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support: specify OPW joint offsets in degrees. #293

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Aug 14, 2020
Merged

support: specify OPW joint offsets in degrees. #293

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2 changes: 1 addition & 1 deletion fanuc_lrmate200ib_support/config/opw_parameters_lrmate200ib.yaml
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Expand Up @@ -16,5 +16,5 @@ opw_kinematics_geometric_parameters:
c2: 0.25
c3: 0.290
c4: 0.08
opw_kinematics_joint_offsets: [0.0, 0.0, -1.5707963267948966, 0.0, 0.0, 3.14159265359]
opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, deg(180.0)]
opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1, -1]
2 changes: 1 addition & 1 deletion fanuc_lrmate200ib_support/config/opw_parameters_lrmate200ib3l.yaml
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Expand Up @@ -16,5 +16,5 @@ opw_kinematics_geometric_parameters:
c2: 0.25
c3: 0.450
c4: 0.080
opw_kinematics_joint_offsets: [0.0, 0.0, -1.57079632679, 0.0, 0.0, 3.14159265359]
opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, deg(180.0)]
opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1, -1]
2 changes: 1 addition & 1 deletion fanuc_lrmate200ic_support/config/opw_parameters_lrmate200ic.yaml
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Expand Up @@ -16,5 +16,5 @@ opw_kinematics_geometric_parameters:
c2: 0.3
c3: 0.32
c4: 0.08
opw_kinematics_joint_offsets: [0.0, 0.0, -1.57079632679, 0.0, 0.0, 3.14159265359]
opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, deg(180.0)]
opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1, -1]
2 changes: 1 addition & 1 deletion fanuc_lrmate200ic_support/config/opw_parameters_lrmate200ic5l.yaml
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Expand Up @@ -16,5 +16,5 @@ opw_kinematics_geometric_parameters:
c2: 0.40
c3: 0.41
c4: 0.08
opw_kinematics_joint_offsets: [0.0, 0.0, -1.57079632679, 0.0, 0.0, 3.14159265359]
opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, deg(180.0)]
opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1, -1]
2 changes: 1 addition & 1 deletion fanuc_m10ia_support/config/opw_parameters_m10ia.yaml
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Expand Up @@ -16,5 +16,5 @@ opw_kinematics_geometric_parameters:
c2: 0.60
c3: 0.64
c4: 0.10
opw_kinematics_joint_offsets: [0.0, 0.0, -1.57079632679, 0.0, 0.0, 3.14159265359]
opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, deg(180.0)]
opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1, -1]
2 changes: 1 addition & 1 deletion fanuc_m10ia_support/config/opw_parameters_m10ia7l.yaml
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Expand Up @@ -16,5 +16,5 @@ opw_kinematics_geometric_parameters:
c2: 0.60
c3: 0.86
c4: 0.10
opw_kinematics_joint_offsets: [0.0, 0.0, -1.57079632679, 0.0, 0.0, 3.14159265359]
opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, deg(180.0)]
opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1, -1]
2 changes: 1 addition & 1 deletion fanuc_m16ib_support/config/opw_parameters_m16ib20.yaml
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Expand Up @@ -16,5 +16,5 @@ opw_kinematics_geometric_parameters:
c2: 0.77
c3: 0.74
c4: 0.10
opw_kinematics_joint_offsets: [0.0, 0.0, -1.57079632679, 0.0, 0.0, 3.14159265359]
opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, deg(180.0)]
opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1, -1]
2 changes: 1 addition & 1 deletion fanuc_m20ia_support/config/opw_parameters_m20ia.yaml
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Expand Up @@ -16,5 +16,5 @@ opw_kinematics_geometric_parameters:
c2: 0.79
c3: 0.835
c4: 0.10
opw_kinematics_joint_offsets: [0.0, 0.0, -1.57079632679, 0.0, 0.0, 3.14159265359]
opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, deg(180.0)]
opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1, -1]
2 changes: 1 addition & 1 deletion fanuc_m20ia_support/config/opw_parameters_m20ia10l.yaml
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Expand Up @@ -16,5 +16,5 @@ opw_kinematics_geometric_parameters:
c2: 0.79
c3: 1.04
c4: 0.10
opw_kinematics_joint_offsets: [0.0, 0.0, -1.57079632679, 0.0, 0.0, 3.14159265359]
opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, deg(180.0)]
opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1, -1]
2 changes: 1 addition & 1 deletion fanuc_m6ib_support/config/opw_parameters_m6ib.yaml
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Expand Up @@ -16,5 +16,5 @@ opw_kinematics_geometric_parameters:
c2: 0.600
c3: 0.615
c4: 0.10
opw_kinematics_joint_offsets: [0.0, 0.0, -1.57079632679, 0.0, 0.0, 3.14159265359]
opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, deg(180.0)]
opw_kinematics_joint_sign_corrections: [1, 1, -1, -1, -1, -1]