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initial changes to robot.py. get view matrix from camera obj, get par…
…ams from yaml files
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,3 @@ | ||
| arm_id: fr3 | ||
| hand: false | ||
| # TODO: add the rest of the URDF args |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,3 @@ | ||
| base_type: linear_slider | ||
| base_parent: world | ||
| base_prefix: linear_slider__ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,5 @@ | ||
| eef_type: mock_pruner | ||
| eef_parent: ur5e__ | ||
| eef_prefix: mock_pruner__ | ||
| tof0_offset_x: "0.02" | ||
| tof1_offset_x: "-0.02" |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| robot_stack: | ||
| # - linear_slider | ||
| - ur5e | ||
| - mock_pruner | ||
| initial_joint_angles: | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| - 0.0 | ||
| disable_self_collisions: true |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,5 @@ | ||
| arm_type: ur5e | ||
| # arm_parent: tool0 | ||
| arm_prefix: ur5e__ | ||
| tf_prefix: ur5e__ | ||
| ur_type: ur5e |
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