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Add opw parameters for KR 16 R1610 cybertech
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simonschmeisser committed Sep 30, 2021
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#
# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist)
# kinematic configurations, as described in the paper "An Analytical Solution
# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an
# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur
# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop
# 2014, 22-23 May, 2014, Linz, Austria).
#
# The moveit_opw_kinematics_plugin package provides such a solver.
#
opw_kinematics_geometric_parameters:
a1: 0.260
a2: 0.035
b: 0.000
c1: 0.675
c2: 0.680
c3: 0.670
c4: 0.158
opw_kinematics_joint_offsets: [0.0, -1.57079632679, 0.0, 0.0, 0.0, 0.0]
opw_kinematics_joint_sign_corrections: [-1, 1, 1, -1, 1, -1]

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