modelec/modelec-marcel-ROS
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acki
2026-03-17 18:29:46 +01:00
parent 0f1d68e96e
commit d0ca7756a5
1 changed files with 28 additions and 36 deletions
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64
src/modelec_strat/data/action.xml
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@@ -1,13 +1,5 @@
<action>
<init>
<!--<servo id="0" angle="3.12" />
<servo id="1" angle="0.91" />
<servo id="2" angle="3.45" />
<servo id="3" angle="0" />
<servo id="4" angle="1" />
<servo id="5" angle="1" />
<servo id="6" angle="1" />
<servo id="7" angle="1" />-->
<servo id="0" angle="1.84" />
<servo id="1" angle="2.15" />
<servo id="2" angle="0.5" />
@@ -31,18 +23,18 @@
<down>
<front>
<unrotated>
<msg id="0" start_angle="1.84" end_angle="3.12" duration_s="2" />
<msg id="1" start_angle="2.15" end_angle="0.91" duration_s="2" />
<msg id="2" start_angle="0.5" end_angle="2.85" duration_s="0.9" delay_s="0.4" />
<msg id="2" start_angle="2.85" end_angle="3.45" duration_s="0.7" delay_s="1.3" />
<msg id="3" start_angle="2.9" end_angle="0.9" duration_s="0.9" delay_s="0.4" />
<msg id="3" start_angle="0.9" end_angle="0" duration_s="0.7" delay_s="1.3" />
<msg id="0" start_angle="1.84" end_angle="3.12" duration_s="1.5" />
<msg id="1" start_angle="2.15" end_angle="0.91" duration_s="1.5" />
<msg id="2" start_angle="0.5" end_angle="2.85" duration_s="0.7" delay_s="0.3" />
<msg id="2" start_angle="2.85" end_angle="3.45" duration_s="0.5" delay_s="1" />
<msg id="3" start_angle="2.9" end_angle="0.9" duration_s="0.7" delay_s="0.3" />
<msg id="3" start_angle="0.9" end_angle="0" duration_s="0.5" delay_s="1" />
</unrotated>
<rotated>
<msg id="0" start_angle="1.84" end_angle="2.98" duration_s="2" />
<msg id="1" start_angle="2.15" end_angle="1.07" duration_s="2" />
<msg id="2" start_angle="0.5" end_angle="0" duration_s="1" />
<msg id="3" start_angle="2.9" end_angle="3.3" duration_s="1" />
<msg id="0" start_angle="1.84" end_angle="2.98" duration_s="1.5" />
<msg id="1" start_angle="2.15" end_angle="1.07" duration_s="1.5" />
<msg id="2" start_angle="0.5" end_angle="0" duration_s="0.7" />
<msg id="3" start_angle="2.9" end_angle="3.3" duration_s="0.7" />
</rotated>
</front>
<back>
@@ -65,32 +57,32 @@
<up>
<front>
<unrotated>
<msg id="0" start_angle="3.12" end_angle="1.84" duration_s="2" />
<msg id="1" start_angle="0.91" end_angle="2.15" duration_s="2" />
<msg id="2" start_angle="3.45" end_angle="2.95" duration_s="0.7" />
<msg id="2" start_angle="2.95" end_angle="0.5" duration_s="0.7" delay_s="0.7" />
<msg id="3" start_angle="0" end_angle="0.6" duration_s="0.7" />
<msg id="3" start_angle="0.6" end_angle="2.9" duration_s="0.7" delay_s="0.7" />
<msg id="0" start_angle="3.12" end_angle="1.84" duration_s="1.5" />
<msg id="1" start_angle="0.91" end_angle="2.15" duration_s="1.5" />
<msg id="2" start_angle="3.45" end_angle="2.95" duration_s="0.4" />
<msg id="2" start_angle="2.95" end_angle="0.5" duration_s="0.4" delay_s="0.4" />
<msg id="3" start_angle="0" end_angle="0.6" duration_s="0.4" />
<msg id="3" start_angle="0.6" end_angle="2.9" duration_s="0.4" delay_s="0.4" />
</unrotated>
<rotated>
<msg id="0" start_angle="2.98" end_angle="1.84" duration_s="2" />
<msg id="1" start_angle="1.07" end_angle="2.15" duration_s="2" />
<msg id="2" start_angle="0" end_angle="0.5" duration_s="2" />
<msg id="3" start_angle="3.3" end_angle="2.9" duration_s="2" />
<msg id="0" start_angle="2.98" end_angle="1.84" duration_s="1.5" />
<msg id="1" start_angle="1.07" end_angle="2.15" duration_s="1.5" />
<msg id="2" start_angle="0" end_angle="0.5" duration_s="1.5" />
<msg id="3" start_angle="3.3" end_angle="2.9" duration_s="1.5" />
</rotated>
</front>
<back>
<rotated>
<msg id="8" start_angle="2.93" end_angle="1.76" duration_s="2" />
<msg id="9" start_angle="0.91" end_angle="2.06" duration_s="2" />
<msg id="10" start_angle="0" end_angle="0.5" duration_s="2" />
<msg id="11" start_angle="3.1" end_angle="2.6" duration_s="2" />
<msg id="8" start_angle="2.93" end_angle="1.76" duration_s="1.5" />
<msg id="9" start_angle="0.91" end_angle="2.06" duration_s="1.5" />
<msg id="10" start_angle="0" end_angle="0.5" duration_s="1.5" />
<msg id="11" start_angle="3.1" end_angle="2.6" duration_s="1.5" />
</rotated>
<unrotated>
<msg id="8" start_angle="2.93" end_angle="1.76" duration_s="2" />
<msg id="9" start_angle="0.91" end_angle="2.06" duration_s="2" />
<msg id="10" start_angle="3.2" end_angle="0.5" duration_s="2" />
<msg id="11" start_angle="0" end_angle="2.6" duration_s="2" />
<msg id="8" start_angle="2.93" end_angle="1.76" duration_s="1.5" />
<msg id="9" start_angle="0.91" end_angle="2.06" duration_s="1.5" />
<msg id="10" start_angle="3.2" end_angle="0.5" duration_s="1.5" />
<msg id="11" start_angle="0" end_angle="2.6" duration_s="1.5" />
</unrotated>
</back>
</up>