qlin/sas_robot_driver_franka
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Juancho
2023-06-07 10:40:50 +09:00
parent 97b2b64d4e
commit 3dc79ae5e6
17 changed files with 2080 additions and 0 deletions
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3
cfg/sas_operator_side_receiver.yaml Normal file
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"patient_side_ips": ["10.198.113.107"]
"patient_side_ports": [2223]
"operator_side_ports": [2223]

17
cfg/sas_patient_side_manager.yaml Normal file
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vrep_port: 19998
thread_sampling_time_nsec: 8000000
master_manipulator_label_list: ["0_0"]
vrep_camera_list: ["CameraSmartArm"]
vrep_x_list: ["x"]
vrep_xd_list: ["xd"]
robot_kinematics_interface_prefix_list: ["/arm1_kinematics"]
robot_gripper_interface_prefix_list: ["/arm1/gripper"]
use_interpolator_list: [true]
interpolator_speed_max_list: [50.]
interpolator_speed_min_list: [10.]
interpolator_speed_decay_seconds_list: [5.]
force_feedback_type_list: ["Cartesian"]
# This value is replaced by the enviroment variable VREP_IP
"vrep_ip": "0.0.0.0"

7
cfg/sas_robot_driver_franka_1.yaml Normal file
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"robot_ip_address": "172.16.0.2"
"robot_port": 5007
"robot_speed": 20.0
"thread_sampling_time_nsec": 4000000
"q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895]
"q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094, 2.6895]