siemens ur cell config

cfg/ur5_siemens.yaml

+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
\ No newline at end of file

launch/bringup_ur5.launch

+<?xml version="1.0"?>
+
+<launch>
+    <arg name="gui" default="true"/>
+
+<!-- rviz -->
+<node pkg="rviz" type="rviz" name="rviz"
+        args="-d $(find pitasc_common)/launch/pitasc_3d.rviz" if="$(arg gui)"/>
+
+
+<!--node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"/-->
+
+<!-- ROS control -->
+<rosparam command="load" file="$(find pitasc_controller)/controller/pitasc_controller.yaml"/>
+
+<!-- robot driver (official) -->
+        <include file="$(find ur_robot_driver)/launch/ur5_bringup.launch">
+            <arg name="robot_ip" value="172.16.10.20"/>
+            <arg name="headless_mode" value="true"/>
+            <arg name="controller_config_file" value="$(find ur_robot_driver)/config/ur5_controllers.yaml"/>
+            <arg name="robot_description_file" value="$(find ur_description)/launch/ur5_upload.launch"/>
+            <arg name="tf_prefix" value=""/>
+            <arg name="controllers" default="joint_state_controller speed_scaling_state_controller force_torque_sensor_controller pitasc_vel_control"/>
+            <arg name="stopped_controllers" default="joint_group_vel_controller"/>
+
+            <arg name="kinematics_config" default="$(find ilc)/cfg/ur5_siemens.yaml"/>
+        </include>
+
+
+<node name="ilc_rosproxy" pkg="ilc" type="ilc_rosproxy.py" output="screen" >
+    <rosparam param="T">8</rosparam>
+    <!-- <rosparam param="folder">/tmp/ilc_folder</rosparam> -->
+</node>
+
+</launch>