robots/franka/rmpflow/robot_descriptor.yaml

# Copyright (c) 2019-2021, NVIDIA CORPORATION.  All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto.  Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.

# The robot descriptor defines the generalized coordinates and how to map those
# to the underlying URDF dofs.

api_version: 1.0

# Defines the generalized coordinates. Each generalized coordinate is assumed
# to have an entry in the URDF, except when otherwise specified below under
# cspace_urdf_bridge
cspace:
    - panda_joint1
    - panda_joint2
    - panda_joint3
    - panda_joint4
    - panda_joint5
    - panda_joint6
    - panda_joint7

root_link: base_link

default_q: [
    # Original version
    # 0.00, 0.00, 0.00, -1.57, 0.00, 1.50, 0.75

    # New config
    0.00, -1.3, 0.00, -2.87, 0.00, 2.00, 0.75
]

acceleration_limits: [15.0, 7.5, 10.0, 12.5, 15.0, 20.0, 20.0]
jerk_limits: [7500.0, 3750.0, 5000.0, 6250.0, 7500.0, 10000.0, 10000.0]

# Most dimensions of the cspace have a direct corresponding element
# in the URDF. This list of rules defines how unspecified coordinates
# should be extracted.
cspace_to_urdf_rules:
    - {name: panda_finger_joint1, rule: fixed, value: 0.025}
    - {name: panda_finger_joint2, rule: fixed, value: 0.025}

collision_spheres:
    - panda_link0:
        - "center": [0.0, 0.0, 0.05]
          "radius": 0.045
    - panda_link1:
        - "center": [0.0, -0.08, 0.0]
          "radius": 0.06
        - "center": [0.0, -0.03, 0.0]
          "radius": 0.06
        - "center": [0.0, 0.0, -0.12]
          "radius": 0.06
        - "center": [0.0, 0.0, -0.17]
          "radius": 0.06
    - panda_link2:
        - "center": [0.0, 0.0, 0.03]
          "radius": 0.06
        - "center": [0.0, 0.0, 0.08]
          "radius": 0.06
        - "center": [0.0, -0.12, 0.0]
          "radius": 0.06
        - "center": [0.0, -0.17, 0.0]
          "radius": 0.06
    - panda_link3:
        - "center": [0.0, 0.0, -0.06]
          "radius": 0.05
        - "center": [0.0, 0.0, -0.1]
          "radius": 0.06
        - "center": [0.08, 0.06, 0.0]
          "radius": 0.055
        - "center": [0.08, 0.02, 0.0]
          "radius": 0.055
    - panda_link4:
        - "center": [0.0, 0.0, 0.02]
          "radius": 0.055
        - "center": [0.0, 0.0, 0.06]
          "radius": 0.055
        - "center": [-0.08, 0.095, 0.0]
          "radius": 0.06
        - "center": [-0.08, 0.06, 0.0]
          "radius": 0.055
    - panda_link5:
        - "center": [0.0, 0.055, 0.0]
          "radius": 0.06
        - "center": [0.0, 0.075, 0.0]
          "radius": 0.06
        - "center": [0.0, 0.000, -0.22]
          "radius": 0.06
        - "center": [0.0, 0.05, -0.18]
          "radius": 0.05
        - "center": [0.01, 0.08, -0.14]
          "radius": 0.025
        - "center": [0.01, 0.085, -0.11]
          "radius": 0.025
        - "center": [0.01, 0.09, -0.08]
          "radius": 0.025
        - "center": [0.01, 0.095, -0.05]
          "radius": 0.025
        - "center": [-0.01, 0.08, -0.14]
          "radius": 0.025
        - "center": [-0.01, 0.085, -0.11]
          "radius": 0.025
        - "center": [-0.01, 0.09, -0.08]
          "radius": 0.025
        - "center": [-0.01, 0.095, -0.05]
          "radius": 0.025
    - panda_link6:
        - "center": [0.0, 0.0, 0.0]
          "radius": 0.06
        - "center": [0.08, 0.03, 0.0]
          "radius": 0.06
        - "center": [0.08, -0.01, 0.0]
          "radius": 0.06
    - panda_link7:
        - "center": [0.0, 0.0, 0.07]
          "radius": 0.05
        - "center": [0.02, 0.04, 0.08]
          "radius": 0.025
        - "center": [0.04, 0.02, 0.08]
          "radius": 0.025
        - "center": [0.04, 0.06, 0.085]
          "radius": 0.02
        - "center": [0.06, 0.04, 0.085]
          "radius": 0.02
    - panda_hand:
        - "center": [0.0, -0.075, 0.01]
          "radius": 0.028
        - "center": [0.0, -0.045, 0.01]
          "radius": 0.028
        - "center": [0.0, -0.015, 0.01]
          "radius": 0.028
        - "center": [0.0, 0.015, 0.01]
          "radius": 0.028
        - "center": [0.0, 0.045, 0.01]
          "radius": 0.028
        - "center": [0.0, 0.075, 0.01]
          "radius": 0.028
        - "center": [0.0, -0.075, 0.03]
          "radius": 0.026
        - "center": [0.0, -0.045, 0.03]
          "radius": 0.026
        - "center": [0.0, -0.015, 0.03]
          "radius": 0.026
        - "center": [0.0, 0.015, 0.03]
          "radius": 0.026
        - "center": [0.0, 0.045, 0.03]
          "radius": 0.026
        - "center": [0.0, 0.075, 0.03]
          "radius": 0.026
        - "center": [0.0, -0.075, 0.05]
          "radius": 0.024
        - "center": [0.0, -0.045, 0.05]
          "radius": 0.024
        - "center": [0.0, -0.015, 0.05]
          "radius": 0.024
        - "center": [0.0, 0.015, 0.05]
          "radius": 0.024
        - "center": [0.0, 0.045, 0.05]
          "radius": 0.024
        - "center": [0.0, 0.075, 0.05]
          "radius": 0.024