| 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 |
| 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.] |
