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.gitattributes

@@ -82,3 +82,4 @@ platerack/resource/v_69323/link_0_0.usd filter=lfs diff=lfs merge=lfs -text
 ricecooker/resource/v_69323/link_0_0.usd filter=lfs diff=lfs merge=lfs -text
 oven/resource/v_69323/link_0_0.usd filter=lfs diff=lfs merge=lfs -text
 juicer/model_juicer.usd filter=lfs diff=lfs merge=lfs -text
+AgiBotA2/configuration/model_no_col_base.usd filter=lfs diff=lfs merge=lfs -text

AgiBotA2/.collect.mapping.json

@@ -0,0 +1,4 @@
+{
+    "version": "1.0",
+    "file_records": []
+}

AgiBotA2/arm_descriptor/a2_left_arm_robot_descriptor.yaml

@@ -0,0 +1,22 @@
+# /home/taicong/isaac_py_rl/a2_left_arm_robot_descriptor.yaml
+api_version: 1.0
+root_link: "base_link" # Assuming torso_link is the common base for arms
+cspace:
+  - "idx13_left_arm_joint1"
+  - "idx14_left_arm_joint2"
+  - "idx15_left_arm_joint3"
+  - "idx16_left_arm_joint4"
+# default_q: Corresponds to cspace joints.
+# Values will be set by the main script based on specific initializations.
+# idx14_left_arm_joint2: 1.3956
+# idx16_left_arm_joint4: -1.57
+default_q: [
+  0.0,     # idx13_left_arm_joint1
+  1.3956,  # idx14_left_arm_joint2
+  0.0,     # idx15_left_arm_joint3
+  -2.08    # idx16_left_arm_joint4
+]
+end_effectors:
+  left_arm_ee:
+    frame: "left_arm_link07"
+collision_spheres: []

AgiBotA2/arm_descriptor/a2_right_arm_robot_descriptor.yaml

@@ -0,0 +1,19 @@
+# /home/taicong/isaac_py_rl/a2_right_arm_robot_descriptor.yaml
+api_version: 1.0
+root_link: "base_link" # Assuming torso_link is the common base for arms
+cspace:
+  - "idx20_right_arm_joint1"
+  - "idx21_right_arm_joint2"
+  - "idx22_right_arm_joint3"
+  - "idx23_right_arm_joint4"
+
+default_q: [
+  0.0,     # idx20_right_arm_joint1
+  -1.3956,  # idx21_right_arm_joint2
+  0.0,     # idx22_right_arm_joint3
+  2.08     # idx23_right_arm_joint4
+]
+end_effectors:
+  right_arm_ee:
+    frame: "right_arm_link07"
+collision_spheres: []

AgiBotA2/configuration/model_no_col_base.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc4f364cad267f1ba9d36ed345897b3a98d3b3131dc4c22378a3eea5f3342a17
+size 65890019