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zhangshixiang
2025-07-25 17:18:45 +08:00
parent ee576c9f6e
commit cbcd7ad193
1 changed files with 29 additions and 13 deletions
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42
test/experiments/test_moveit.json
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@@ -1,32 +1,48 @@
{ {
"nodes": [ "nodes": [
{ {
"id": "benyao", "id": "arm_slider",
"name": "benyao", "name": "arm_slider",
"children": [ "children": [],
],
"parent": null, "parent": null,
"type": "device", "type": "device",
"class": "moveit.arm_slider", "class": "moveit.arm_slider",
"position": { "position": {
"x": 0, "x": -500,
"y": 0, "y": 1000,
"z": 0 "z": -100
}, },
"config": { "config": {
"moveit_type": "arm_slider", "moveit_type": "arm_slider",
"joint_poses": { "joint_poses": {
"arm": { "arm": {
"home": [0.0, 0.2, 0.0, 0.0, 0.0], "hotel_1": [
"pick": [1.2, 0.0, 0.0, 0.0, 0.0] 1.05,
0.568,
-1.0821,
0.0,
1.0821
],
"home": [
0.865,
0.09,
0.8727,
0.0,
-0.8727
]
} }
}, },
"device_config": { "rotation": {
} "x": 0,
"y": 0,
"z": -1.5708,
"type": "Rotation"
},
"device_config": {}
}, },
"data": { "data": {}
}
} }
], ],
"links": [ "links": [