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| }, |
| "target_robot": { |
| "name": "piper", |
| "config_path": "configs/robots/piper.yaml", |
| "sha256": "39275da04fc730a868edc1e17a9d8520eab392c39e7f032ee6f05b23d46e68d4", |
| "configuration": { |
| "kind": "piper", |
| "urdf": "assets/piper/piper.urdf", |
| "mjcf": "assets/piper/piper.xml", |
| "pkg_root": "assets/piper", |
| "mjcf_joint_prefix_map": { |
| "left_": "izq_", |
| "right_": "der_" |
| }, |
| "arms": { |
| "left": { |
| "ee_link": "left_tcp", |
| "joint_names": [ |
| "left_joint1", |
| "left_joint2", |
| "left_joint3", |
| "left_joint4", |
| "left_joint5", |
| "left_joint6", |
| "left_joint7" |
| ], |
| "gripper_joints": [ |
| { |
| "name": "left_joint7", |
| "open": 0.035 |
| } |
| ] |
| }, |
| "right": { |
| "ee_link": "right_tcp", |
| "joint_names": [ |
| "right_joint1", |
| "right_joint2", |
| "right_joint3", |
| "right_joint4", |
| "right_joint5", |
| "right_joint6", |
| "right_joint7" |
| ], |
| "gripper_joints": [ |
| { |
| "name": "right_joint7", |
| "open": 0.035 |
| } |
| ] |
| } |
| }, |
| "home_q": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.2617994, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.4363323, |
| 0.0, |
| 0.0 |
| ], |
| "gripper_max_width_m": 0.066, |
| "handumi_tool": { |
| "gripper": "ARX5_beta", |
| "controller_mount": "handumi_v1" |
| }, |
| "controller_tcp_calibrations": { |
| "meta": "configs/calibration/controller_tcp/meta_ARX5_beta.yaml", |
| "pico": "configs/calibration/controller_tcp/pico.yaml" |
| }, |
| "ik_weights": { |
| "pos": 125.0, |
| "ori": 20.0, |
| "rest": 20.0, |
| "max_joint_delta": 0.03490659, |
| "max_reach": 0.7 |
| }, |
| "real": { |
| "backend": "piper_can", |
| "command_rate_hz": 100, |
| "max_joint_speed_deg_s": 180, |
| "max_joint_acceleration_deg_s2": 720, |
| "home_max_joint_speed_deg_s": 20, |
| "home_timeout_s": 30, |
| "home_tolerance_deg": 3, |
| "startup_speed_percent": 10, |
| "speed_percent": 80, |
| "gripper_effort": 1000 |
| } |
| } |
| } |
| } |
| } |
|
|
