|
|
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 |
