26 lines
853 B
YAML
26 lines
853 B
YAML
# Hard limits for the constrained MoveItPy adapter. They are deliberately
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# separate from the reference executor: the graph executor never falls back to
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# an unconstrained MoveToPose goal.
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schema_version: 1
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joint7:
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# The neutral work pose has joint_7 = 0 rad. The first-stage hard corridor
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# is +/-90 degrees around it; the -180 degree IK branch is forbidden.
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work_reference_rad: 0.0
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corridor_rad: 1.5707963267948966
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tcp:
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# The working tip points down; a working motion may tilt at most 10 degrees.
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max_tilt_deg: 10.0
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trajectory:
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# A near-pi jump indicates an IK branch change. Reject it before execution.
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max_joint_jump_rad: 0.6
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max_cartesian_jump_m: 0.15
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# The planned first point must match the measured joints used as IK seed.
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start_tolerance_rad: 0.35
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freshness:
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joint_state_max_age_sec: 1.0
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scene_max_age_sec: 2.0
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