75 lines
1.7 KiB
YAML
75 lines
1.7 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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port: 8089
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tool_name: "scissor"
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tool_names: ["scissor", "omnipic", "minisci", "no_tool"]
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initial_joint: [-82.60, 20.28, -32.15, 50.28, 17.28, 64.055, -20.62]
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max_joint: [155.0, 115.0, 172.0, 130.0, 175.0, 125.0, 179.0]
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min_joint: [-155.0, -30.0, -172.0, -130.0, -175.0, -125.0, -179.0]
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max_joint_speed: 180.0 # deg/s
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max_joint_acc: 600.0
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max_cartesian_speed: 1.0 # m/s
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max_cartesian_angular_speed: 1.5 # rad/s
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max_cartesian_acc: 1.0
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max_cartesian_angular_acc: 2.0
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bound_cartesian: [
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-0.3, -0.5, -0.1, 0.3, 0.5, 0.6
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]
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arm_installation: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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# 0~2 position, x, y, z, m
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# 3~6 orientation, quaternion, x, y, z, w
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# 7 mass, kg
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# 8~10 center of mass, x, y, z, m
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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
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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
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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
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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
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]
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action_topic: "/action/arm"
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observation_topic: "/observation/arm"
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interval: 0.02
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kp_j : 1.0
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arm_ctrl_voltage: 2 # 0: 0V, 2: 12V, 3: 24V
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# https://develop.realman-robotics.com/en/robot/apipython/classes/controllerIOConfig/#set-the-io-mode-rm-set-io-mode
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arm_ctrl_io_mode: [0, 0, 1, 1] # 0: input, 1: output
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arm_tool_io_voltage: 2
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arm_tool_io_mode: [1, 1] # 0: input, 1: output
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