add config folder

Author: lia2790

box_004010020/C_046127183/be1_10_0.csv

@@ -0,0 +1 @@
+0.046,0.127,0.183,-0.0184,-0.0835,0.0915,-0.672498985586,0.218507995317,0.218507995317,0.672498049329

box_004010020/C_046127183/be1_10_0_simulated.csv

@@ -0,0 +1 @@
+0.046,0.127,0.183,-0.0184,-0.0835,0.0915,-0.672498985586,0.218507995317,0.218507995317,0.672498049329,0.0677299116248,0.0954437171915,0.142178019233,0.588763575876,0.458826001909,-0.308630047369,0.589562249093,0.268343678176,0.0365118855268,0.227513848813,0.409216873855,0.351110772224,0.512846940134,0.549889742614,0.290759001538,0.729178027672,0.730281620206,0.292128320007,0.727557421881,0.728404728178,0.726439486979,0.163382710067,0.458070544013,0.0619118515375,0.534254127099,0.318948891428,0.000189717921756,0.609956729571,0.146266150743,0.44333781561,0.725063558636,0.578639126856,0.729236997474,0.7275890937,0.725135410945,1.38472035369,-4.37148983679e-10,0.0396298200659,0.576491520938,0.512998117322,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,-0.02299590041,-0.0230422802561,0.0710548002615,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,-0.0229792407767,-0.0180562294228,0.0854617479002,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,0.0229905163951,-0.0271883624944,0.0712900359809,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,-2.94876517053,1.03342114585,1.6021163038,7.74467975257e-17,1.72352671779e-16,3.13707085028e-17,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,-15.6675957302,0.426025749346,4.78871070669,0.0,0.0,0.0,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,16.1934003683,0.371918710987,-9.60426404832,-1.51803711993e-17,1.14567067283e-17,-2.51514185529e-17

box_004010020/C_046127183/be1_10_simulated.csv

@@ -0,0 +1 @@
+0.046,0.127,0.183,-0.0184,-0.0835,0.0915,-0.672498985586,0.218507995317,0.218507995317,0.672498049329,0.0677299116248,0.0954437171915,0.142178019233,0.588763575876,0.458826001909,-0.308630047369,0.589562249092,0.268343678176,0.0365118855268,0.227513848813,0.409216873855,0.351110772224,0.512846940134,0.549889742614,0.290759001538,0.729178027672,0.730281620206,0.292128320007,0.727557421881,0.728404728178,0.726439486979,0.163382710067,0.458070544013,0.0619118515375,0.534254127099,0.318948891428,0.000189717921756,0.609956729571,0.146266150743,0.44333781561,0.725063558636,0.578639126856,0.729236997474,0.7275890937,0.725135410945,1.38472035369,-4.37148983679e-10,0.0396298200659,0.576491520938,0.512998117322,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,-0.02299590041,-0.0230422802561,0.0710548002615,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,-0.0229792407767,-0.0180562294228,0.0854617479002,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,0.0229905163951,-0.0271883624944,0.0712900359809,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,-2.94876517053,1.03342114585,1.6021163038,7.74467975257e-17,1.72352671779e-16,3.13707085028e-17,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,-15.6675957302,0.426025749346,4.78871070669,0.0,0.0,0.0,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,16.1934003683,0.371918710987,-9.60426404832,-1.51803711993e-17,1.14567067283e-17,-2.51514185529e-17

box_004010020/C_046127183/be1_20_0.csv

@@ -0,0 +1 @@
+0.046,0.127,0.183,-0.023,0.0835,0.04575,0.321019839076,0.630036684168,-0.630036684168,0.32101996219

box_004010020/C_046127183/be1_20_0_simulated.csv

@@ -0,0 +1 @@
+0.046,0.127,0.183,-0.023,0.0835,0.04575,0.321019839076,0.630036684168,-0.630036684168,0.321019962191,0.0674829862329,0.0601251576086,0.149168909041,0.519478944879,-0.583530607197,0.61986148625,0.0735213856975,0.329593449726,0.0531046744735,0.222443158147,0.378755127931,0.405149982025,0.542729713173,0.642456696563,0.297893194449,0.749078085721,0.746492020818,0.300007916846,0.745097181454,0.748402766707,0.743462248094,0.136621504695,0.496099637984,0.110805402669,0.562420027585,0.345866044851,-1.83501859041e-07,0.596910767008,0.18157148299,0.429788250075,0.611082086748,0.594181352486,0.731039928035,0.749514265281,0.711486165175,1.22103108979,-1.0372405157e-09,-3.95251831264e-10,0.433846873213,0.414116566278,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,0.0229959979158,0.0286011125472,0.0206372246076,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,0.0229588642246,0.0245960175689,0.0394517866592,nan,nan,nan,nan,nan,nan,nan,nan,nan,0.0229414792601,0.0612051635409,0.0452726232543,nan,nan,nan,nan,nan,nan,-0.0229789730863,0.0379190061916,0.0269288765048,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,0.892240721661,2.23622633393,0.233827286566,0.00719992669306,-3.10227797237e-07,4.50864406938e-06,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,14.2216969298,-4.12796949906,0.886651847388,-6.79711607873e-17,-1.95937588792e-16,1.78018981079e-16,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,14.7000021588,3.09046250375,5.57041961121,-0.0104717940614,-0.000394008159952,-3.47871657815e-05,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,-30.4969819365,-4.04260975326,-10.6140149774,-2.13472048335e-16,-1.28461301847e-15,1.10264045646e-15

box_004010020/C_046127183/be1_20_simulated.csv

@@ -0,0 +1 @@
+0.046,0.127,0.183,-0.023,0.0835,0.04575,0.321019839076,0.630036684168,-0.630036684168,0.32101996219,0.0674829862329,0.0601251576086,0.149168909041,0.519478944879,-0.583530607197,0.61986148625,0.0735213857078,0.329593449726,0.0531046744735,0.222443158147,0.378755127931,0.405149982025,0.542729713173,0.642456696563,0.297893194449,0.749078085721,0.746492020818,0.300007916846,0.745097181454,0.748402766707,0.743462248094,0.136621504695,0.496099637984,0.110805402669,0.562420027585,0.345866044851,-1.83501859041e-07,0.596910767008,0.18157148299,0.429788250075,0.611082086748,0.594181352486,0.731039928035,0.749514265281,0.711486165175,1.22103108979,-1.0372405157e-09,-3.95251831264e-10,0.433846873213,0.414116566278,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,0.0229959979158,0.0286011125472,0.0206372246076,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,0.0229588642246,0.0245960175689,0.0394517866592,nan,nan,nan,nan,nan,nan,nan,nan,nan,0.0229414792601,0.0612051635409,0.0452726232543,nan,nan,nan,nan,nan,nan,-0.0229789730863,0.0379190061916,0.0269288765048,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,0.892240721661,2.23622633393,0.233827286566,0.00719992669306,-3.10227797237e-07,4.50864406938e-06,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,14.2216969298,-4.12796949906,0.886651847388,-6.79711607873e-17,-1.95937588792e-16,1.78018981079e-16,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,14.7000021588,3.09046250375,5.57041961121,-0.0104717940614,-0.000394008159952,-3.47871657815e-05,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,-30.4969819365,-4.04260975326,-10.6140149774,-2.13472048335e-16,-1.28461301847e-15,1.10264045646e-15

config/hardware_interfaces.yaml

@@ -0,0 +1,29 @@
+# make the namespace match the name you use to instantiate the arm in the xacro
+left_arm:
+  root: left_arm_base_link
+  tip: left_arm_7_link
+  # joints is not used, since with the robot name and urdf name conventions, the parsing is hardcoded
+  # but as a general solution, joint names could be loaded as well, like controllers do
+  joints:
+  - left_arm_a1_joint
+  - left_arm_a2_joint
+  - left_arm_e1_joint
+  - left_arm_a3_joint
+  - left_arm_a4_joint
+  - left_arm_a5_joint
+  - left_arm_a6_joint
+
+# make the namespace match the name you use to instantiate the arm in the xacro
+right_arm:
+  root: right_arm_base_link
+  tip: right_arm_7_link
+  # joints is not used, since with the robot name and urdf name conventions, the parsing is hardcoded
+  # but as a general solution, joint names could be loaded as well, like controllers do
+  joints:
+  - right_arm_a1_joint
+  - right_arm_a2_joint
+  - right_arm_e1_joint
+  - right_arm_a3_joint
+  - right_arm_a4_joint
+  - right_arm_a5_joint
+  - right_arm_a6_joint

config/left_arm_names.yaml

@@ -0,0 +1,8 @@
+joints:
+  - left_arm_a1_joint
+  - left_arm_a2_joint
+  - left_arm_e1_joint
+  - left_arm_a3_joint
+  - left_arm_a4_joint
+  - left_arm_a5_joint
+  - left_arm_a6_joint

config/left_hand_names.yaml

@@ -0,0 +1,2 @@
+joints:
+  - left_hand_synergy_joint

config/right_arm_names.yaml

@@ -0,0 +1,8 @@
+joints:
+  - right_arm_a1_joint
+  - right_arm_a2_joint
+  - right_arm_e1_joint
+  - right_arm_a3_joint
+  - right_arm_a4_joint
+  - right_arm_a5_joint
+  - right_arm_a6_joint

config/right_hand_names.yaml

@@ -0,0 +1,2 @@
+joints:
+  - right_hand_synergy_joint