Embodiment/x5/robot_config.yml

urdf_path: "./X5A.urdf"
# srdf_path: "./X5A.srdf"
ee_joints: "joint6"
ee_link: "link6"
ee_type: "gripper"
base_link: "base_link"
arm_joints_name: ['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6']
gripper_joints_name: ['joint7', 'joint8']
save_gripper_joints_name: ['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7', 'joint8']
gripper_move: 
    base: "joint7"
    sign : 1.0
    mimic: ["joint8", 1., 0.]
gripper_bias: 0.145
gripper_scale: [-0.01, 0.044]
delta_matrix: [[1,0,0],[0,1,0],[0,0,1]]
global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]] # for curobo
dual_arm: False
grasp_camera_reference_axis: [1, 0, 0] # in base_link frame
camera:
  -
    link: "camera"
    name: "cam_wrist"
    type: d435
    mesh: pinhole
    pos: [0, 0, 0.001]
    ori: [0, -80, -90]