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3d11a0cc50
1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动
20 lines
373 B
JSON
20 lines
373 B
JSON
{
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"private_param":
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{
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"min_d1": 0.01 ,
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"max_d1": 0.01 ,
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"slider_d1": 0.135,
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"min_d2": 0.01 ,
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"max_d2": 0.01 ,
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"slider_d2": 0.116,
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"min_d3": 0.01 ,
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"max_d3": 0.01 ,
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"slider_d3": 0.09
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},
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"public_param":
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{
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"length1" :0.5,
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"length2" :0.2,
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"length3" :0.2
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}
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} |