File size: 1,148 Bytes
520cedd | 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 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 | urdf_path: "./piper.urdf"
srdf_path: "./piper.srdf"
joint_stiffness: 1000
joint_damping: 200
gripper_stiffnes: 1000
gripper_damping: 200
move_group: ["link6","link6"]
ee_joints: ["joint6","joint6"]
arm_joints_name: [['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6'],
['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6']]
gripper_name:
- base: "joint7"
mimic: [["joint8", 1., 0.]]
- base: "joint7"
mimic: [["joint8", 1., 0.]]
gripper_bias: 0.12
gripper_scale: [-0.01, 0.04]
homestate: [[0,0,0,0,0,0],[0,0,0,0,0,0]]
delta_matrix: [[0,0,-1],[0,1,0],[1,0,0]]
global_trans_matrix: [[0,0,1],[0,1,0],[-1,0,0]]
robot_pose: [[0, -0.45, 0.75, 0.707, 0, 0, 0.707]] # modify
# planner: "mplib_RRT"
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
# - name: front_camera
# type: D435
# position:
# - 0
# - -0.45
# - 0.85
# forward:
# - 0
# - 1
# - -0.1
# left:
# - -1
# - 0
# - 0 |