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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
17 lines
366 B
YAML
17 lines
366 B
YAML
moveit.toyo_xyz:
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description: Toyo XYZ
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class:
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module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
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type: ros2
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model:
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type: device
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mesh: toyo_xyz
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moveit.benyao_arm:
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description: Benyao Arm
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class:
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module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
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type: ros2
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model:
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type: device
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mesh: benyao_arm |