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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

	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