| # Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved. | |
| # | |
| # NVIDIA CORPORATION and its licensors retain all intellectual property | |
| # and proprietary rights in and to this software, related documentation | |
| # and any modifications thereto. Any use, reproduction, disclosure or | |
| # distribution of this software and related documentation without an express | |
| # license agreement from NVIDIA CORPORATION is strictly prohibited. | |
| # The robot descriptor defines the generalized coordinates and how to map those | |
| # to the underlying URDF dofs. | |
| api_version: 1.0 | |
| # Defines the generalized coordinates. Each generalized coordinate is assumed | |
| # to have an entry in the URDF, except when otherwise specified below under | |
| # cspace_urdf_bridge | |
| cspace: | |
| - left_shoulder_pitch_joint | |
| - left_shoulder_roll_joint | |
| - left_shoulder_yaw_joint | |
| - left_elbow_joint | |
| - left_hand_joint | |
| root_link: torso_link | |
| subtree_root_link: torso_link | |
| default_q: [ | |
| # Original version | |
| # 0.00, 0.00, 0.00, -1.57, 0.00, 1.50, 0.75 | |
| # New config | |
| 0 ,0, 0, 0, 0 | |
| ] | |
| # Most dimensions of the cspace have a direct corresponding element | |
| # in the URDF. This list of rules defines how unspecified coordinates | |
| # should be extracted. | |
| cspace_to_urdf_rules: [] | |
| # active_task_spaces: | |
| # - base_link | |
| # - estop_link | |
| # - l_wheel_link | |
| # - laser_link | |
| # - r_wheel_link | |
| # - torso_fixed_link | |
| # - torso_lift_link | |
| # - head_pan_link | |
| # - head_tilt_link | |
| # - head_camera_link | |
| # - eyes | |
| # - head_camera_depth_frame | |
| # - head_camera_depth_optical_frame | |
| # - head_camera_rgb_frame | |
| # - head_camera_rgb_optical_frame | |
| # - shoulder_pan_link | |
| # - shoulder_lift_link | |
| # - upperarm_roll_link | |
| # - elbow_flex_link | |
| # - forearm_roll_link | |
| # - wrist_flex_link | |
| # - wrist_roll_link | |
| # - gripper_link | |
| # - l_gripper_finger_link | |
| # - r_gripper_finger_link | |
| composite_task_spaces: [] | |