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##
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
##
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
## property and proprietary rights in and to this material, related
## documentation and any modifications thereto. Any use, reproduction,
## disclosure or distribution of this material and related documentation
## without an express license agreement from NVIDIA CORPORATION or
## its affiliates is strictly prohibited.
##
robot_cfg:
kinematics:
usd_path: "${ASSETS_DIR}/miscs/curobo/R5a/R5a/R5a.usd"
usd_robot_root: "/robot"
isaac_usd_path: ""
usd_flip_joints: {}
usd_flip_joint_limits: []
urdf_path: "${ASSETS_DIR}/miscs/curobo/R5a/R5a.urdf"
asset_root_path: "robot"
base_link: "base_link"
ee_link: "link6"
extra_links: {"attached_object":{"parent_link_name": "link6" ,
"link_name": "attached_object", "fixed_transform": [0,0,0,1,0,0,0], "joint_type":"FIXED",
"joint_name": "attach_joint" }}
collision_link_names:
[
"base_link",
"link1",
"link2",
"link3",
"link4",
"link5",
"link6",
"link7",
"link8",
"attached_object",
]
collision_spheres:
link1:
- "center": [-0.002, 0.003, 0.037]
"radius": 0.02
base_link:
- "center": [-0.003, -0.0, 0.036]
"radius": 0.02
link2:
- "center": [-0.008, 0.0, -0.001]
"radius": 0.02929
- "center": [-0.264, -0.001, 0.01]
"radius": 0.02864
- "center": [-0.272, 0.003, -0.009]
"radius": 0.02602
- "center": [-0.178, 0.002, -0.002]
"radius": 0.02733
- "center": [-0.1, -0.003, -0.005]
"radius": 0.0208
link3:
- "center": [0.025, 0.001, -0.063]
"radius": 0.02861
- "center": [0.085, -0.003, -0.062]
"radius": 0.02274
- "center": [0.165, -0.008, -0.057]
"radius": 0.02144
- "center": [-0.005, -0.019, -0.014]
"radius": 0.02013
- "center": [0.091, -0.004, -0.072]
"radius": 0.01883
- "center": [0.239, 0.012, -0.073]
"radius": 0.01883
link4:
- "center": [0.016, -0.001, 0.001]
"radius": 0.02437
- "center": [0.071, 0.003, -0.052]
"radius": 0.02302
link5:
- "center": [-0.002, 0.006, 0.021]
"radius": 0.02754
- "center": [0.003, 0.009, 0.08]
"radius": 0.02697
link6:
- "center": [0.055, 0.001, -0.001]
"radius": 0.02822
- "center": [0.035, -0.001, -0.0]
"radius": 0.02587
link7:
- "center": [0.036, -0.015, -0.006]
"radius": 0.0137
- "center": [-0.007, -0.003, -0.011]
"radius": 0.0137
link8:
- "center": [0.039, 0.016, -0.005]
"radius": 0.0137
- "center": [-0.007, 0.002, -0.009]
"radius": 0.0137
collision_sphere_buffer: 0.004
extra_collision_spheres: {"attached_object": 4}
self_collision_ignore:
{
"base_link": ["link1", "link2", "link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
"link1": ["link2", "link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
"link2": ["link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
"link3": ["link4", "link5", "link6", "link7", "link8", "attached_object"],
"link4": ["link5", "link6", "link7", "link8", "attached_object"],
"link5": ["link6", "link7", "link8", "attached_object"],
"link6": ["link7", "link8", "attached_object"],
"link7": ["link8", "attached_object"]
}
self_collision_buffer:
{
"base_link": 0.1,
"link1": 0.05,
"link2": 0.05,
"link3": 0.05,
"link4": 0.05,
"link5": 0.05,
"link6": 0.05,
"link7": 0.02,
"link8": 0.02,
"attached_object": 0.0,
}
use_global_cumul: True
mesh_link_names:
[
"base_link",
"link1",
"link2",
"link3",
"link4",
"link5",
"link6",
"link7",
"link8"
]
external_asset_path: null # Use this to add path for externally located assets/robot folder.
lock_joints: {"joint7": 0.044, "joint8": 0.044}
cspace:
joint_names: ["joint1","joint2","joint3","joint4", "joint5", "joint6","joint7","joint8"]
# retract_config: [0.0, 0.35, -0.35, 0.0, 0.0, 0.0, 0.0, 0.0]
retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
null_space_weight: [1,1,1,1,1,1,1,1]
cspace_distance_weight: [1,1,1,1,1,1,1,1]
max_acceleration: 15.0
max_jerk: 500.0
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