| 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: assembly.urdf |
| asset_root_path: null |
| external_asset_path: /home/wangpengyue/code/DynamicAug/assets/embodiments/piper-assembly/assembly |
| external_robot_configs_path: /home/wangpengyue/code/DynamicAug/assets/embodiments/piper-assembly/assembly |
| base_link: piper_description_v100 |
| ee_link: piper_description_v100_link6 |
| collision_link_names: &id001 |
| - piper_description_v100 |
| - piper_description_v100_link1 |
| - piper_description_v100_link2 |
| - piper_description_v100_link3 |
| - piper_description_v100_link4 |
| - piper_description_v100_link5 |
| - piper_description_v100_link6 |
| - piper_description_v100_link7 |
| - piper_description_v100_link8 |
| collision_spheres: collision_piper_dynamicaug.yml |
| collision_sphere_buffer: 0.004 |
| extra_collision_spheres: null |
| use_global_cumul: true |
| self_collision_ignore: |
| piper_description_v100: |
| - piper_description_v100_link1 |
| - piper_description_v100_link2 |
| - piper_description_v100_link3 |
| piper_description_v100_link1: |
| - piper_description_v100_link2 |
| - piper_description_v100_link3 |
| piper_description_v100_link2: |
| - piper_description_v100_link3 |
| - piper_description_v100_link4 |
| piper_description_v100_link3: |
| - piper_description_v100_link4 |
| - piper_description_v100_link5 |
| - piper_description_v100_link6 |
| - piper_description_v100_link7 |
| - piper_description_v100_link8 |
| piper_description_v100_link4: |
| - piper_description_v100_link5 |
| - piper_description_v100_link6 |
| - piper_description_v100_link7 |
| - piper_description_v100_link8 |
| piper_description_v100_link5: |
| - piper_description_v100_link6 |
| - piper_description_v100_link7 |
| - piper_description_v100_link8 |
| piper_description_v100_link6: |
| - piper_description_v100_link7 |
| - piper_description_v100_link8 |
| piper_description_v100_link7: |
| - piper_description_v100_link8 |
| self_collision_buffer: |
| piper_description_v100: 0.0 |
| piper_description_v100_link1: 0.0 |
| piper_description_v100_link2: 0.0 |
| piper_description_v100_link3: 0.0 |
| piper_description_v100_link4: 0.0 |
| piper_description_v100_link5: 0.0 |
| piper_description_v100_link6: 0.0 |
| piper_description_v100_link7: 0.0 |
| piper_description_v100_link8: 0.0 |
| mesh_link_names: *id001 |
| lock_joints: |
| piper_description_v100_joint7: 0.0 |
| piper_description_v100_joint8: 0.0 |
| extra_links: null |
| cspace: |
| joint_names: |
| - piper_description_v100_joint1 |
| - piper_description_v100_joint2 |
| - piper_description_v100_joint3 |
| - piper_description_v100_joint4 |
| - piper_description_v100_joint5 |
| - piper_description_v100_joint6 |
| - piper_description_v100_joint7 |
| - piper_description_v100_joint8 |
| retract_config: |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 0.0 |
| - 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 |
| - 0.0 |
| - 0.0 |
|
|
