File size: 1,400 Bytes
fa110ba | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 | urdf_path: "./assembly.urdf"
joint_stiffness: 1000
joint_damping: 200
gripper_stiffnes: 1000
gripper_damping: 200
move_group: ["piper_description_v100_link6", "piper_description_v100_link6"]
ee_joints: ["piper_description_v100_joint6", "piper_description_v100_joint6"]
arm_joints_name: [["piper_description_v100_joint1", "piper_description_v100_joint2", "piper_description_v100_joint3", "piper_description_v100_joint4", "piper_description_v100_joint5", "piper_description_v100_joint6"],
["piper_description_v100_joint1", "piper_description_v100_joint2", "piper_description_v100_joint3", "piper_description_v100_joint4", "piper_description_v100_joint5", "piper_description_v100_joint6"]]
gripper_name:
- base: "piper_description_v100_joint7"
mimic: [["piper_description_v100_joint8", -1.0, 0.0]]
- base: "piper_description_v100_joint7"
mimic: [["piper_description_v100_joint8", -1.0, 0.0]]
gripper_bias: 0.12
gripper_scale: [0.05, 0.0]
homestate: [[0,0,0,0,0,0],[0,0,0,0,0,0]]
delta_matrix: [[1,0,0],[0,1,0],[0,0,1]]
global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
robot_pose: [[0, -0.35, 0.784, 0.707, 0, 0, 0.707]]
planner: "curobo"
dual_arm: False
rotate_lim: [0.2, 1]
grasp_perfect_direction: ['front_right', 'front_left']
static_camera_list:
- name: head_camera
position:
- -0.032
- -0.45
- 1.35
forward:
- 0
- 0.6
- -0.8
left:
- -1
- 0
- 0
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