Convert ur5_control to class based (untested)

2024-03-24 15:31:58 -05:00
parent 6887fa943b
commit 3de59f5985
3 changed files with 107 additions and 75 deletions
--- a/config.yml
+++ b/config.yml
@@ -6,6 +6,17 @@ core:

 arm:
  ip: 192.168.1.145
+  tool:
+    offset_x: 0
+    offset_y: 0
+    offset_z: 0.14
+  limbs:
+    limb_base: 0.105
+    limb1: 0.425
+    limb2: 0.39225
+    limb3: 0.1
+    limb_wrist: 0.0997
+

 #cable_map:
 cameras: