qlin/sas_robot_driver_franka
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Added a new robot coppelia driver

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This commit is contained in:
Juancho
2023-08-03 18:03:57 +09:00
parent 51910be06d
commit 5e3a79a32a
8 changed files with 592 additions and 14 deletions
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cfg/sas_robot_driver_coppelia_franka_1.yaml Normal file
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"robot_ip_address": "10.198.113.159"
"robot_mode": "VelocityControl"
"real_robot_topic_prefix": "franka_1"
"vrep_port": 20011
"mirror_mode": true
"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]
"vrep_robot_joint_names": ["Franka_joint1","Franka_joint2","Franka_joint3","Franka_joint4","Franka_joint5","Franka_joint6","Franka_joint7"]