80 lines
1.5 KiB
YAML
80 lines
1.5 KiB
YAML
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controller_manager:
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ros__parameters:
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update_rate: 250
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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rasmt_arm_controller:
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type: effort_controllers/JointGroupEffortController
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rasmt_hand_controller:
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type: effort_controllers/JointGroupEffortController
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rasmt_arm_controller:
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ros__parameters:
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joints:
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- rasmt_Rot_Z_1
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- rasmt_Rot_Y_1
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- rasmt_Rot_Z_2
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- rasmt_Rot_Y_2
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- rasmt_Rot_Z_3
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- rasmt_Rot_Y_4
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command_interfaces:
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- effort
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state_interfaces:
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- position
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- velocity
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gains:
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rasmt_Rot_Z_1:
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p: 4000.0
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d: 10.0
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i: 250.0
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i_clamp: 15.0
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rasmt_Rot_Y_1:
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p: 10000.0
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d: 25.0
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i: 600.0
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i_clamp: 45.0
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rasmt_Rot_Z_2:
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p: 8000.0
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d: 20.0
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i: 450.0
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i_clamp: 30.0
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rasmt_Rot_Y_2:
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p: 6000.0
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d: 15.0
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i: 300.0
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i_clamp: 30.0
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rasmt_Rot_Z_3:
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p: 3000.0
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d: 5.0
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i: 175.0
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i_clamp: 7.0
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rasmt_Rot_Y_4:
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p: 2500.0
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d: 3.0
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i: 150.0
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i_clamp: 6.0
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rasmt_hand_controller:
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ros__parameters:
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joints:
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- rasmt_Slide_1
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- rasmt_Slide_2
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command_interfaces:
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- effort
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state_interfaces:
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- position
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- velocity
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gains:
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rasmt_Slide_1:
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p: 225.0
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d: 0.001
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i: 0.4
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i_clamp: 4.0
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rasmt_Slide_2:
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p: 225.0
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d: 0.001
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i: 0.4
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i_clamp: 4.0
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