126 lines
4.1 KiB
YAML
126 lines
4.1 KiB
YAML
##
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## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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##
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## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
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## property and proprietary rights in and to this material, related
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## documentation and any modifications thereto. Any use, reproduction,
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## disclosure or distribution of this material and related documentation
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## without an express license agreement from NVIDIA CORPORATION or
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## its affiliates is strictly prohibited.
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##
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robot_cfg:
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kinematics:
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usd_path: "robot/ur_description/ur5e.usd"
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usd_robot_root: "/robot"
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isaac_usd_path: ""
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usd_flip_joints: {}
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usd_flip_joint_limits: []
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urdf_path: "robot/ur_description/ur5e.urdf"
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asset_root_path: "robot/ur_description"
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base_link: "base_link"
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ee_link: "tool0"
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link_names: null
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lock_joints: null
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extra_links: null
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collision_link_names: ['shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link',
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'wrist_2_link' ,'wrist_3_link', 'tool0'] # List[str]
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collision_spheres:
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shoulder_link:
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- "center": [0.0, 0.0, 0.0]
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"radius": 0.1
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upper_arm_link:
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- "center": [-0.416, -0.0, 0.143]
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"radius": 0.078
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- "center": [-0.015, 0.0, 0.134]
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"radius": 0.077
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- "center": [-0.14, 0.0, 0.138]
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"radius": 0.062
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- "center": [-0.285, -0.001, 0.139]
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"radius": 0.061
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- "center": [-0.376, 0.001, 0.138]
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"radius": 0.077
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- "center": [-0.222, 0.001, 0.139]
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"radius": 0.061
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- "center": [-0.055, 0.008, 0.14]
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"radius": 0.07
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- "center": [-0.001, -0.002, 0.143]
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"radius": 0.076
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forearm_link:
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- "center": [-0.01, 0.002, 0.031]
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"radius": 0.072
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- "center": [-0.387, 0.0, 0.014]
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"radius": 0.057
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- "center": [-0.121, -0.0, 0.006]
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"radius": 0.057
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- "center": [-0.206, 0.001, 0.007]
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"radius": 0.057
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- "center": [-0.312, -0.001, 0.006]
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"radius": 0.056
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- "center": [-0.057, 0.003, 0.008]
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"radius": 0.065
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- "center": [-0.266, 0.0, 0.006]
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"radius": 0.057
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- "center": [-0.397, -0.001, -0.018]
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"radius": 0.052
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- "center": [-0.164, -0.0, 0.007]
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"radius": 0.057
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wrist_1_link:
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- "center": [-0.0, 0.0, -0.009]
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"radius": 0.047
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- "center": [-0.0, 0.0, -0.052]
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"radius": 0.047
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- "center": [-0.002, 0.027, -0.001]
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"radius": 0.045
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- "center": [0.001, -0.01, 0.0]
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"radius": 0.046
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wrist_2_link:
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- "center": [0.0, -0.01, -0.001]
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"radius": 0.047
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- "center": [0.0, 0.008, -0.001]
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"radius": 0.047
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- "center": [0.001, -0.001, -0.036]
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"radius": 0.047
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- "center": [0.001, -0.03, -0.0]
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"radius": 0.047
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wrist_3_link:
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- "center": [0.001, 0.001, -0.029]
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"radius": 0.043
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tool0:
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- "center": [0.001, 0.001, 0.05]
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"radius": 0.05
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collision_sphere_buffer: 0.005
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extra_collision_spheres: {}
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self_collision_ignore: {
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"upper_arm_link": ["forearm_link", "shoulder_link"],
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"forearm_link": ["wrist_1_link", "wrist_2_link", "wrist_3_link"],
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"wrist_1_link": ["wrist_2_link","wrist_3_link","tool0"],
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"wrist_2_link": ["wrist_3_link", "tool0"],
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"wrist_3_link": ["tool0"],
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}
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self_collision_buffer: {'upper_arm_link': 0,
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'forearm_link': 0,
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'wrist_1_link': 0,
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'wrist_2_link': 0,
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'wrist_3_link' : 0,
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}
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use_global_cumul: True
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mesh_link_names: ['shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link',
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'wrist_2_link' ,'wrist_3_link'] # List[str]
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cspace:
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joint_names: ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
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retract_config: [0.0, -2.2, 1.9, -1.383, -1.57, 0.00]
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null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
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cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
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max_jerk: 500.0
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max_acceleration: 12.0
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position_limit_clip: 0.1
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