standart_setup.yaml

# left arm configuration
left:
  arm_kinematics: "kinematics/ur5_left.yaml"
  arm_joint_limits: "limits/half_joint_limits.yaml"
  arm_pose:
    x: -0.765
    y: -0.09
    z: 0.01
    roll: 0
    pitch: 0
    yaw: 0

  gripper: "onrobot-rg6-v2"
  gripper_controller: "onrobot_rg"
  gripper_pose:
    x: 0.0
    y: 0.0
    z: 0.0
    roll: 0.0
    pitch: 0.0
    yaw: 0.0
  camera: "realsense-d435i"
  camera_pose:
    x: -1.8195086181012343e-05
    y: 0.021319877717104876
    z: 0.17293318092151708
    roll: 0.2835816306216423
    pitch: -1.5613233179664476
    yaw: -1.8675144444458067


# right arm configuration
right:
  arm_kinematics: "kinematics/ur5_right.yaml"
  arm_joint_limits: "limits/half_joint_limits.yaml"
  arm_pose:
    x: 0.765
    y: -0.09
    z: 0.01
    roll: 0.0
    pitch: 0
    yaw: 0.0
  # gripper: "custom:cylinder_tool"
  # gripper_controller: "None"
  gripper: "allegro-hand:right"
  gripper_controller: "allegro-hand"
  gripper_pose:
    x: 0.0
    y: 0.0
    z: 0.0
    roll: 0.0
    pitch: 0.0
    yaw: 0.0
  # camera: "realsense-d435i"
  # camera_pose:
  #   x: 0.0
  #   y: 0.02
  #   z: 0.15
  #   roll: -1.57
  #   pitch: -1.57
  #   yaw: 0.0

# Fixed cameras
fixed_cameras_file: "fixed_cameras/dataset_collection.yaml"