|
|
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: "fr_base_link" |
|
|
ee_link: "fr_link6" |
|
|
collision_link_names: |
|
|
[ |
|
|
"fr_base_link", |
|
|
"fr_link1", |
|
|
"fr_link2", |
|
|
"fr_link3", |
|
|
"fr_link4", |
|
|
"fr_link5", |
|
|
"fr_link6", |
|
|
"fr_link7", |
|
|
"fr_link8", |
|
|
"right_camera" |
|
|
] |
|
|
collision_spheres: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/collision_aloha_right.yml |
|
|
collision_sphere_buffer: 0.004 |
|
|
extra_collision_spheres: {} |
|
|
use_global_cumul: True |
|
|
self_collision_ignore: |
|
|
{ |
|
|
"fr_base_link": ["fr_link1"], |
|
|
"fr_link1": ["fr_link2"], |
|
|
"fr_link2": ["fr_link3"], |
|
|
"fr_link3": ["fr_link4"], |
|
|
"fr_link4": ["fr_link5", "fr_link7", "right_camera", "fr_link8"], |
|
|
"fr_link5": ["fr_link6", "fr_link7", "right_camera", "fr_link8"], |
|
|
"fr_link6": ["fr_link7", "right_camera", "fr_link8"], |
|
|
"fr_link7": ["fr_link8", "right_camera"] |
|
|
} |
|
|
self_collision_buffer: |
|
|
{ |
|
|
"fr_base_link": 0.00, |
|
|
"fr_link1": 0.00, |
|
|
"fr_link2": 0.00, |
|
|
"fr_link3": 0.00, |
|
|
"fr_link4": 0.00, |
|
|
"fr_link5": 0.00, |
|
|
"fr_link6": 0.00, |
|
|
"fr_link7": 0.00, |
|
|
"fr_link8": 0.00, |
|
|
"right_camera": 0.00 |
|
|
} |
|
|
|
|
|
mesh_link_names: [ |
|
|
"fr_base_link", |
|
|
"fr_link1", |
|
|
"fr_link2", |
|
|
"fr_link3", |
|
|
"fr_link4", |
|
|
"fr_link5", |
|
|
"fr_link6", |
|
|
"fr_link7", |
|
|
"fr_link8", |
|
|
"right_camera" |
|
|
] |
|
|
lock_joints: {"fr_joint7": 0.04, "fr_joint8": 0.04} |
|
|
extra_links: null |
|
|
|
|
|
cspace: |
|
|
joint_names: [ |
|
|
"fr_joint1", |
|
|
"fr_joint2", |
|
|
"fr_joint3", |
|
|
"fr_joint4", |
|
|
"fr_joint5", |
|
|
"fr_joint6", |
|
|
"fr_joint7", |
|
|
"fr_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: [-0.2315, 0.3063, -0.781] |
