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Unified hexapod repository, containing all modules
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hexapod/hexapod_moveit/config/kinematics.yaml

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  1. e1_group:

  2.   kinematics_solver: pick_ik/PickIkPlugin

  3.   kinematics_solver_timeout: 0.05

  4.   kinematics_solver_attempts: 3

  5.   mode: global

  6.   position_scale: 1.0

  7.   rotation_scale: 0.0

  8.   position_threshold: 0.001

  9.   orientation_threshold: 0.01

  10.   cost_threshold: 0.001

  11.   minimal_displacement_weight: 0.0

  12.   gd_step_size: 0.0001

  13. 

  14. e2_group:

  15.   kinematics_solver: pick_ik/PickIkPlugin

  16.   kinematics_solver_timeout: 0.05

  17.   kinematics_solver_attempts: 3

  18.   mode: global

  19.   position_scale: 1.0

  20.   rotation_scale: 0.0

  21.   position_threshold: 0.001

  22.   orientation_threshold: 0.01

  23.   cost_threshold: 0.001

  24.   minimal_displacement_weight: 0.0

  25.   gd_step_size: 0.0001

  26. 

  27. e3_group:

  28.   kinematics_solver: pick_ik/PickIkPlugin

  29.   kinematics_solver_timeout: 0.05

  30.   kinematics_solver_attempts: 3

  31.   mode: global

  32.   position_scale: 1.0

  33.   rotation_scale: 0.0

  34.   position_threshold: 0.001

  35.   orientation_threshold: 0.01

  36.   cost_threshold: 0.001

  37.   minimal_displacement_weight: 0.0

  38.   gd_step_size: 0.0001

  39. 

  40. e4_group:

  41.   kinematics_solver: pick_ik/PickIkPlugin

  42.   kinematics_solver_timeout: 0.05

  43.   kinematics_solver_attempts: 3

  44.   mode: global

  45.   position_scale: 1.0

  46.   rotation_scale: 0.0

  47.   position_threshold: 0.001

  48.   orientation_threshold: 0.01

  49.   cost_threshold: 0.001

  50.   minimal_displacement_weight: 0.0

  51.   gd_step_size: 0.0001

  52. 

  53. e5_group:

  54.   kinematics_solver: pick_ik/PickIkPlugin

  55.   kinematics_solver_timeout: 0.05

  56.   kinematics_solver_attempts: 3

  57.   mode: global

  58.   position_scale: 1.0

  59.   rotation_scale: 0.0

  60.   position_threshold: 0.001

  61.   orientation_threshold: 0.01

  62.   cost_threshold: 0.001

  63.   minimal_displacement_weight: 0.0

  64.   gd_step_size: 0.0001

  65. 

  66. e6_group:

  67.   kinematics_solver: pick_ik/PickIkPlugin

  68.   kinematics_solver_timeout: 0.05

  69.   kinematics_solver_attempts: 3

  70.   mode: global

  71.   position_scale: 1.0

  72.   rotation_scale: 0.0

  73.   position_threshold: 0.001

  74.   orientation_threshold: 0.01

  75.   cost_threshold: 0.001

  76.   minimal_displacement_weight: 0.0

  77.   gd_step_size: 0.0001