ur5_siemens.yaml 957 Bytes
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kinematics:
  shoulder:
    x: 0
    y: 0
    z: 0.08946977465412456
    roll: -0
    pitch: 0
    yaw: 1.607711547623444e-05
  upper_arm:
    x: 0.000120877256184585
    y: 0
    z: 0
    roll: 1.570488380128409
    pitch: 0
    yaw: 7.677037151580485e-05
  forearm:
    x: -0.4251268272606241
    y: 0
    z: 0
    roll: 3.140163988540243
    pitch: 3.140633523835144
    yaw: 3.141589636411828
  wrist_1:
    x: -0.3928897756715428
    y: 0.0009944106531630001
    z: 0.1103662022502873
    roll: 3.132582796180469
    pitch: -3.139151689841066
    yaw: 3.141548735590431
  wrist_2:
    x: 4.084421520623296e-05
    y: -0.09511273826598415
    z: 5.879456061764483e-05
    roll: 1.570178170339718
    pitch: 0
    yaw: -9.329705017689279e-05
  wrist_3:
    x: 0.000143510867682773
    y: 0.08259910301021339
    z: 1.249195131722678e-05
    roll: 1.570947562713529
    pitch: 3.141592653589793
    yaw: 3.141550644408338
  hash: calib_6949341662159042075