35 lines
698 B
Plaintext
35 lines
698 B
Plaintext
self_collision_task {
|
|
id: "right_arm_self_collision"
|
|
arm_id: "mujoco_right_arm"
|
|
|
|
checker {
|
|
urdf_path: "model/xiaoyan_description/dual_arm_collision.urdf"
|
|
|
|
# Simplified compact-wrist bodies overlap in the normal assembled pose.
|
|
ignored_pairs {
|
|
first: "R_WRIST_P_S"
|
|
second: "R_WRIST_R_S"
|
|
}
|
|
}
|
|
|
|
sampling {
|
|
max_geometry_displacement_m: 0.002
|
|
max_check_period_s: 0.01
|
|
}
|
|
|
|
safety {
|
|
warning_distance_m: 0.02
|
|
stop_distance_m: 0.005
|
|
}
|
|
|
|
|
|
recovery {
|
|
clear_distance_m: 0.025
|
|
stable_period_s: 0.1
|
|
max_joint_velocity_rad_s: 0.15
|
|
max_joint_acceleration_rad_s2: 0.3
|
|
history_duration_s: 10.0
|
|
max_distance_regression_m: 0.001
|
|
}
|
|
}
|