| kinematics: |
| add_object_link: false |
| asset_root_path: /home/shuo/research/resources/mlspaces_assets/robots/linearbot/curobo_config/urdf |
| base_link: world |
| collision_link_names: &id001 |
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| - arm_link5_L |
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| - base |
| - gripper_L |
| - gripper_R |
| - lift_link |
| - tip_left_L |
| - tip_left_R |
| - tip_right_L |
| - tip_right_R |
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| lift_link: |
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| tip_left_L: [] |
| tip_left_R: [] |
| tip_right_L: [] |
| tip_right_R: [] |
| cspace: |
| acceleration_scale: |
| - 1.0 |
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| cspace_distance_weight: |
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| default_joint_position: |
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| jerk_scale: |
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| joint_names: |
| - base_x |
| - base_y |
| - base_theta |
| - lift_joint |
| - joint1_R |
| - joint2_R |
| - joint3_R |
| - joint4_R |
| - joint5_R |
| - joint6_R |
| - joint7_R |
| - joint8_R |
| - joint1_L |
| - joint2_L |
| - joint3_L |
| - joint4_L |
| - joint5_L |
| - joint6_L |
| - joint7_L |
| - joint8_L |
| max_acceleration: |
| - 10.0 |
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| max_jerk: |
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| null_space_maximum_distance: |
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| null_space_weight: |
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| position_limit_clip: 0.0 |
| velocity_scale: |
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| debug: null |
| external_asset_path: null |
| external_robot_configs_path: null |
| extra_collision_spheres: null |
| extra_links: {} |
| format_version: 2.0 |
| grasp_contact_link_names: null |
| load_meshes: false |
| load_tool_frames_with_mesh: false |
| lock_joints: |
| joint7_R: 0.0 |
| joint8_R: 0.0 |
| joint7_L: 0.0 |
| joint8_L: -0.0475 |
| mesh_link_names: *id001 |
| self_collision_buffer: |
| arm_base_L: 0.0 |
| arm_base_R: 0.0 |
| arm_link1_L: 0.0 |
| arm_link1_R: 0.0 |
| arm_link2_L: 0.0 |
| arm_link2_R: 0.0 |
| arm_link3_L: 0.0 |
| arm_link3_R: 0.0 |
| arm_link4_L: 0.0 |
| arm_link4_R: 0.0 |
| arm_link5_L: 0.0 |
| arm_link5_R: 0.0 |
| base: 0.0 |
| gripper_L: 0.0 |
| gripper_R: 0.0 |
| lift_link: 0.0 |
| tip_left_L: 0.0 |
| tip_left_R: 0.0 |
| tip_right_L: 0.0 |
| tip_right_R: 0.0 |
| self_collision_ignore: |
| arm_base_L: |
| - lift_link |
| - arm_link1_L |
| - arm_link2_L |
| arm_base_R: |
| - lift_link |
| - arm_link1_R |
| - arm_link2_R |
| - arm_base_L |
| - arm_link1_L |
| - arm_link2_L |
| - arm_link3_L |
| arm_link1_L: |
| - arm_base_L |
| - arm_link2_L |
| arm_link1_R: |
| - arm_base_R |
| - arm_link2_R |
| - arm_base_L |
| - arm_link1_L |
| - arm_link2_L |
| - arm_link3_L |
| arm_link2_L: |
| - arm_link1_L |
| - arm_link3_L |
| arm_link2_R: |
| - arm_link1_R |
| - arm_link3_R |
| - arm_base_L |
| - arm_link1_L |
| arm_link3_L: |
| - arm_link2_L |
| - arm_link4_L |
| - arm_link5_L |
| - gripper_L |
| arm_link3_R: |
| - arm_link2_R |
| - arm_link4_R |
| - gripper_R |
| - arm_base_L |
| - arm_link1_L |
| arm_link4_L: |
| - arm_link3_L |
| - arm_link5_L |
| arm_link4_R: |
| - arm_link3_R |
| - arm_link5_R |
| arm_link5_L: |
| - arm_link4_L |
| - gripper_L |
| arm_link5_R: |
| - arm_link4_R |
| - gripper_R |
| base: |
| - world_xy |
| - lift_link |
| - arm_base_R |
| - arm_link1_R |
| - arm_base_L |
| - arm_link1_L |
| gripper_L: |
| - arm_link5_L |
| gripper_R: |
| - arm_link5_R |
| lift_link: |
| - base |
| - arm_base_R |
| - arm_base_L |
| - arm_link1_R |
| - arm_link2_R |
| - arm_link1_L |
| - arm_link2_L |
| world: |
| - world_x |
| world_x: |
| - world |
| - world_xy |
| world_xy: |
| - world_x |
| - base |
| tool_frames: |
| - gripper_L |
| - gripper_R |
| urdf_path: /home/shuo/research/resources/mlspaces_assets/robots/linearbot/curobo_config/urdf/linearbot_holobase_curobo.urdf |
| use_external_assets: false |
| use_global_cumul: true |
|
|
