embodiments/franka-panda/config.yml

urdf_path: "./panda.urdf"
srdf_path: "./panda.srdf"
joint_stiffness: 1000
joint_damping: 200
gripper_stiffnes: 1000
gripper_damping: 200
move_group: ["panda_hand","panda_hand"]
ee_joints: ["panda_hand_joint","panda_hand_joint"]
arm_joints_name: [['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'],
                  ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7']]
# gripper_name: [["panda_finger_joint1", "panda_finger_joint2"],
#                ["panda_finger_joint1", "panda_finger_joint2"]]
gripper_name:
  - base: "panda_finger_joint1"
    mimic: [["panda_finger_joint2", 1., 0.]]
  - base: "panda_finger_joint1"
    mimic: [["panda_finger_joint2", 1., 0.]]
gripper_bias: 0.08
gripper_scale: [-0.01, 0.045]
homestate: [[0, 0.19634954084936207, 0.0, -2.617993877991494, 0.0, 2.941592653589793, 0.7853981633974483],
            [0, 0.19634954084936207, 0.0, -2.617993877991494, 0.0, 2.941592653589793, 0.7853981633974483]]
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, -0.65, 0.75, 0.707, 0, 0, 0.707]   # modify
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
# - name: front_camera
#   type: D435
#   position:
#   - 0
#   - -0.45
#   - 0.85
#   forward:
#   - 0
#   - 1
#   - -0.1
#   left:
#   - -1
#   - 0
#   - 0