.0, 0.16, 0.0, 0.0, 0.0, 1.0,
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0.43, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0
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]
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tools_in_ee.minisci: [
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0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0,
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0.46, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0
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]
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tools_in_ee.no_tool: [
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
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]
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joint_max: [155.0, 115.0, 172.0, 130.0, 175.0, 125.0, 179.0]
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joint_min: [-155.0, -30.0, -172.0, -130.0, -175.0, -125.0, -179.0]
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bounds_p_right: [-0.35, 0.7, -0.7, 0.4, 0.32, 0.7] |