| 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.] |