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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
35 lines
780 B
JSON
35 lines
780 B
JSON
{
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"nodes": [
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{
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"id": "benyao",
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"name": "benyao",
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"children": [
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],
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"parent": null,
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"type": "device",
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"class": "moveit.benyao_arm",
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"position": {
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"x": 0,
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"y": 0,
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"z": 0
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},
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"config": {
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"moveit_type": "benyao_arm",
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"joint_poses": {
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"arm": {
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"home": [0.0, 0.2, 0.0, 0.0, 0.0],
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"pick": [1.2, 0.0, 0.0, 0.0, 0.0]
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}
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},
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"device_config": {
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}
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},
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"data": {
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}
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}
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],
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"links": [
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]
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} |