x5/robotwin_config.yml

urdf_path: "./X5A.urdf"
# srdf_path: "./X5A.srdf"
joint_stiffness: 1000
joint_damping: 200
gripper_stiffnes: 1000
gripper_damping: 200
move_group: ["link6","link6"]
ee_joints: ["joint6","joint6"]
arm_joint_indices: [[0, 1, 2, 3, 4, 5], [0, 1, 2, 3, 4, 5]]
gripper_joint_indices: [[6, 7], [6, 7]]
ee_link: ["link6", "link6"]
ee_type: ["gripper", "gripper"]
arm_joints_name: [['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6'],
                  ['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6']]
gripper_name: 
  - base: "joint7"
    mimic: [["joint8", 1., 0.]]
  - base: "joint7"
    mimic: [["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: [[0,0,1],[0,1,0],[-1,0,0]] # for mplib
global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]] # for curobo
robot_pose: [[0, -0.35, 0.784, 0.707, 0, 0, 0.707]]  # modify
# planner: "mplib_RRT"
planner: "curobo"
dual_arm: False
grasp_perfect_direction: ['front_right', 'front_left']
static_camera_list: 
- name: head_camera
  position:
  - 0.0
  - -0.6
  - 1.43
  forward:
  - 0
  - 0.6
  - -0.8
  left:
  - -1
  - 0
  - 0
- name: wrist_camera
  position:
  - 0
  - 0.01
  - 0
  forward:
  - 1
  - 0
  - 0
  left:
  - 0
  - 1
  - 0
  link: "camera"