ロボット構造のタイプ

{
"algo_type": "UR_UR5_Like",
"robot_type": "UR_16E",
"dh": [ A, B, D, G, F, H ],
"shoulder_offset": C,
"elbow_offset": E,
"min_limits": [ J1 min, J2 min, J3 min, J4 min, J5 min, J6 min ],
"max_limits": [ J1 max, J2 max, J3 max, J4 max, J5 max, J6 max ],
"mastering_joints": [ J1, J2, J3, J4, J5, J6 ],     # Unnecessary
"axis_flip": "J1J2J3J4J5J6"                   # Unnecessary
}

{
 "algo_type": "SphericalWrist_SixAxis",
 "robot_type": "KAWASAKI_CX110L",
 "dh": [ A, B, C, D, E, F ],
 "min_limits": [ J1 min, J2 min, J3 min, J4 min, J5 min, J6 min ],
 "max_limits": [ J1 max, J2 max, J3 max, J4 max, J5 max, J6 max ],
 "mastering_joints": [ J1, J2, J3, J4, J5, J6 ], # Unnecessary
 "axis_flip": "J1J2J3J4J5J6"                  # Unnecessary
}