File size: 1,417 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 | urdf_path: "./ur5_wsg_gripper.urdf"
srdf_path: "./ur5.srdf"
joint_stiffness: 1000
joint_damping: 200
gripper_stiffnes: 1000
gripper_damping: 200
move_group: ["ee_link","ee_link"]
ee_joints: ["ee_fixed_joint","ee_fixed_joint"]
arm_joints_name: [["shoulder_pan_joint" ,"shoulder_lift_joint" ,"elbow_joint" ,"wrist_1_joint", "wrist_2_joint", "wrist_3_joint"],
["shoulder_pan_joint" ,"shoulder_lift_joint" ,"elbow_joint" ,"wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]]
# gripper_name: [["robotiq_85_left_knuckle_joint", "robotiq_85_right_knuckle_joint"],
# ["robotiq_85_left_knuckle_joint", "robotiq_85_right_knuckle_joint"]]
gripper_name:
- base: "base_joint_gripper_left"
mimic: [["base_joint_gripper_right", -1., 0.]]
- base: "base_joint_gripper_left"
mimic: [["base_joint_gripper_right", -1., 0.]]
gripper_bias: 0.11
gripper_scale: [0.01, -0.06]
homestate: [[-1.5447, -1.5447, -1.5447, -1.5794, 1.5794, 0],
[-1.5447, -1.5447, -1.5447, -1.5794, 1.5794, 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, 0.65, 1, 0, 0, 0],[0, -0.65, 0.75, 1, 0, 0, 0]] # modify
planner: "curobo"
dual_arm: False
fix_gripper_name: ["finger_left", "finger_right"]
static_camera_list:
- name: head_camera
position:
- -0.032
- -0.45
- 1.35
forward:
- 0
- 0.6
- -0.8
left:
- -1
- 0
- 0 |