1a1084c627
* Create mujoco_ros2_control package * Enable Mujoco hardware interface for OpenArm * Verify connection with ros2_control * Update actuators to pos/vel * Add motor after creation * Tune KD for smoother motion * Restore realsense camera * Change camera to be 10 tilt from vertical to match physical model * Repair urdf to match physical robot * Checkpoint moveit2_configuration * Remove collision between camera and pedestal and remove additional ros2_control interfaces for mock * Enable octomap perception * Fix base_link to world transform * Update openarm to support moveit2 bimanual planning with end effectors * Improve safety of openarm_hardware zero position autocalibration * Remove openarm_mujoco_ros2_control from moveit2 branch * Restore sensor functionality
19 lines
355 B
YAML
19 lines
355 B
YAML
# Default initial positions for openarm_bimanual's ros2_control fake system
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initial_positions:
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left_left_pris1: 0
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left_rev1: 0
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left_rev2: 0
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left_rev3: 0
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left_rev4: 0
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left_rev5: 0
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left_rev6: 0
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left_rev7: 0
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right_left_pris1: 0
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right_rev1: 0
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right_rev2: 0
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right_rev3: 0
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right_rev4: 0
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right_rev5: 0
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right_rev6: 0
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right_rev7: 0 |