File size: 2,010 Bytes
c6f5e39 | 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 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 | robot_cfg:
kinematics:
use_usd_kinematics: False
usd_path: null
usd_robot_root: null
isaac_usd_path: null
usd_flip_joints: {}
usd_flip_joint_limits: {}
urdf_path: ${ASSETS_PATH}/assets/embodiments/piper/piper.urdf
asset_root_path: null
base_link: "base_link"
ee_link: "link6"
collision_link_names:
[
"base_link",
"link1",
"link2",
"link3",
"link4",
"link5",
"link6",
"link7",
"link8"
]
collision_spheres: ${ASSETS_PATH}/assets/embodiments/piper/collision_piper.yml
collision_sphere_buffer: 0.004 # 0.0025
extra_collision_spheres: null
use_global_cumul: True
self_collision_ignore:
{
"base_link": ["link1", "link2", "link3"],
"link1": ["link2", "link3"],
"link2": ["link3", "link4"],
"link3": ["link4", "link5", "link6", "link7", "link8"],
"link4": ["link5", "link6", "link7", "link8"],
"link5": ["link6", "link7", "link8"],
"link6": ["link7", "link8"],
"link7": ["link8"]
}
self_collision_buffer:
{
"base_link": 0.0,
"link1": 0.0,
"link2": 0.0,
"link3": 0.0,
"link4": 0.0,
"link5": 0.0,
"link6": 0.0,
"link7": 0.0,
"link8": 0.0
}
#link_names: ["panda_link4"]
mesh_link_names:
[
"base_link",
"link1",
"link2",
"link3",
"link4",
"link5",
"link6",
"link7",
"link8"
]
lock_joints: {"joint7": 0.0, "joint8": 0.0}
extra_links: null
cspace:
joint_names: ["joint1","joint2","joint3","joint4", "joint5",
"joint6","joint7","joint8"]
retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.00, 0.0]
null_space_weight: [1,1,1,1,1,1,1,1,1]
cspace_distance_weight: [1,1,1,1,1,1,1,1,1]
max_acceleration: 15.0
max_jerk: 500.0
planner:
frame_bias: [0., 0., 0.] |