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kinematic_plugins.yaml
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kinematic_plugins:
search_paths:
- /usr/local/lib
search_libraries:
- tesseract_kinematics_kdl_factories
fwd_kin_plugins:
iiwa_manipulator:
default: KDLFwdKinChain
plugins:
KDLFwdKinChain:
class: KDLFwdKinChainFactory
config:
base_link: base_link
tip_link: tool0
inv_kin_plugins:
iiwa_manipulator:
default: KDLInvKinChainLMA
plugins:
KDLInvKinChainLMA:
class: KDLInvKinChainLMAFactory
config:
base_link: base_link
tip_link: tool0
KDLInvKinChainNR:
class: KDLInvKinChainNRFactory
config:
base_link: base_link
tip_link: tool0
abb_manipulator:
default: OPWInvKin
plugins:
OPWInvKin:
class: OPWInvKinFactory
config:
base_link: base_link
tip_link: tool0
params:
a1: 0.100
a2: -0.135
b: 0.00
c1: 0.615
c2: 0.705
c3: 0.755
c4: 0.086
offsets: [0, 0, -1.57079632679, 0, 0, 0]
sign_corrections: [1, 1, 1, 1, 1, 1]
ur_manipulator:
default: URInvKin
plugins:
URInvKin:
class: URInvKinFactory
config:
base_link: base_link
tip_link: tool0
model: UR10 #Current Options: UR3, UR5, UR10, UR3e, UR5e, UR10e
rop_manipulator:
default: ROPInvKin
plugins:
ROPInvKin:
class: ROPInvKinFactory
config:
manipulator_reach: 2.0
positioner_sample_resolution:
- name: positioner_joint_1
value: 0.1
positioner:
class: KDLFwdKinChainFactory
config:
base_link: positioner_base_link
tip_link: positioner_tool0
manipulator:
class: OPWInvKinFactory
config:
base_link: base_link
tip_link: tool0
params:
a1: 0.100
a2: -0.135
b: 0.00
c1: 0.615
c2: 0.705
c3: 0.755
c4: 0.086
offsets: [0, 0, -1.57079632679, 0, 0, 0]
sign_corrections: [1, 1, 1, 1, 1, 1]
rep_manipulator:
default: REPInvKin
plugins:
REPInvKin:
class: REPInvKinFactory
config:
manipulator_reach: 2.0
positioner_sample_resolution:
- name: positioner_joint_1
value: 0.1
- name: positioner_joint_2
value: 0.1
positioner:
class: KDLFwdKinChainFactory
config:
base_link: positioner_base_link
tip_link: positioner_tool0
manipulator:
class: OPWInvKinFactory
config:
base_link: base_link
tip_link: tool0
params:
a1: 0.100
a2: -0.135
b: 0.00
c1: 0.615
c2: 0.705
c3: 0.755
c4: 0.086
offsets: [0, 0, -1.57079632679, 0, 0, 0]
sign_corrections: [1, 1, 1, 1, 1, 1]