embodiments/RM65B-EG24C2/config.yml

urdf_path: "./RM65B_EG24C2_description.urdf"
srdf_path: "./RM65B_EG24C2_description_mplib.srdf"
joint_stiffness: 1000
joint_damping: 200
gripper_stiffnes: 1000
gripper_damping: 200
move_group: ["gripper_base_link", "gripper_base_link"]
ee_joints: ["gripper_base_joint", "gripper_base_joint"]
arm_joints_name: [["joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"], ["joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"]]
# gripper_name: [["gripper_joint", "gripper_joint"], ["gripper_joint", "gripper_joint"]]
gripper_name:
  - base: "gripper_joint"
    mimic: [
      ["joint_11", 1., 0.],
      ["joint_8" , 1., 0.],
      ["joint_9" ,-1., 0.],
      ["joint_10",-1., 0.],
      ["joint_12", 1., 0.]
    ]
  - base: "gripper_joint"
    mimic: [
      ["joint_11", 1., 0.],
      ["joint_8" , 1., 0.],
      ["joint_9" ,-1., 0.],
      ["joint_10",-1., 0.],
      ["joint_12", 1., 0.]
    ]
gripper_bias: 0.12 # bias
gripper_scale: [0, 0.85]
homestate: [[0, -1.57, 1.62, 0, 1.50, -3.21], [0, -1.57, 1.62, 0, 1.50, -3.21]]
delta_matrix: [[0, 0, 1], [0, -1, 0], [1, 0, 0]]
global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
robot_pose: [0, -0.45, 0.85, 0.704, 0, 0, -0.710]
planner: "mplib_RRT" # "mplib_screw"
dual_arm: False
static_camera_list: 
- name: head_camera
  position:
  - -0.032
  - -0.45
  - 1.35
  forward:
  - 0
  - 0.6
  - -0.8
  left:
  - -1
  - 0
  - 0