File size: 1,450 Bytes
5c2b46e | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 | robot_cfg:
kinematics:
use_usd_kinematics: False
usd_path: null
usd_robot_root: null
isaac_usd_path: ""
usd_flip_joints: {}
usd_flip_joint_limits: []
urdf_path: "ur5e.urdf"
asset_root_path: ""
base_link: "base_link"
ee_link: "gripper_base"
link_names: null
lock_joints: null
extra_links: null
collision_link_names: ["shoulder_link", "upper_arm_link", "forearm_link", "wrist_1_link", "wrist_2_link", "wrist_3_link"]
collision_spheres: "collision_ur5e.yml"
collision_sphere_buffer: 0.005
extra_collision_spheres: {}
self_collision_ignore:
"upper_arm_link": ["forearm_link", "shoulder_link"]
"forearm_link": ["wrist_1_link", "wrist_2_link", "wrist_3_link"]
"wrist_1_link": ["wrist_2_link","wrist_3_link"]
"wrist_2_link": ["wrist_3_link"]
self_collision_buffer:
'upper_arm_link': 0
'forearm_link': 0
'wrist_1_link': 0
'wrist_2_link': 0
'wrist_3_link': 0
use_global_cumul: True
mesh_link_names: null
cspace:
joint_names: ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
retract_config: [0.0, -1.57, 2.618, -0.873, 1.57, 0.0]
null_space_weight: [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]
max_jerk: 500.0
max_acceleration: 15.0
planner:
frame_bias: [0., 0., 0.] |