|
|
robot_cfg: |
|
|
kinematics: |
|
|
use_usd_kinematics: False |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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] |
