加入了关节软限位和控制话题字段

2026-09-17 09:36:03 +08:00
parent 0093ba6845
commit 62b8e72e65
3 changed files with 99 additions and 0 deletions
@@ -0,0 +1,46 @@
+arm_joint_limits:
+  right_arm:
+    joint_1:
+      vec: 4
+      acc: 4
+    joint_2:
+      vec: 4
+      acc: 4
+    joint_3:
+      vec: 4
+      acc: 4
+    joint_4:
+      vec: 4
+      acc: 4
+    joint_5:
+      vec: 4
+      acc: 4
+    joint_6:
+      vec: 4
+      acc: 4
+    joint_7:
+      vec: 4
+      acc: 4
+
+  left_arm:
+    joint_1:
+      vec: 4
+      acc: 4
+    joint_2:
+      vec: 4
+      acc: 4
+    joint_3:
+      vec: 4
+      acc: 4
+    joint_4:
+      vec: 4
+      acc: 4
+    joint_5:
+      vec: 4
+      acc: 4
+    joint_6:
+      vec: 4
+      acc: 4
+    joint_7:
+      vec: 4
+      acc: 4