| 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: X5A.urdf |
| asset_root_path: null |
| external_asset_path: /home/wangpengyue/code/DynamicAug/assets/embodiments/ARX-X5 |
| external_robot_configs_path: /home/wangpengyue/code/DynamicAug/assets/embodiments/ARX-X5 |
| base_link: "base_link" |
| ee_link: "link6" |
| collision_link_names: |
| [ |
| "base_link", |
| "link1", |
| "link2", |
| "link3", |
| "link4", |
| "link5", |
| "link6" |
| ] |
| collision_spheres: collision_X5A.yml |
| collision_sphere_buffer: 0.00 |
| 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"], |
| "link4": ["link5", "link6"], |
| "link5": ["link6"], |
| } |
|
|
| 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 |
| } |
| |
| mesh_link_names: |
| [ |
| "base_link", |
| "link1", |
| "link2", |
| "link3", |
| "link4", |
| "link5", |
| "link6" |
| ] |
| lock_joints: {} |
| extra_links: null |
| cspace: |
| joint_names: ["joint1","joint2","joint3","joint4", "joint5","joint6"] |
|
|
| retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] |
| null_space_weight: [1,1,1,1,1,1,1] |
| cspace_distance_weight: [1,1,1,1,1,1,1] |
| max_acceleration: 15.0 |
| max_jerk: 500.0 |
| planner: |
| frame_bias: [0., 0., 0.] |
