kinematics

ARX X5 kinematics (fk, ik, plan_path) through RoboDojo’s cuRobo planner, without the simulator

• Kind: kinematics
• Protocol: http
• Default port: 8840
• VRAM: 2 GB
• Load time: about 180 s
• Skills that use a kinematics: –
• Configurations that name it: –

Weights

harness fetch kinematics --deploy <machine>

Directory	Source	From
<weights>/kinematics	local	no weights: the robot description and planner come from the RoboDojo checkout

Notes

For policies that run outside the simulator (the XPolicyLab connector); simulator workers answer fk, ik and plan themselves.

Manifest

kind = "kinematics"
summary = "ARX X5 kinematics (fk, ik, plan_path) through RoboDojo's cuRobo planner, without the simulator"
protocol = "http"
command = ["{python}", "-u", "services/servers/serve_kinematics.py", "--robodojo", "{robodojo}",
           "--embodiment", "{repo}/embodiments/arx_x5/embodiment.toml", "--port", "{port}"]
port = 8840
# cuRobo's planners for one arm model, with CUDA graphs.
vram_gb = 2.0
load_seconds = 180
client = { url = "{url}" }
needs_files = ["{robodojo}/env/planner_manager/curobo_planner.py", "{robodojo}/Assets/Robots/x5/curobo.yml"]
notes = "For policies that run outside the simulator (the XPolicyLab connector); simulator workers answer fk, ik and plan themselves."

[[weights]]
dir = "kinematics"
local = "no weights: the robot description and planner come from the RoboDojo checkout"