File size: 1,905 Bytes
bf347e5 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 | urdf_path: "./panda.urdf"
srdf_path: "./panda.srdf"
joint_stiffness: 1000
joint_damping: 200
gripper_stiffnes: 1000
gripper_damping: 200
move_group: ["panda_hand","panda_hand"]
ee_joints: ["panda_hand_joint","panda_hand_joint"]
arm_joints_name: [['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'],
['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7']]
# gripper_name: [["panda_finger_joint1", "panda_finger_joint2"],
# ["panda_finger_joint1", "panda_finger_joint2"]]
gripper_name:
- base: "panda_finger_joint1"
mimic: [["panda_finger_joint2", 1., 0.]]
- base: "panda_finger_joint1"
mimic: [["panda_finger_joint2", 1., 0.]]
gripper_bias: 0.08
gripper_scale: [-0.01, 0.05]
homestate: [[0, 0.19634954084936207, 0.0, -2.617993877991494, 0.0, 2.941592653589793, 0.7853981633974483],
[0, 0.19634954084936207, 0.0, -2.617993877991494, 0.0, 2.941592653589793, 0.7853981633974483]]
# homestate: [[6.661495e-07, 0.332, -1.868001e-06, -1.629, -5.300593e-06, 2.103, 0.7854044, 0.04, 0.04],
# [6.661495e-07, 0.332, -1.868001e-06, -1.629, -5.300593e-06, 2.103, 0.7854044, 0.04, 0.04]]
delta_matrix: [[0,0,1],[0,-1,0],[1,0,0]]
global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
robot_pose: [[0, -0.65, 0.75, 0.707, 0, 0, 0.707],
[0, -0.65, 0.75, 0.707, 0, 0, 0.707]] # modify
# planner: "mplib_screw" # mplib_screw
planner: "curobo"
dual_arm: False
rotate_lim: [0.1, 0.8]
grasp_perfect_direction: ['right', 'left']
static_camera_list:
- name: head_camera
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 |