forked from YikaiFu-cart/acRealman_xr
30 lines
899 B
YAML
30 lines
899 B
YAML
# RM75 末端外设配置。
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#
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# scissorgripper 与 tools_in_ee 的顺序保持和 acRealman 一致：
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# 0 -> scissor，1 -> omnipic，2 -> minisci，-1 -> no_tool。
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# 当前阶段在连接后初始化外设，开合命令由遥操作节点复用同一个 RealMan 连接执行。
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set_initial_tool_state: false
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tools_in_ee:
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scissor:
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# x, y, z, qx, qy, qz, qw
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pose: [0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0]
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# mass, center_x, center_y, center_z, reserved...
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load: [0.66, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0]
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omnipic:
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pose: [0.0, 0.0, 0.16, 0.0, 0.0, 0.0, 1.0]
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load: [0.43, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0]
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minisci:
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pose: [0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0]
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load: [0.46, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0]
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no_tool:
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pose: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
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load: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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arms:
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left:
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scissorgripper: 2
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right:
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scissorgripper: 1
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