| 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 |
|
|
