demo-april-tag.yaml

demo:
  robots:
    ur10e:
      srdf:
        package: agimus_demos
        file: srdf/ur10_robot.srdf
  objects:
    part:
      class_name: AprilTag
      urdf:
        package: agimus_demos
        file: /urdf/april-tag.urdf
      srdf:
        package: agimus_demos
        file: srdf/april-tag.srdf
      contacts:
        []
      pose : [-0.9, 0, 0.01, 0, 0, -1, 0]
      root_joint_type : freeflyer
      bounds: [-1, 1, -0.5, 0.5, 0, 2]
  grippers:
    [ur10e/gripper,]
  configurations :
    home : [1.571, -1.575, 2.753, -2.622, -1.571, 0.0,1.3, 0, 0, 0, 0, -0.7071, 0.7071]
    int : [1.431, -1.983, 2.243, -0.253, -1.014, 0.000,1.3, 0, 0, 0, 0, -0.7071, 0.7071]
    calib : [1.3707, -3.1, 2.1, -2.32, -1.57, 0.0, 1.3, 0.0, 0.0, 0.0, 0.0, -0.7071067811865476, 0.7071067811865476]
    calib_2 : [-1.8336012999164026, -0.86712201059375, 1.1880577246295374, -1.606293340722555, -1.543776814137594, -0.22044784227480108, 1.6, 0.1, 0.0, 0.0, 0.0, -0.70710678118, 0.70710678118]
    calib_1 : [-1.5237324873553675, -0.834700421696045, 1.136543099080221, -1.6666742763915003, -1.9338105360614222, -0.1688464323626917, 1.6, 0.1, 0.0, 0.0, 0.0, -0.70710678118, 0.70710678118]