undate piper arx

piper/.asset_hash

@@ -1 +0,0 @@
-a3bb94f3a1de43665cba4018bb8e266b

piper/robotwin_config.yml

@@ -30,9 +30,9 @@ grasp_perfect_direction: ['front_right', 'front_left']
 static_camera_list: 
 - name: head_camera
   position:
-  - -0.032
-  - -0.45
-  - 1.35
+  - 0.0
+  - -0.6
+  - 1.43
   forward:
   - 0
   - 0.6
@@ -43,8 +43,8 @@ static_camera_list:
   - 0
 - name: wrist_camera
   position:
-  - 0
-  - 0
+  - -0.003
+  - -0.02
   - 0
   forward:
   - 1

x5/.asset_hash

@@ -0,0 +1 @@
+a93ab433046b4265a00910e614633fb6

x5/X5A/configuration/X5A_base.usd

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8e3d4ecfb3b590a2f61726e778676a25400c2047c89b227c2c576ebfe84c07db
-size 28280158

x5/config.yaml

@@ -0,0 +1,23 @@
+asset_path: /home/ubuntu/tianxing/Luminis/assets/robots/x5/X5A.urdf
+usd_dir: /home/ubuntu/tianxing/Luminis/assets/robots/x5
+usd_file_name: ARX.usd
+force_usd_conversion: true
+make_instanceable: true
+fix_base: false
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+  drive_type: force
+  target_type: position
+  gains:
+    stiffness: 100.0
+    damping: 1.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2025-11-18 at 20:53:08.
+##

x5/robotwin_config.yml

@@ -30,9 +30,9 @@ grasp_perfect_direction: ['front_right', 'front_left']
 static_camera_list: 
 - name: head_camera
   position:
-  - -0.032
-  - -0.45
-  - 1.35
+  - 0.0
+  - -0.6
+  - 1.43
   forward:
   - 0
   - 0.6
@@ -44,7 +44,7 @@ static_camera_list:
 - name: wrist_camera
   position:
   - 0
-  - 0
+  - 0.01
   - 0
   forward:
   - 1