File size: 2,383 Bytes
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robot_cfg:
kinematics:
use_usd_kinematics: False
# usd_path: "FILL_THIS"
# usd_robot_root: "/robot"
# isaac_usd_path: ""
# usd_flip_joints: {}
# usd_flip_joint_limits: []
urdf_path: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/urdf/arx5_description_isaac.urdf
asset_root_path: null
base_link: "fl_base_link"
ee_link: "fl_link6"
collision_link_names:
[
"fl_base_link",
"fl_link1",
"fl_link2",
"fl_link3",
"fl_link4",
"fl_link5",
"fl_link6",
"fl_link7",
"fl_link8",
"left_camera"
]
collision_spheres: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/collision_aloha_left.yml
collision_sphere_buffer: 0.004
extra_collision_spheres: {}
use_global_cumul: True
self_collision_ignore:
{
"fl_base_link": ["fl_link1"],
"fl_link1": ["fl_link2"],
"fl_link2": ["fl_link3"],
"fl_link3": ["fl_link4"],
"fl_link4": ["fl_link5", "fl_link7", "left_camera", "fl_link8"],
"fl_link5": ["fl_link6", "fl_link7", "left_camera", "fl_link8"],
"fl_link6": ["fl_link7", "left_camera", "fl_link8"],
"fl_link7": ["fl_link8", "left_camera"]
}
self_collision_buffer:
{
"fl_base_link": 0.00,
"fl_link1": 0.00,
"fl_link2": 0.00,
"fl_link3": 0.00,
"fl_link4": 0.00,
"fl_link5": 0.00,
"fl_link6": 0.00,
"fl_link7": 0.00,
"fl_link8": 0.00,
"left_camera": 0.00
}
mesh_link_names: [
"fl_base_link",
"fl_link1",
"fl_link2",
"fl_link3",
"fl_link4",
"fl_link5",
"fl_link6",
"fl_link7",
"fl_link8",
"left_camera"
]
lock_joints: {"fl_joint7": 0.04, "fl_joint8": 0.04}
extra_links: null
cspace:
joint_names: [
"fl_joint1",
"fl_joint2",
"fl_joint3",
"fl_joint4",
"fl_joint5",
"fl_joint6",
"fl_joint7",
"fl_joint8"
]
retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04, 0.04]
null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
max_jerk: 100.0
max_acceleration: 3.0
planner:
frame_bias: [-0.2305, -0.297, -0.782] |