Upload 137 files

.gitattributes

@@ -119,3 +119,51 @@ franka-panda-robotiq-2f85/meshes/franka/visual/link4.glb filter=lfs diff=lfs mer
 franka-panda-robotiq-2f85/meshes/franka/visual/link5.glb filter=lfs diff=lfs merge=lfs -text
 franka-panda-robotiq-2f85/meshes/franka/visual/link6.glb filter=lfs diff=lfs merge=lfs -text
 franka-panda-robotiq-2f85/meshes/franka/visual/link7.glb filter=lfs diff=lfs merge=lfs -text
+ARX-X5/meshes/base_link.STL filter=lfs diff=lfs merge=lfs -text
+ARX-X5/meshes/camera.glb filter=lfs diff=lfs merge=lfs -text
+ARX-X5/meshes/link1.STL filter=lfs diff=lfs merge=lfs -text
+ARX-X5/meshes/link2.STL filter=lfs diff=lfs merge=lfs -text
+ARX-X5/meshes/link3.STL filter=lfs diff=lfs merge=lfs -text
+ARX-X5/meshes/link4.STL filter=lfs diff=lfs merge=lfs -text
+ARX-X5/meshes/link5.STL filter=lfs diff=lfs merge=lfs -text
+ARX-X5/meshes/link6.STL filter=lfs diff=lfs merge=lfs -text
+franka-panda/franka_description/meshes/visual/camera_base.stl filter=lfs diff=lfs merge=lfs -text
+franka-panda/franka_description/meshes/visual/d435.dae filter=lfs diff=lfs merge=lfs -text
+franka-panda/franka_description/meshes/visual/hand.glb filter=lfs diff=lfs merge=lfs -text
+franka-panda/franka_description/meshes/visual/hand.SLDPRT filter=lfs diff=lfs merge=lfs -text
+franka-panda/franka_description/meshes/visual/link0.glb filter=lfs diff=lfs merge=lfs -text
+franka-panda/franka_description/meshes/visual/link1.glb filter=lfs diff=lfs merge=lfs -text
+franka-panda/franka_description/meshes/visual/link2.glb filter=lfs diff=lfs merge=lfs -text
+franka-panda/franka_description/meshes/visual/link3.glb filter=lfs diff=lfs merge=lfs -text
+franka-panda/franka_description/meshes/visual/link4.glb filter=lfs diff=lfs merge=lfs -text
+franka-panda/franka_description/meshes/visual/link5.glb filter=lfs diff=lfs merge=lfs -text
+franka-panda/franka_description/meshes/visual/link6.glb filter=lfs diff=lfs merge=lfs -text
+franka-panda/franka_description/meshes/visual/link7.glb filter=lfs diff=lfs merge=lfs -text
+piper/meshes/base_link.glb filter=lfs diff=lfs merge=lfs -text
+piper/meshes/base_link.STL filter=lfs diff=lfs merge=lfs -text
+piper/meshes/camera.glb filter=lfs diff=lfs merge=lfs -text
+piper/meshes/d435.dae filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link1.glb filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link1.STL filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link2.glb filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link2.STL filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link3.glb filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link3.STL filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link4.glb filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link4.STL filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link5.glb filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link5.STL filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link6_1.STL filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link6.glb filter=lfs diff=lfs merge=lfs -text
+piper/meshes/link6.STL filter=lfs diff=lfs merge=lfs -text
+ur5-wsg/meshes/gripper/WSG-FMF.stl filter=lfs diff=lfs merge=lfs -text
+ur5-wsg/meshes/robotiq_85/collision/robotiq_85_base_link.stl filter=lfs diff=lfs merge=lfs -text
+ur5-wsg/meshes/robotiq_85/collision/robotiq_85_finger_tip_link.stl filter=lfs diff=lfs merge=lfs -text
+ur5-wsg/meshes/robotiq_85/collision/robotiq_85_inner_knuckle_link.stl filter=lfs diff=lfs merge=lfs -text
+ur5-wsg/meshes/robotiq_85/robotiq_85_coupler.stl filter=lfs diff=lfs merge=lfs -text
+ur5-wsg/meshes/ur5/visual/camera.glb filter=lfs diff=lfs merge=lfs -text
+ur5-wsg/meshes/ur5/visual/forearm.glb filter=lfs diff=lfs merge=lfs -text
+ur5-wsg/meshes/ur5/visual/shoulder.glb filter=lfs diff=lfs merge=lfs -text
+ur5-wsg/meshes/ur5/visual/upperarm.glb filter=lfs diff=lfs merge=lfs -text
+ur5-wsg/meshes/ur5/visual/wrist1.glb filter=lfs diff=lfs merge=lfs -text
+ur5-wsg/meshes/ur5/visual/wrist2.glb filter=lfs diff=lfs merge=lfs -text

ARX-X5/X5A.urdf

@@ -0,0 +1,288 @@
+<?xml version="1.0" encoding="utf-8"?><!-- This URDF was automatically created by SolidWorks to URDF
+Exporter! Originally created byStephen Brawner (brawner@gmail.com)      Commit Version: 1.6.0-4-g7f85cfe
+Build Version: 1.6.7995.38578     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot name="X5A">
+  <link name="base_link">
+    <inertial>
+      <origin xyz="-3.0001E-05 3.0589E-05 0.027324" rpy="0 0 0" />
+      <mass value="0.43995" />
+      <inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00017" iyz="0.00000" izz="0.00016" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/base_link.STL" />
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="link1">
+    <inertial>
+      <origin xyz="0.0054231 -0.0080289 0.017086" rpy="0 0 0" />
+      <mass value="0.066982" />
+      <inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00008" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link1.STL" />
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint1" type="revolute">
+    <origin xyz="0 0 0.0605" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="link1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-10" upper="10" effort="100" velocity="1000" />
+  </joint>
+  <link name="link2">
+    <inertial>
+      <origin xyz="-0.13237 0.0020852 0.00010549" rpy="0 0 0" />
+      <mass value="1.0795" />
+      <inertia ixx="0.00051" ixy="0.00001" ixz="-0.00004" iyy="0.01599" iyz="0.00000" izz="0.01605" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link2.STL" />
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint2" type="revolute">
+    <origin xyz="0.02 0 0.04" rpy="0 0 0" />
+    <parent link="link1" />
+    <child link="link2" />
+    <axis xyz="0 1 0" />
+    <limit lower="-10" upper="10" effort="100" velocity="1000" />
+  </joint>
+  <link name="link3">
+    <inertial>
+      <origin xyz="0.18531 0.00068376 -0.051638" rpy="0 0 0" />
+      <mass value="0.54534" />
+      <inertia ixx="0.00036" ixy="-0.00003" ixz="-0.00039" iyy="0.00423" iyz="0.00001" izz="0.00420" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link3.STL" />
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint3" type="revolute">
+    <origin xyz="-0.264 0 0" rpy="3.1416 0 0" />
+    <parent link="link2" />
+    <child link="link3" />
+    <axis xyz="0 1 0" />
+    <limit lower="-10" upper="10" effort="100" velocity="1000" />
+  </joint>
+  <link name="link4">
+    <inertial>
+      <origin xyz="0.040231 0.0044807 -0.035335" rpy="0 0 0" />
+      <mass value="0.11714" />
+      <inertia ixx="0.00019" ixy="-0.00002" ixz="-0.00009" iyy="0.00023" iyz="0.00002" izz="0.00014" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link4.STL" />
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint4" type="revolute">
+    <origin xyz="0.245 0 -0.056" rpy="0 0 0" />
+    <parent link="link3" />
+    <child link="link4" />
+    <axis xyz="0 1 0" />
+    <limit lower="-10" upper="10" effort="100" velocity="1000" />
+  </joint>
+  <link name="link5">
+    <inertial>
+      <origin xyz="0.003612 -1.5455E-05 0.055214" rpy="0 0 0" />
+      <mass value="0.63488" />
+      <inertia ixx="0.00083" ixy="0.00000" ixz="0.00007" iyy="0.00082" iyz="0.00000" izz="0.00026" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link5.STL" />
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint5" type="revolute">
+    <origin xyz="0.06775 0.0005 -0.0865" rpy="0 0 0" />
+    <parent link="link4" />
+    <child link="link5" />
+    <axis xyz="0 0 1" />
+    <limit lower="-10" upper="10" effort="100" velocity="1000" />
+  </joint>
+  <link name="link6">
+    <inertial>
+      <origin xyz="0.041697 2.4368E-05 0.00014464" rpy="0 0 0" />
+      <mass value="0.44089" />
+      <inertia ixx="0.00038" ixy="0.00000" ixz="0.00000" iyy="0.00028" iyz="0.00000" izz="0.00050" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link6.STL" />
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint6" type="revolute">
+    <origin xyz="0.02895 0 0.0865" rpy="-3.1416 0 0" />
+    <parent link="link5" />
+    <child link="link6" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="1000" />
+  </joint>
+
+  <link name="camera_base">
+    <visual>
+      <origin xyz="0 0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/camera_base.glb" />
+      </geometry>
+    </visual>
+  </link>
+  <joint name="hand_to_camera_mount" type="fixed">
+    <parent link="link6"/>
+    <child link="camera_base"/>
+    <origin xyz="0.057 0 0" rpy="0 0 -3.1416"/>
+  </joint>
+
+  <link name="camera">
+    <visual>
+      <origin rpy="0.0 0.0 -1.5707963267948966" xyz="0.0 0.0 -0.0"/>
+      <geometry>
+        <mesh filename="meshes/camera.glb" />
+      </geometry>
+    </visual>
+  </link>
+  <joint name="camera_joint" type="fixed">
+    <parent link="camera_base"/>
+    <child link="camera"/>
+    <origin xyz="-0.0275 0.0 0.05" rpy="0 0.3491 3.141592653589793"/>
+  </joint> 
+
+  <link name="link7">
+    <inertial>
+      <origin xyz="-0.00035522 -0.007827 -0.0029883" rpy="0 0 0" />
+      <mass value="0.064798" />
+      <inertia ixx="0.00002" ixy="0.00000" ixz="0.00000" iyy="0.00003" iyz="0.00000" izz="0.00003" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link7.STL" />
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint7" type="prismatic">
+    <origin xyz="0.08657 0.024896 -0.0002436" rpy="0 0 0" />
+    <parent link="link6" />
+    <child link="link7" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="0.044" effort="100" velocity="1000" />
+  </joint>
+  <link name="link8">
+    <inertial>
+      <origin xyz="-0.00035522 0.0078277 0.0024201" rpy="0 0 0" />
+      <mass value="0.064798" />
+      <inertia ixx="0.00002" ixy="0.00000" ixz="0.00000" iyy="0.00003" iyz="0.00000" izz="0.00003" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link8.STL" />
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link8.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint8" type="prismatic">
+    <origin xyz="0.08657 -0.0249 -0.00024366" rpy="0 0 0" />
+    <parent link="link6" />
+    <child link="link8" />
+    <axis xyz="0 -1 0" />
+    <limit lower="0" upper="0.044" effort="100" velocity="1000" />
+  </joint>
+</robot>

ARX-X5/collision_X5A.yml

@@ -0,0 +1,84 @@
+collision_spheres:
+  base_link:
+    - "center": [-0.002, 0.004, 0.028]
+      "radius": 0.01504
+    - "center": [-0.017, 0.0, 0.027]
+      "radius": 0.01423
+    - "center": [0.012, 0.012, 0.028]
+      "radius": 0.01423
+    - "center": [0.008, -0.016, 0.019]
+      "radius": 0.01342
+    - "center": [0.015, -0.009, 0.022]
+      "radius": 0.01342
+    - "center": [-0.015, -0.009, 0.021]
+      "radius": 0.01342
+    - "center": [0.017, 0.002, 0.021]
+      "radius": 0.01342
+    - "center": [0.005, 0.017, 0.025]
+      "radius": 0.01342
+  link1:
+    - "center": [-0.013, -0.035, 0.006]
+      "radius": 0.0145
+    - "center": [0.011, -0.035, 0.005]
+      "radius": 0.0145
+    - "center": [0.004, -0.035, 0.008]
+      "radius": 0.01362
+  link2:
+    - "center": [-0.257, 0.0, 0.0]
+      "radius": 0.04
+    - "center": [-0.198, 0.0, 0.0]
+      "radius": 0.03
+    - "center": [-0.164, 0.0, 0.0]
+      "radius": 0.03
+    - "center": [-0.009, 0.006, -0.015]
+      "radius": 0.01357
+    - "center": [-0.26, 0.008, 0.017]
+      "radius": 0.01357
+    - "center": [-0.125, 0.0, 0.0]
+      "radius": 0.03
+    - "center": [-0.083, 0.0, 0.0]
+      "radius": 0.03
+    - "center": [-0.044, 0.0, 0.0]
+      "radius": 0.03
+    - "center": [0.0, 0.0, 0.0]
+      "radius": 0.03
+  link3:
+    - "center": [0.241, -0.0, -0.056]
+      "radius": 0.03
+    - "center": [0.197, -0.0, -0.053]
+      "radius": 0.02
+    - "center": [0.157, -0.0, -0.054]
+      "radius": 0.02
+    - "center": [0.122, -0.0, -0.055]
+      "radius": 0.02
+    - "center": [0.108, -0.0, -0.051]
+      "radius": 0.02
+    - "center": [0.071, -0.0, -0.05]
+      "radius": 0.02
+    - "center": [0.058, -0.0, -0.051]
+      "radius": 0.02
+  link4:
+    - "center": [0.066, -0.0, -0.065]
+      "radius": 0.03
+  link5:
+    - "center": [0.002, 0.0, 0.084]
+      "radius": 0.03
+  link6:
+    - "center": [0.037, 0.001, 0.004]
+      "radius": 0.02744
+    - "center": [0.036, 0.004, -0.01]
+      "radius": 0.02666
+    - "center": [0.036, -0.012, 0.003]
+      "radius": 0.02587
+    - "center": [0.07, 0.072, 0.0]
+      "radius": 0.01
+    - "center": [0.068, 0.047, 0.0]
+      "radius": 0.01
+    - "center": [0.07, -0.073, 0.0]
+      "radius": 0.01
+    - "center": [0.069, -0.052, 0.0]
+      "radius": 0.01
+    - "center": [0.069, 0.025, 0.0]
+      "radius": 0.01
+    - "center": [0.071, -0.036, 0.0]
+      "radius": 0.01

ARX-X5/config.yml

@@ -0,0 +1,54 @@
+urdf_path: "./X5A.urdf"
+# srdf_path: "./X5A.srdf"
+joint_stiffness: 1000
+joint_damping: 200
+gripper_stiffnes: 1000
+gripper_damping: 200
+move_group: ["link6","link6"]
+ee_joints: ["joint6","joint6"]
+arm_joints_name: [['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6'],
+                  ['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6']]
+gripper_name: 
+  - base: "joint7"
+    mimic: [["joint8", 1., 0.]]
+  - base: "joint7"
+    mimic: [["joint8", 1., 0.]]
+gripper_bias: 0.12
+gripper_scale: [-0.01, 0.045]
+homestate: [[0,0,0,0,0,0],[0,0,0,0,0,0]]
+delta_matrix: [[1,0,0],[0,1,0],[0,0,1]]
+# global_trans_matrix: [[0,0,1],[0,1,0],[-1,0,0]] # for mplib
+global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]] # for curobo
+robot_pose: [[0, -0.35, 0.784, 0.707, 0, 0, 0.707]]  # modify
+# planner: "mplib_RRT"
+planner: "curobo"
+dual_arm: False
+grasp_perfect_direction: ['front_right', 'front_left']
+static_camera_list: 
+- name: head_camera
+  position:
+  - -0.032
+  - -0.45
+  - 1.35
+  forward:
+  - 0
+  - 0.6
+  - -0.8
+  left:
+  - -1
+  - 0
+  - 0
+# - name: front_camera
+#   type: D435
+#   position:
+#   - 0
+#   - -0.45
+#   - 0.85
+#   forward:
+#   - 0
+#   - 1
+#   - -0.1
+#   left:
+#   - -1
+#   - 0
+#   - 0

ARX-X5/curobo_tmp.yml

@@ -0,0 +1,70 @@
+robot_cfg:
+  kinematics:
+    use_usd_kinematics: False
+    usd_path: null
+    usd_robot_root: null
+    isaac_usd_path: null
+    usd_flip_joints: {}
+    usd_flip_joint_limits: 
+    
+    urdf_path: ${ASSETS_PATH}/assets/embodiments/ARX-X5/X5A.urdf
+    asset_root_path: null
+    base_link: "base_link"
+    ee_link: "link6"
+    collision_link_names:
+      [
+        "base_link",
+        "link1",
+        "link2",
+        "link3",
+        "link4",
+        "link5",
+        "link6"
+      ]
+    collision_spheres: ${ASSETS_PATH}/assets/embodiments/ARX-X5/collision_X5A.yml
+    collision_sphere_buffer: 0.00 # 0.0025
+    extra_collision_spheres: null
+    use_global_cumul: True
+    self_collision_ignore:
+      {
+        "base_link": ["link1", "link2", "link3"],
+        "link1": ["link2", "link3"],
+        "link2": ["link3", "link4"],
+        "link3": ["link4", "link5", "link6"],
+        "link4": ["link5", "link6"],
+        "link5": ["link6"],
+      }
+
+    self_collision_buffer:
+      {
+        "base_link": 0.0,
+        "link1": 0.0,
+        "link2": 0.0,
+        "link3": 0.0,
+        "link4": 0.0,
+        "link5": 0.0,
+        "link6": 0.0
+      }
+    #link_names: ["panda_link4"]
+    mesh_link_names:
+      [
+        "base_link",
+        "link1",
+        "link2",
+        "link3",
+        "link4",
+        "link5",
+        "link6"
+      ]
+    lock_joints: {}
+    extra_links: null
+    cspace:
+      joint_names: ["joint1","joint2","joint3","joint4", "joint5","joint6"]
+
+      retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+      null_space_weight: [1,1,1,1,1,1,1]
+      cspace_distance_weight: [1,1,1,1,1,1,1]
+      max_acceleration: 15.0
+      max_jerk: 500.0
+planner:
+  frame_bias: [0., 0., 0.]

ARX-X5/meshes/base_link.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:898dbe3af3a98857358ac5a3d74e085ec9c69946737e767dad139776761cbd92
+size 1611284

ARX-X5/meshes/camera.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9833e436988bcd83f3113ab1071428427c80d6a1392d9e0b7cf35d2b6e949d7c
+size 15899328

ARX-X5/meshes/link1.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04a52b86a5b28c847377a9167e7effab0478fa591052e83b0b32cf8709bb3885
+size 162184

ARX-X5/meshes/link2.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2865da6a962c814abaf9251497bcf5f5e3b67610e3b657ddcaa9de8b3d45e83e
+size 4353884

ARX-X5/meshes/link3.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ac2411b0cbffcf4808cae4c215cfeab607f240cd124eeba209ac7986ac047c0
+size 1052684

ARX-X5/meshes/link4.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3447ddef920c22e4607b887e1cc588037dfb51c37825c4cac86a5391425469c4
+size 142784

ARX-X5/meshes/link5.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:934b3e70ce2987f8de999de29d8ef72c8370dced8e9fdf6f9ddd3e7e24c1e464
+size 679584

ARX-X5/meshes/link6.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32dca4ededcf3215163207b9aea1046114ae59921555d1e068ee46fa6e53915e
+size 643784

franka-panda/collision_franka.yml

@@ -0,0 +1,144 @@
+##
+## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+##
+## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+## property and proprietary rights in and to this material, related
+## documentation and any modifications thereto. Any use, reproduction,
+## disclosure or distribution of this material and related documentation
+## without an express license agreement from NVIDIA CORPORATION or
+## its affiliates is strictly prohibited.
+##
+collision_spheres:
+    panda_link0:
+        - "center": [0.0, 0.0, 0.085]
+          "radius": 0.03 #0.07
+        - "center": [-0.1, -0.0, 0.085]
+          "radius": 0.03 #0.07
+    panda_link1:
+        - "center": [0.0, -0.08, 0.0]
+          "radius": 0.055
+        - "center": [0.0, -0.03, 0.0]
+          "radius": 0.06
+        - "center": [0.0, 0.0, -0.12]
+          "radius": 0.06
+        - "center": [0.0, 0.0, -0.17]
+          "radius": 0.06
+    panda_link2:
+        - "center": [0.0, 0.0, 0.03]
+          "radius": 0.055
+        - "center": [0.0, 0.0, 0.08]
+          "radius": 0.055
+        - "center": [0.0, -0.12, 0.0]
+          "radius": 0.055
+        - "center": [0.0, -0.17, 0.0]
+          "radius": 0.055
+    panda_link3:
+        - "center": [0.0, 0.0, -0.06]
+          "radius": 0.05
+        - "center": [0.0, 0.0, -0.1]
+          "radius": 0.06
+        - "center": [0.08, 0.06, 0.0]
+          "radius": 0.052
+        - "center": [0.08, 0.02, 0.0]
+          "radius": 0.052
+    panda_link4:
+        - "center": [0.0, 0.0, 0.02]
+          "radius": 0.052
+        - "center": [0.0, 0.0, 0.06]
+          "radius": 0.052
+        - "center": [-0.08, 0.095, 0.0]
+          "radius": 0.055
+        - "center": [-0.08, 0.06, 0.0]
+          "radius": 0.052
+    panda_link5:
+        - "center": [0.0, 0.03, 0.0]
+          "radius": 0.05
+        - "center": [0.0, 0.082, 0.0]
+          "radius": 0.05
+        - "center": [0.0, 0.000, -0.22]
+          "radius": 0.05
+        - "center": [0.0, 0.052, -0.18]
+          "radius": 0.04
+        - "center": [0.01, 0.08, -0.14]
+          "radius": 0.022
+        - "center": [0.01, 0.085, -0.11]
+          "radius": 0.022
+        - "center": [0.01, 0.09, -0.08]
+          "radius": 0.022
+        - "center": [0.01, 0.095, -0.05]
+          "radius": 0.022
+        - "center": [-0.01, 0.08, -0.14]
+          "radius": 0.022
+        - "center": [-0.01, 0.085, -0.11]
+          "radius": 0.022
+        - "center": [-0.01, 0.09, -0.08]
+          "radius": 0.022
+        - "center": [-0.01, 0.095, -0.05]
+          "radius": 0.022
+        - "center": [0.0, -0.009, 0.0]
+          "radius": 0.05
+    panda_link6:
+        - "center": [0.085, 0.035, 0.0]
+          "radius": 0.045 
+        - "center": [0.085, 0.0, 0.0]
+          "radius": 0.045 
+        - "center": [0.085, -0.015, 0.0]
+          "radius": 0.045 
+    panda_link7:
+        - "center": [0.0, 0.0, 0.07]
+          "radius": 0.045
+        - "center": [0.02, 0.04, 0.08]
+          "radius": 0.024
+        - "center": [0.04, 0.02, 0.08]
+          "radius": 0.024
+        - "center": [0.04, 0.06, 0.085]
+          "radius": 0.02
+        - "center": [0.06, 0.04, 0.085]
+          "radius": 0.02
+    panda_hand:
+        - "center": [0.0, -0.075, 0.01]
+          "radius": 0.023
+        - "center": [0.0, -0.045, 0.01]
+          "radius": 0.023
+        - "center": [0.0, -0.015, 0.01]
+          "radius": 0.023
+        - "center": [0.0, 0.015, 0.01]
+          "radius": 0.023
+        - "center": [0.0, 0.045, 0.01]
+          "radius": 0.023
+        - "center": [0.0, 0.075, 0.01]
+          "radius": 0.023
+        - "center": [0.0, -0.08, 0.03]
+          "radius": 0.022
+        - "center": [0.0, -0.045, 0.03]
+          "radius": 0.022
+        - "center": [0.0, -0.015, 0.03]
+          "radius": 0.022
+        - "center": [0.0, 0.015, 0.03]
+          "radius": 0.022
+        - "center": [0.0, 0.045, 0.03]
+          "radius": 0.022
+        - "center": [0.0, 0.08, 0.03]
+          "radius": 0.022
+        - "center": [0.0, -0.08, 0.045]
+          "radius": 0.022
+        - "center": [0.0, -0.045, 0.045]
+          "radius": 0.022
+        - "center": [0.0, -0.015, 0.045]
+          "radius": 0.022
+        - "center": [0.0, 0.015, 0.045]
+          "radius": 0.022
+        - "center": [0.0, 0.045, 0.045]
+          "radius": 0.022
+        - "center": [0.0, 0.08, 0.045]
+          "radius": 0.022
+    panda_leftfinger:
+        - "center": [0.0, 0.01, 0.043]
+          "radius": 0.011 
+        - "center": [0.0, 0.02, 0.015]
+          "radius": 0.011 
+    panda_rightfinger:
+        - "center": [0.0, -0.01, 0.043]
+          "radius": 0.011 
+        - "center": [0.0, -0.02, 0.015]
+          "radius": 0.011 

franka-panda/config.yml

@@ -0,0 +1,60 @@
+urdf_path: "./panda.urdf"
+srdf_path: "./panda.srdf"
+joint_stiffness: 1000
+joint_damping: 200
+gripper_stiffnes: 1000
+gripper_damping: 200
+move_group: ["panda_hand","panda_hand"]
+ee_joints: ["panda_hand_joint","panda_hand_joint"]
+arm_joints_name: [['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'],
+                  ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7']]
+# gripper_name: [["panda_finger_joint1", "panda_finger_joint2"],
+#                ["panda_finger_joint1", "panda_finger_joint2"]]
+gripper_name:
+  - base: "panda_finger_joint1"
+    mimic: [["panda_finger_joint2", 1., 0.]]
+  - base: "panda_finger_joint1"
+    mimic: [["panda_finger_joint2", 1., 0.]]
+gripper_bias: 0.08
+gripper_scale: [-0.01, 0.05]
+homestate: [[0, 0.19634954084936207, 0.0, -2.617993877991494, 0.0, 2.941592653589793, 0.7853981633974483],
+            [0, 0.19634954084936207, 0.0, -2.617993877991494, 0.0, 2.941592653589793, 0.7853981633974483]]
+# homestate: [[6.661495e-07, 0.332, -1.868001e-06, -1.629, -5.300593e-06, 2.103, 0.7854044, 0.04, 0.04],
+#             [6.661495e-07, 0.332, -1.868001e-06, -1.629, -5.300593e-06, 2.103, 0.7854044, 0.04, 0.04]]
+delta_matrix: [[0,0,1],[0,-1,0],[1,0,0]]
+global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
+robot_pose: [[0, -0.65, 0.75, 0.707, 0, 0, 0.707],
+             [0, -0.65, 0.75, 0.707, 0, 0, 0.707]]   # modify
+# planner: "mplib_screw" # mplib_screw
+planner: "curobo"
+dual_arm: False
+rotate_lim: [0.1, 0.8]
+grasp_perfect_direction: ['right', 'left']
+static_camera_list: 
+- name: head_camera
+  position:
+  - -0.032
+  - -0.45
+  - 1.35
+  forward:
+  - 0
+  - 0.6
+  - -0.8
+  left:
+  - -1
+  - 0
+  - 0
+# - name: front_camera
+#   type: D435
+#   position:
+#   - 0
+#   - -0.45
+#   - 0.85
+#   forward:
+#   - 0
+#   - 1
+#   - -0.1
+#   left:
+#   - -1
+#   - 0
+#   - 0

franka-panda/curobo_tmp.yml

@@ -0,0 +1,117 @@
+##
+## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+##
+## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+## property and proprietary rights in and to this material, related
+## documentation and any modifications thereto. Any use, reproduction,
+## disclosure or distribution of this material and related documentation
+## without an express license agreement from NVIDIA CORPORATION or
+## its affiliates is strictly prohibited.
+##
+
+robot_cfg:
+  kinematics:
+    use_usd_kinematics: False
+    # isaac_usd_path: "/Isaac/Robots/Franka/franka.usd"
+    # usd_path: "robot/non_shipping/franka/franka_panda_meters.usda"
+    # usd_robot_root: "/panda"
+    # usd_flip_joints: ["panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5",
+    #   "panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"]
+    # usd_flip_joints: {
+    # "panda_joint1": "Z",
+    # "panda_joint2": "Z",
+    # "panda_joint3": "Z",
+    # "panda_joint4": "Z",
+    #  "panda_joint5": "Z",
+    # "panda_joint6": "Z",
+    # "panda_joint7": "Z",
+    # "panda_finger_joint1": "Y",
+    #  "panda_finger_joint2":  "Y",
+    # }
+
+    # usd_flip_joint_limits: ["panda_finger_joint2"]
+    urdf_path: ${ASSETS_PATH}/assets/embodiments/franka-panda/panda.urdf
+    asset_root_path: null #"robot/franka_description"
+    base_link: "panda_link0"
+    ee_link: "panda_hand"
+    collision_link_names:
+      [
+        "panda_link0",
+        "panda_link1",
+        "panda_link2",
+        "panda_link3",
+        "panda_link4",
+        "panda_link5",
+        "panda_link6",
+        "panda_link7",
+        "panda_hand",
+        "panda_leftfinger",
+        "panda_rightfinger",
+        "attached_object",
+      ]
+    collision_spheres: ${ASSETS_PATH}/assets/embodiments/franka-panda/collision_franka.yml
+    collision_sphere_buffer: 0.004 # 0.0025
+    extra_collision_spheres: {"attached_object": 4}
+    use_global_cumul: True
+    self_collision_ignore:
+      {
+        "panda_link0": ["panda_link1", "panda_link2"],
+        "panda_link1": ["panda_link2", "panda_link3", "panda_link4"],
+        "panda_link2": ["panda_link3", "panda_link4"],
+        "panda_link3": ["panda_link4", "panda_link6"],
+        "panda_link4":
+          ["panda_link5", "panda_link6", "panda_link7", "panda_link8"],
+        "panda_link5": ["panda_link6", "panda_link7", "panda_hand","panda_leftfinger", "panda_rightfinger"],
+        "panda_link6": ["panda_link7", "panda_hand", "attached_object", "panda_leftfinger", "panda_rightfinger"],
+        "panda_link7": ["panda_hand", "attached_object", "panda_leftfinger", "panda_rightfinger"],
+        "panda_hand": ["panda_leftfinger", "panda_rightfinger","attached_object"],
+        "panda_leftfinger": ["panda_rightfinger", "attached_object"],
+        "panda_rightfinger": ["attached_object"],
+
+      }
+
+    self_collision_buffer:
+      {
+        "panda_link0": 0.1,
+        "panda_link1": 0.05,
+        "panda_link2": 0.0,
+        "panda_link3": 0.0,
+        "panda_link4": 0.0,
+        "panda_link5": 0.0,
+        "panda_link6": 0.0,
+        "panda_link7": 0.0,
+        "panda_hand": 0.02,
+        "panda_leftfinger": 0.01,
+        "panda_rightfinger": 0.01,
+        "attached_object": 0.0,
+      }
+    #link_names: ["panda_link4"]
+    mesh_link_names:
+      [
+        "panda_link0",
+        "panda_link1",
+        "panda_link2",
+        "panda_link3",
+        "panda_link4",
+        "panda_link5",
+        "panda_link6",
+        "panda_link7",
+        "panda_hand",
+        "panda_leftfinger",
+        "panda_rightfinger",
+      ]
+    lock_joints: {"panda_finger_joint1": 0.04, "panda_finger_joint2": 0.04}
+    extra_links: {"attached_object":{"parent_link_name": "panda_hand" ,
+    "link_name": "attached_object", "fixed_transform": [0,0,0,1,0,0,0], "joint_type":"FIXED",
+    "joint_name": "attach_joint" }}
+    cspace:
+      joint_names: ["panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5",
+      "panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"]
+      #  0.2200, -1.4012, -0.0406, -1.4901,  0.3050,  0.4521,  0.2099
+      retract_config: [0.2200, -1.4012, -0.0406, -1.4901,  0.3050,  0.4521,  0.2099, 0.04, 0.04]
+      null_space_weight: [1,1,1,1,1,1,1,1,1]
+      cspace_distance_weight: [1,1,1,1,1,1,1,1,1]
+      max_acceleration: 15.0
+      max_jerk: 500.0
+planner:
+  frame_bias: [0., 0., 0.]

franka-panda/franka_description/meshes/visual/camera_base.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae114b7804ba5d1e8d115f794634864ce0e273781682eee760c82baf1f47f0fd
+size 507284

franka-panda/franka_description/meshes/visual/d435.dae

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df2f22fce9f1865fe5a1597b16d43f6aca62b694c573b8d195c36c945bdf26a6
+size 21433515

franka-panda/franka_description/meshes/visual/hand.SLDPRT

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:627b966f8d456c6fdf2355c769f882a01ddb36765c433d716a37a9b81d78dd8c
+size 718191

franka-panda/franka_description/meshes/visual/hand.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c2de5514714f7f8232a51b008eadb2eb421d290bfdc7341e5a12887cb70b661
+size 590608

franka-panda/franka_description/meshes/visual/link0.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:672626c2bbf38cd2ea28837e5dafdc2f264959761200177e9e256d532b9be4f9
+size 1519800

franka-panda/franka_description/meshes/visual/link1.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8376fac9a80cd04767a3749a723a68809c5b85fe34110f056e83b9c984c1f052
+size 970348

franka-panda/franka_description/meshes/visual/link2.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbab9909c2b0572d256cd60e6a9c1b63ca9b55047ac3da7124a99b8b1fe6b8fc
+size 983620

franka-panda/franka_description/meshes/visual/link3.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f904d2d91255086a5706ca9c039cac62de4b7877b4a91b8ef387f461b9fa915b
+size 1105564

franka-panda/franka_description/meshes/visual/link4.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e301a20f05f81d007741c2f8e199452a705ec4a489b729ff389ef14769c2283
+size 1131436

franka-panda/franka_description/meshes/visual/link5.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80d620e7d92b38a90a9ff2536e2d278cf2d0fa665f6bf4982e7069589b5cbb02
+size 1423144

franka-panda/franka_description/meshes/visual/link6.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20f04024218fdafdf41926143e9038b970e27f0c84f574d34c2dd05df6a7a74f
+size 1666640

franka-panda/franka_description/meshes/visual/link7.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a207703b9d6d28c186949619e5c424072ee8331b8d51d6256ace975816a94a15
+size 930244

franka-panda/panda.srdf

@@ -0,0 +1,80 @@
+<?xml version="1.0" ?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="panda">
+  <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+  <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+  <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+  <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+  <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+  <group name="panda_arm">
+    <joint name="virtual_joint"/>
+    <joint name="panda_joint1"/>
+    <joint name="panda_joint2"/>
+    <joint name="panda_joint3"/>
+    <joint name="panda_joint4"/>
+    <joint name="panda_joint5"/>
+    <joint name="panda_joint6"/>
+    <joint name="panda_joint7"/>
+    <joint name="panda_joint8"/>
+    <joint name="panda_hand_joint"/>
+  </group>
+  <group name="hand">
+    <link name="panda_hand"/>
+    <link name="panda_leftfinger"/>
+    <link name="panda_rightfinger"/>
+  </group>
+  <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+  <group_state name="home" group="panda_arm">
+    <joint name="panda_joint1" value="0"/>
+    <joint name="panda_joint2" value="0"/>
+    <joint name="panda_joint3" value="0"/>
+    <joint name="panda_joint4" value="0"/>
+    <joint name="panda_joint5" value="0"/>
+    <joint name="panda_joint6" value="3.1416"/>
+    <joint name="panda_joint7" value="1.5708"/>
+  </group_state>
+  <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+  <end_effector name="eef" parent_link="panda_link8" group="hand"/>
+  <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
+  <virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="panda_link0"/>
+  <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+  <disable_collisions link1="panda_hand" link2="panda_leftfinger" reason="Adjacent"/>
+  <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never"/>
+  <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never"/>
+  <disable_collisions link1="panda_hand" link2="panda_link5" reason="Default"/>
+  <disable_collisions link1="panda_hand" link2="panda_link6" reason="Never"/>
+  <disable_collisions link1="panda_hand" link2="panda_link7" reason="Default"/>
+  <disable_collisions link1="panda_hand" link2="panda_rightfinger" reason="Adjacent"/>
+  <disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never"/>
+  <disable_collisions link1="panda_leftfinger" link2="panda_link4" reason="Never"/>
+  <disable_collisions link1="panda_leftfinger" link2="panda_link6" reason="Never"/>
+  <disable_collisions link1="panda_leftfinger" link2="panda_link7" reason="Never"/>
+  <disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Default"/>
+  <disable_collisions link1="panda_link0" link2="panda_link1" reason="Adjacent"/>
+  <disable_collisions link1="panda_link0" link2="panda_link2" reason="Never"/>
+  <disable_collisions link1="panda_link0" link2="panda_link3" reason="Never"/>
+  <disable_collisions link1="panda_link0" link2="panda_link4" reason="Never"/>
+  <disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent"/>
+  <disable_collisions link1="panda_link1" link2="panda_link3" reason="Never"/>
+  <disable_collisions link1="panda_link1" link2="panda_link4" reason="Never"/>
+  <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent"/>
+  <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never"/>
+  <disable_collisions link1="panda_link2" link2="panda_link6" reason="Never"/>
+  <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent"/>
+  <disable_collisions link1="panda_link3" link2="panda_link5" reason="Never"/>
+  <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never"/>
+  <disable_collisions link1="panda_link3" link2="panda_link7" reason="Never"/>
+  <disable_collisions link1="panda_link3" link2="panda_rightfinger" reason="Never"/>
+  <disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent"/>
+  <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never"/>
+  <disable_collisions link1="panda_link4" link2="panda_link7" reason="Never"/>
+  <disable_collisions link1="panda_link4" link2="panda_rightfinger" reason="Never"/>
+  <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent"/>
+  <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default"/>
+  <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent"/>
+  <disable_collisions link1="panda_link6" link2="panda_rightfinger" reason="Never"/>
+  <disable_collisions link1="panda_link7" link2="panda_rightfinger" reason="Never"/>
+</robot>

franka-panda/panda.urdf

@@ -0,0 +1,256 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from panda_arm_hand.urdf.xacro      | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link0.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link1.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link2.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link3.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link4.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link5.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link6.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link6.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link7.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link7.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link8"/>
+  <joint name="panda_joint8" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <parent link="panda_link7"/>
+    <child link="panda_link8"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link8"/>
+    <child link="panda_hand"/>
+    <origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
+  </joint>
+  <link name="panda_hand">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/hand.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/hand.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="camera_base">
+    <visual>
+      <origin rpy="-1.57079632679 -1.57079632679 -1.57079632679" xyz="0.008 -0.019 0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/camera_base.glb" />
+      </geometry>
+    </visual>
+  </link>
+  <joint name="hand_to_camera_mount" type="fixed">
+    <parent link="panda_hand"/>
+    <child link="camera_base"/>
+    <origin rpy="3.14159265359 -1.57079632679 -1.57079632679" xyz="0 0 0"/>
+    <!-- <axis xyz="0 -1 0"/> -->
+  </joint>
+
+  <link name="camera">
+    <visual>
+      <origin rpy="1.57079632679 -0 1.57079632679" xyz="0.0 -0.033 -0.0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/d435.dae" />
+      </geometry>
+    </visual>
+  </link>
+  <joint name="camera_joint" type="fixed">
+    <parent link="camera_base"/>
+    <child link="camera"/>
+    <origin rpy="1.57079632679 0 -0" xyz="0.042 -0.045 0.0"/>
+    <!-- <axis xyz="0 -1 0"/> -->
+  </joint>
+  <link name="panda_leftfinger">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_rightfinger">
+    <visual>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_finger_joint1" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_leftfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
+  </joint>
+  <joint name="panda_finger_joint2" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_rightfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
+    <!-- <mimic joint="panda_finger_joint1"/> -->
+  </joint>
+</robot>
+

piper/collision_piper.yml

@@ -0,0 +1,74 @@
+collision_spheres:
+    base_link:
+        - "center": [0.0, 0.0, 0.0]
+          "radius": 0.02
+    link1:
+        - "center": [0.0, 0.0, 0.0]
+          "radius": 0.04
+    link2:
+        - "center": [0.0, 0.0, 0.0]
+          "radius": 0.03
+        - "center": [0.03, 0.0, 0.0]
+          "radius": 0.03
+        - "center": [0.06, 0.0, 0.0]
+          "radius": 0.03
+        - "center": [0.09, -0.007, 0.0]
+          "radius": 0.03
+        - "center": [0.12, -0.009, 0.0]
+          "radius": 0.03
+        - "center": [0.15, -0.011, 0.0]
+          "radius": 0.03
+        - "center": [0.18, -0.014, 0.0]
+          "radius": 0.03
+        - "center": [0.21, -0.017, 0.0]
+          "radius": 0.03
+        - "center": [0.146, -0.003, 0.0]
+          "radius": 0.03
+    link3:
+        - "center": [0.0, 0.0, 0.0]
+          "radius": 0.03
+        - "center": [-0.033, 0.021, 0.0]
+          "radius": 0.03
+        - "center": [-0.048, 0.024, -0.0]
+          "radius": 0.02
+        - "center": [-0.067, 0.033, 0.0]
+          "radius": 0.02
+        - "center": [-0.08, 0.039, 0.0]
+          "radius": 0.02
+        - "center": [-0.102, 0.04, -0.003]
+          "radius": 0.02
+        - "center": [-0.137, 0.047, -0.003]
+          "radius": 0.02
+        - "center": [-0.161, 0.052, 0.0]
+          "radius": 0.02
+        - "center": [-0.17, 0.055, 0.0]
+          "radius": 0.03
+    link4:
+        - "center": [-0.005, 0.0, 0.004]
+          "radius": 0.03
+    link5:
+        - "center": [0.0, 0.064, -0.0]
+          "radius": 0.03
+    link6:
+        - "center": [0.005, 0.0, 0.03]
+          "radius": 0.03
+        - "center": [0.001, 0.055, 0.055]
+          "radius": 0.01
+        - "center": [0.001, 0.033, 0.054]
+          "radius": 0.01
+        - "center": [-0.001, -0.037, 0.056]
+          "radius": 0.01
+    link7:
+        - "center": [-0.0, -0.008, -0.007]
+          "radius": 0.01
+        - "center": [0.003, -0.047, -0.019]
+          "radius": 0.01
+    link8:
+        - "center": [-0.001, -0.031, -0.009]
+          "radius": 0.01
+        - "center": [-0.001, 0.007, -0.008]
+          "radius": 0.01
+        - "center": [-0.001, 0.05, -0.012]
+          "radius": 0.01
+        - "center": [-0.001, 0.03, -0.011]
+          "radius": 0.01