ur5_robotiq85.yml

# UR5 robot with Robotiq 85 hand on a table
urdf: "package://robowflex_resources/ur/robots/ur5_robotiq_robot_limited.urdf.xacro"
srdf: "package://robowflex_resources/ur/config/ur5/ur5_robotiq85.srdf.xacro"
joint_limits: "package://robowflex_resources/ur/config/ur5/joint_limits.yaml"
kinematics: "package://robowflex_resources/ur/config/ur5/kinematics.yaml"

# Default robot home state
robot_state:
  joint_state:
    name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint, robotiq_85_left_inner_knuckle_joint, robotiq_85_left_finger_tip_joint, robotiq_85_left_knuckle_joint, robotiq_85_right_inner_knuckle_joint, robotiq_85_right_finger_tip_joint, robotiq_85_right_knuckle_joint]
    position: [0.0677, -0.8235, 0.986, -0.1624, 0.0678, 0, 0, 0, 0, 0, 0, 0]