14 lines
568 B
YAML
14 lines
568 B
YAML
soft_arm_simulator:
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ros__parameters:
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# --- 机器人物理参数 ---
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num_sections: 3 # PCC 段数
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section_length: 0.240 # 每段长度 (m)
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disks_per_section: 3 # 每段的圆盘数量
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disk_radius: 0.033 # 绳索孔距圆心的半径 (m) (用于运动学计算)
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# --- 视觉参数 ---
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visual_disk_radius: 0.04 # 圆盘实际显示半径 (m) (可视化的红色圆盘大小)
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visual_disk_thickness: 0.005 # 圆盘厚度 (m)
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# --- 仿真参数 ---
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sim_rate: 30.0 # 仿真频率 (Hz) |