← Source browser

src/custom-ur-descriptions/cms_robot_description/config/ur5e_calibration.yaml

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
kinematics:
  shoulder:
    x: 0
    y: 0
    z: 0.16260119103493989
    roll: -0
    pitch: 0
    yaw: 5.6446715484062542e-08
  upper_arm:
    x: 5.0747811078465147e-05
    y: 0
    z: 0
    roll: 1.5704524934465869
    pitch: 0
    yaw: -4.3848131570101151e-07
  forearm:
    x: -0.425339544116836
    y: 0
    z: 0
    roll: 3.1405921296001549
    pitch: 3.140015588611444
    yaw: 3.1415771552539051
  wrist_1:
    x: -0.39212480859428955
    y: -0.00070901537063802072
    z: 0.13387434235334733
    roll: 0.0052960763746110256
    pitch: 0.001323324865500051
    yaw: 4.8499564410841671e-06
  wrist_2:
    x: -3.7545657827714984e-07
    y: -0.099868831574699196
    z: 3.5653030293670159e-05
    roll: 1.5704393282377205
    pitch: 0
    yaw: 2.1955918973817767e-06
  wrist_3:
    x: -2.3804544682715832e-05
    y: 0.099548048902170255
    z: 1.6577536206585414e-05
    roll: 1.570962854780489
    pitch: 3.1415926535897931
    yaw: -3.141592619557402
  hash: calib_14578360067925391022