| urdf_path: "./urdf/arx5_description_isaac.urdf" |
| srdf_path: "./srdf/arx5_description_isaac.srdf" |
| joint_stiffness: 1000 |
| joint_damping: 200 |
| gripper_stiffness: 1000 |
| gripper_damping: 200 |
| move_group: ["fl_link6","fr_link6"] |
| ee_joints: ["fl_joint6", "fr_joint6"] |
| arm_joints_name: [["fl_joint1", "fl_joint2", "fl_joint3", "fl_joint4", "fl_joint5", "fl_joint6"], ["fr_joint1", "fr_joint2", "fr_joint3", "fr_joint4", "fr_joint5", "fr_joint6"]] |
| gripper_name: |
| - base: "fl_joint7" |
| mimic: [["fl_joint8", 1., 0.]] |
| - base: "fr_joint7" |
| mimic: [["fr_joint8", 1., 0.]] |
| gripper_bias: 0.12 |
| gripper_scale: [-0.01, 0.045] |
| 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, -0.65, 0.0, 0.707, 0, 0, 0.707]] |
| |
| planner: "curobo" |
| dual_arm: True |
| rotate_lim: [0, 1] |
| grasp_perfect_direction: ['front_right', 'front_left'] |
| static_camera_list: |
| - name: head_camera |
| type: D435 |
| 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 |
