franka_sim.yaml

robot_parameters:
  kLooseJointDistance: 0.25
  kMediumJointDistance: 0.125
  kTightJointDistance: 0.01
  lcm_url: udpm://239.255.76.67:7667?ttl=2
  robot_ip: '192.168.1.1' # sim
  # limits taken from https://frankaemika.github.io/docs/control_parameters.html#constants
  robot_high_joint_limits: # rad
    - 2.8973
    - 1.7628
    - 2.8973
    - -0.0698
    - 2.8973
    - 3.7525
    - 2.8973
  robot_low_joint_limits: # rad
    - -2.8973
    - -1.7628
    - -2.8973
    - -3.0718
    - -2.8973
    - -0.0175
    - -2.8973
  robot_max_velocities: # rad/s
    - 2.1750
    - 2.1750
    - 2.1750
    - 2.1750
    - 2.6100
    - 2.6100
    - 2.6100
  robot_max_accelerations: # rad/s^2
    - 15
    - 7.5
    - 10
    - 12.5
    - 15
    - 20
    - 20
  robot_max_jerks: # rad/s^3
    - 7500
    - 3750
    - 5000
    - 6250
    - 7500
    - 10000
    - 10000
  robot_max_torques: # N*m
    - 87
    - 87
    - 87
    - 87
    - 12
    - 12
    - 12
  robot_max_torques_dot: # N*m/s
    - 1000
    - 1000
    - 1000
    - 1000
    - 1000
    - 1000
    - 1000
  pos_continuity_err_tolerance: 0.001
  vel_continuity_err_tolerance: 0.001
  acc_continuity_err_tolerance: 0.01
  stop_epsilon: 0.015 # used to calculate when robot counts as "stopped"
  stop_margin: 0.6 # how long robot sleeps before ready to recieve continue
  simulated: true
  urdf: franka_robot_multibody_collision.urdf
  urdf_dir: ''
  world_frame: base_link
  gravity_vector:
    - 0.0
    - 0.0
    - -1.0