urdf_path: "./piper_description.urdf"
srdf_path: "./piper_description.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, 0.0]]
  - base: "joint7"
    mimic: [["joint8", -1.0, 0.0]]
gripper_bias: 0.12
gripper_scale: [0.035, 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