| robot_cfg: |
| kinematics: |
| use_usd_kinematics: False |
| |
| |
| |
| |
| |
| urdf_path: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/urdf/arx5_description_isaac.urdf |
| asset_root_path: null |
|
|
| base_link: "fr_base_link" |
| ee_link: "fr_link6" |
| collision_link_names: |
| [ |
| "fr_base_link", |
| "fr_link1", |
| "fr_link2", |
| "fr_link3", |
| "fr_link4", |
| "fr_link5", |
| "fr_link6", |
| "fr_link7", |
| "fr_link8", |
| "right_camera" |
| ] |
| collision_spheres: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/collision_aloha_right.yml |
| collision_sphere_buffer: 0.004 |
| extra_collision_spheres: {} |
| use_global_cumul: True |
| self_collision_ignore: |
| { |
| "fr_base_link": ["fr_link1"], |
| "fr_link1": ["fr_link2"], |
| "fr_link2": ["fr_link3"], |
| "fr_link3": ["fr_link4"], |
| "fr_link4": ["fr_link5", "fr_link7", "right_camera", "fr_link8"], |
| "fr_link5": ["fr_link6", "fr_link7", "right_camera", "fr_link8"], |
| "fr_link6": ["fr_link7", "right_camera", "fr_link8"], |
| "fr_link7": ["fr_link8", "right_camera"] |
| } |
| self_collision_buffer: |
| { |
| "fr_base_link": 0.00, |
| "fr_link1": 0.00, |
| "fr_link2": 0.00, |
| "fr_link3": 0.00, |
| "fr_link4": 0.00, |
| "fr_link5": 0.00, |
| "fr_link6": 0.00, |
| "fr_link7": 0.00, |
| "fr_link8": 0.00, |
| "right_camera": 0.00 |
| } |
|
|
| mesh_link_names: [ |
| "fr_base_link", |
| "fr_link1", |
| "fr_link2", |
| "fr_link3", |
| "fr_link4", |
| "fr_link5", |
| "fr_link6", |
| "fr_link7", |
| "fr_link8", |
| "right_camera" |
| ] |
| lock_joints: {"fr_joint7": 0.04, "fr_joint8": 0.04} |
| extra_links: null |
|
|
| cspace: |
| joint_names: [ |
| "fr_joint1", |
| "fr_joint2", |
| "fr_joint3", |
| "fr_joint4", |
| "fr_joint5", |
| "fr_joint6", |
| "fr_joint7", |
| "fr_joint8" |
| ] |
| retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04, 0.04] |
| null_space_weight: [1.0, 1.0, 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, 1.0, 1.0] |
| max_jerk: 100.0 |
| max_acceleration: 3.0 |
| planner: |
| frame_bias: [-0.2315, 0.3063, -0.781] |
