qlin/sas_robot_driver_franka
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general fix and optimization

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QuentinLin
2024-07-20 14:33:29 +09:00
parent 9d65b88cb3
commit 0842525bbe
25 changed files with 279 additions and 106 deletions
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4
cfg/sas_robot_driver_franka_1.yaml
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@@ -5,4 +5,6 @@
"thread_sampling_time_nsec": 4000000
"q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895]
"q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094, 2.6895]
"force_upper_limits_scaling_factor": 4.0
"upper_torque_threshold": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0, 40.0]
"upper_force_threshold": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0]