38 lines
927 B
YAML
38 lines
927 B
YAML
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harvest_arm_ctrl:
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ros__parameters:
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urdf_path: '/home/zl/ws_Harvest/src/harvest_arm_rm/urdf/urdf_rm75/RM75.urdf'
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meshes_path: '/home/zl/ws_Harvest/src/harvest_arm_rm/urdf/urdf_rm75'
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qp_iteration: 200
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joint_upper : [155.0, 115.0, 172.0, 130, 175.0, 125.0, 350.0 ]
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joint_lower : [-155.0, -30.0, -172.0, -130, -175.0, -125.0, -350.0 ]
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tool_name: "scissor"
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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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