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