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cyton_gamma_300_controller.yaml
115 lines (106 loc) · 2.5 KB
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cyton_gamma_300_controller.yaml
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dynamixels: ['shoulder_roll_joint', 'shoulder_pitch_joint', 'elbow_roll_joint', 'elbow_pitch_joint', 'elbow_yaw_joint', 'wrist_pitch_joint', 'wrist_roll_joint']
shoulder_roll_position_controller:
controller:
package: dynamixel_controllers
module: joint_position_controller
type: JointPositionController
joint_name: shoulder_roll_joint
joint_speed: 5.0
motor:
id: 0
init: 2831
min: 350
max: 3790
shoulder_pitch_position_controller:
controller:
package: dynamixel_controllers
module: joint_position_controller
type: JointPositionController
joint_name: shoulder_pitch_joint
joint_speed: 5.0
motor:
id: 1
init: 2831
min: 820
max: 3340
elbow_roll_position_controller:
controller:
package: dynamixel_controllers
module: joint_position_controller
type: JointPositionController
joint_name: elbow_roll_joint
joint_speed: 5.0
motor:
id: 2
init: 2831
min: 350
max: 3770
elbow_pitch_position_controller:
controller:
package: dynamixel_controllers
module: joint_position_controller
type: JointPositionController
joint_name: elbow_pitch_joint
joint_speed: 5.0
motor:
id: 3
init: 2831
min: 770
max: 3320
elbow_yaw_position_controller:
controller:
package: dynamixel_controllers
module: joint_position_controller
type: JointPositionController
joint_name: elbow_yaw_joint
joint_speed: 5.0
motor:
id: 4
init: 2831
min: 750
max: 3320
wrist_pitch_position_controller:
controller:
package: dynamixel_controllers
module: joint_position_controller
type: JointPositionController
joint_name: wrist_pitch_joint
joint_speed: 5.0
motor:
id: 5
init: 2831
min: 760
max: 3250
wrist_roll_position_controller:
controller:
package: dynamixel_controllers
module: joint_position_controller
type: JointPositionController
joint_name: wrist_roll_joint
joint_speed: 5.0
motor:
id: 6
init: 2831
min: 350
max: 3760
gripper_position_controller:
controller:
package: dynamixel_controllers
module: joint_position_controller
type: JointPositionController
joint_name: gripper_joint
joint_speed: 5.0
motor:
id: 7
init: 2831
min: 512
max: 3450
cyton_joint_trajectory_action_controller:
controller:
package: dynamixel_controllers
module: joint_trajectory_action_controller
type: JointTrajectoryActionController
joint_trajectory_action_node:
min_velocity: 0.25
constraints:
goal_time: 1.0