<> <> == Load the parameters == Inside this package there is the launch to load the parameters in parameter server in the name space /script_server , for example upload_param_cob3-3.launch: {{{ }}} == Parameter definition/ Examples == The package is divided into folders, a folder per robot, inside each robot folder you can find the {{{.yaml}}}-files. The {{{tray_joint_configurations.yaml}}}-file could look similar to this: {{{ joint_names: ["torso_tray_joint"] up: [[0.0]] down: [[-3.1415926]] }}} Each entry is defined as a list of lists. The inner list contains all joint positions for a certain point. The outer list contains all points belonging to a certain trajectory. All commands are trajectories with one or more points. Here you can see an example of a {{{arm_joint_configurations.yaml}}} file with points and trajectories: {{{ joint_names: ["arm_1_joint","arm_2_joint","arm_3_joint","arm_4_joint","arm_5_joint","arm_6_joint","arm_7_joint"] # single positions home: [[0,0,0,0,0,0,0]] folded: [[-1.16, -1.91, -2.53, -1.78, -2.84, -0.97, 1.76]] pregrasp: [[-1.3813, -1.9312, -1.7251, -1.4565, 0.7169, 1.0560, -2.1230]] wavein: [[1.5, 0.5, 0.0, -0.5, 0.0, 0.5, 0.0]] waveout: [[1.5, 0.5, 0.0, 0.5, 0.0, -0.5, 0.0]] # trajectories wave: [waveout, wavein, waveout, wavein] }}} == Command_gui_buttons / Example == Also it is a .yaml file with the buttons of the command_gui (cob_default_robot_config)/$(env ROBOT)/command_gui_buttons.yaml it is defined for each robot. The typical format of this file is: {{{ group: group_name: component_name: buttons: [[button_name1,function_name1,parameter_name2, [button_name2,function_name2,parameter_name2]] }}} A sample of this file is: {{{ group1: group_name: base component_name: base buttons: [[stop,trigger,stop], [init,trigger,init], [recover,trigger,recover]] group2: group_name: torso component_name: torso buttons: [[stop,trigger,stop], [init,trigger,init], [recover,trigger,recover], [enable joystick,mode,velocity], [home,move,home], [front,move,front], [back,move,back], [left,move,left], [right,move,right], [shake,move,shake], [nod,move,nod]] group3: group_name: tray component_name: tray buttons: [[stop,trigger,stop], [init,trigger,init], [recover,trigger,recover], [enable joystick,mode,velocity], [up,move,up], [down,move,down]] }}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage