Upload assets/embodiments/piper/curobo_dynamicaug.yml with huggingface_hub

assets/embodiments/piper/curobo_dynamicaug.yml

@@ -0,0 +1,79 @@
+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: piper.urdf
+    asset_root_path: null
+    external_asset_path: /home/wangpengyue/code/DynamicAug/assets/embodiments/piper
+    external_robot_configs_path: /home/wangpengyue/code/DynamicAug/assets/embodiments/piper
+    base_link: "base_link"
+    ee_link: "link6"
+    collision_link_names:
+      [
+        "base_link",
+        "link1",
+        "link2",
+        "link3",
+        "link4",
+        "link5",
+        "link6",
+        "link7",
+        "link8"
+      ]
+    collision_spheres: collision_piper.yml
+    collision_sphere_buffer: 0.004
+    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
+      }
+    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, 0.0, 0.0]