diff --git a/.gitattributes b/.gitattributes index 35e497a71bf1ec2d6626511069ae7b239a8b6ddc..ac2efe9dedb3383cf7e0fde201b975b143510660 100644 --- a/.gitattributes +++ b/.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 diff --git a/ARX-X5/X5A.urdf b/ARX-X5/X5A.urdf new file mode 100644 index 0000000000000000000000000000000000000000..4b54ef915ef2689b823dc1767a8f59de518a88bb --- /dev/null +++ b/ARX-X5/X5A.urdf @@ -0,0 +1,288 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/ARX-X5/collision_X5A.yml b/ARX-X5/collision_X5A.yml new file mode 100644 index 0000000000000000000000000000000000000000..cd0eeeb1bfba715fe0e1d0db14510a8dea8698e9 --- /dev/null +++ b/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 diff --git a/ARX-X5/config.yml b/ARX-X5/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..7f56914cd8ccc41af8a325f1d2253a87c4f6ec60 --- /dev/null +++ b/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 \ No newline at end of file diff --git a/ARX-X5/curobo_tmp.yml b/ARX-X5/curobo_tmp.yml new file mode 100644 index 0000000000000000000000000000000000000000..9136681c354b4905f59409f5742c1d4727f52b5c --- /dev/null +++ b/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.] \ No newline at end of file diff --git a/ARX-X5/meshes/base_link.STL b/ARX-X5/meshes/base_link.STL new file mode 100644 index 0000000000000000000000000000000000000000..6532aa58efa197ba50c4d252e8299f4c3a0da9af --- /dev/null +++ b/ARX-X5/meshes/base_link.STL @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:898dbe3af3a98857358ac5a3d74e085ec9c69946737e767dad139776761cbd92 +size 1611284 diff --git a/ARX-X5/meshes/camera.glb b/ARX-X5/meshes/camera.glb new file mode 100644 index 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+size 643784 diff --git a/ARX-X5/meshes/link7-old.STL b/ARX-X5/meshes/link7-old.STL new file mode 100644 index 0000000000000000000000000000000000000000..af58e36575ee9c7c971d80a9ad8cca0350afb32f Binary files /dev/null and b/ARX-X5/meshes/link7-old.STL differ diff --git a/ARX-X5/meshes/link7.STL b/ARX-X5/meshes/link7.STL new file mode 100644 index 0000000000000000000000000000000000000000..2d12b95eb4036fa1a369a8616b8cad5907d4b99c Binary files /dev/null and b/ARX-X5/meshes/link7.STL differ diff --git a/ARX-X5/meshes/link8-old.STL b/ARX-X5/meshes/link8-old.STL new file mode 100644 index 0000000000000000000000000000000000000000..a1e7773321617e89c69cb0581f66436f08f0cee6 Binary files /dev/null and b/ARX-X5/meshes/link8-old.STL differ diff --git a/ARX-X5/meshes/link8.STL b/ARX-X5/meshes/link8.STL new file mode 100644 index 0000000000000000000000000000000000000000..a423a6798a19303dafd61d38fdbc812adb5a9490 Binary files /dev/null and b/ARX-X5/meshes/link8.STL differ diff --git a/franka-panda/collision_franka.yml b/franka-panda/collision_franka.yml new file mode 100644 index 0000000000000000000000000000000000000000..b7ecae5116f91ef422a5a4915387f70e0a35432f --- /dev/null +++ b/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 \ No newline at end of file diff --git a/franka-panda/config.yml b/franka-panda/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..f3fe0f185a1b74f4ab6322920c9cb51392f1fdb0 --- /dev/null +++ b/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 \ No newline at end of file diff --git a/franka-panda/curobo_tmp.yml b/franka-panda/curobo_tmp.yml new file mode 100644 index 0000000000000000000000000000000000000000..30665b59691883f1f2806d77f439a655a2d3902a --- /dev/null +++ b/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.] \ No newline at end of file diff --git a/franka-panda/franka_description/meshes/collision/finger.stl b/franka-panda/franka_description/meshes/collision/finger.stl new file mode 100644 index 0000000000000000000000000000000000000000..3b87289fea8128bcec3e0b4d174b169124e8e444 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+1,80 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/franka-panda/panda.urdf b/franka-panda/panda.urdf new file mode 100644 index 0000000000000000000000000000000000000000..a60b9a3ef06e989ec52bd0f894687a252751caf4 --- /dev/null +++ b/franka-panda/panda.urdf @@ -0,0 +1,256 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/piper/.DS_Store b/piper/.DS_Store new file mode 100644 index 0000000000000000000000000000000000000000..e90b85d5f082b803a430d9fdcef81ddb0b7646ae Binary files /dev/null and b/piper/.DS_Store differ diff --git a/piper/collision_piper.yml b/piper/collision_piper.yml new file mode 100644 index 0000000000000000000000000000000000000000..71cf19cfb750144ac65ae984ee491bd721d482f2 --- /dev/null +++ b/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 diff --git a/piper/config.yml b/piper/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..6e679e249cd9a619de0950772b9fa05c7464a2b9 --- /dev/null +++ b/piper/config.yml @@ -0,0 +1,54 @@ +urdf_path: "./piper.urdf" +srdf_path: "./piper.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, 0.04] +homestate: [[0,0,0,0,0,0],[0,0,0,0,0,0]] +delta_matrix: [[0,0,-1],[0,1,0],[1,0,0]] +global_trans_matrix: [[0,0,1],[0,1,0],[-1,0,0]] +robot_pose: [[0, -0.45, 0.75, 0.707, 0, 0, 0.707]] # modify +# planner: "mplib_RRT" +planner: "curobo" +dual_arm: False +rotate_lim: [0.2, 1] +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 \ No newline at end of file diff --git a/piper/curobo_tmp.yml b/piper/curobo_tmp.yml new file mode 100644 index 0000000000000000000000000000000000000000..5aa5a5d7a665cf3aae942aaad54f6aafff2917c7 --- /dev/null +++ b/piper/curobo_tmp.yml @@ -0,0 +1,79 @@ +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/piper/piper.urdf + asset_root_path: null + base_link: "base_link" + ee_link: "link6" + collision_link_names: + [ + "base_link", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "link7", + "link8" + ] + collision_spheres: ${ASSETS_PATH}/assets/embodiments/piper/collision_piper.yml + collision_sphere_buffer: 0.004 # 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", "link7", "link8"], + "link4": ["link5", "link6", "link7", "link8"], + "link5": ["link6", "link7", "link8"], + "link6": ["link7", "link8"], + "link7": ["link8"] + } + + 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, + "link7": 0.0, + "link8": 0.0 + } + #link_names: ["panda_link4"] + mesh_link_names: + [ + "base_link", + "link1", + "link2", + "link3", + "link4", + "link5", + "link6", + "link7", + "link8" + ] + lock_joints: {"joint7": 0.0, "joint8": 0.0} + extra_links: null + cspace: + joint_names: ["joint1","joint2","joint3","joint4", "joint5", + "joint6","joint7","joint8"] + + retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.00, 0.0] + 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.] \ No newline at end of file diff --git a/piper/meshes/base_link.STL b/piper/meshes/base_link.STL new file mode 100644 index 0000000000000000000000000000000000000000..0974202abf422b7f2ba6d2a827291db567e37c29 --- /dev/null +++ b/piper/meshes/base_link.STL @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd9c5c5816513cae313b6bee70f95474faadd136eb3ea19c68ffa451dfcd962a +size 535084 diff --git a/piper/meshes/base_link.dae b/piper/meshes/base_link.dae new file mode 100644 index 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31 31 3327 3018 33 33 2615 2303 2617 2305 3328 3019 3329 3020 2581 2267 13 13 3329 3020 13 13 3330 3021 2610 2298 3330 3021 13 13 3331 3022 2575 2261 2577 2263 3332 3023 3333 3024 3330 3021 3330 3021 3333 3024 3331 3022 3330 3021 3331 3022 3329 3020 3329 3020 3331 3022 2577 2263 3329 3020 2577 2263 2581 2267 3332 3023 3334 3025 3333 3024 3335 3026 2612 2300 2613 2301 3335 3026 2613 2301 2615 2303 3336 3027 2570 2256 2572 2258 2615 2303 3328 3019 3335 3026 3335 3026 3328 3019 3336 3027 3335 3026 3336 3027 3331 3022 3331 3022 3336 3027 2572 2258 3331 3022 2572 2258 2575 2261 31 31 2570 2256 3326 3017 3326 3017 2570 2256 3336 3027 3324 3015 3337 3028 3322 3013 3322 3013 3337 3028 3338 3029 3320 3011 3339 3030 2070 1753 2070 1753 3339 3030 2618 2306 2063 1746 2065 1748 3340 3031 3340 3031 2065 1748 3341 3032 3342 3033 3343 3034 3344 3035 3344 3035 3343 3034 3345 3036 3346 3037 3347 3038 3348 3039 3348 3039 3347 3038 3349 3040 3350 3041 3351 3042 48 48 48 48 3351 3042 46 46 2712 2401 2714 2403 3352 3043 2708 2397 2710 2399 3353 3044 2698 2387 2696 2385 3354 3045 3354 3045 2696 2385 0 0 3355 3046 3356 3047 0 0 3355 3046 0 0 2706 2395 3357 3048 3356 3047 3358 3049 3358 3049 3356 3047 3355 3046 3358 3049 3355 3046 3359 3050 3359 3050 3355 3046 2706 2395 3359 3051 3360 3052 3361 3052 2701 2390 2699 2388 3362 3053 3357 3048 2698 2387 3354 3045 3357 3048 3354 3045 3356 3047 3356 3047 3354 3045 0 0 2712 2401 3363 3054 2710 2399 3364 3055 2705 2394 2703 2392 2710 2399 3363 3054 3353 3044 3353 3044 3363 3054 3365 3056 3353 3044 3365 3056 3366 3057 3366 3057 3365 3056 3364 3055 3366 3057 3364 3055 3362 3053 3362 3053 3364 3055 2703 2392 3362 3053 2703 2392 2701 2390 48 48 2705 2394 3350 3041 3350 3041 2705 2394 3367 3058 3348 3039 3368 3059 3346 3037 3346 3037 3368 3059 3369 3060 3344 3035 3370 3061 3342 3033 3342 3033 3370 3061 3371 3062 3340 3031 3352 3043 2063 1746 2063 1746 3352 3043 2714 2403 1990 1673 1991 1674 3372 3063 3372 3063 1991 1674 3373 3064 3374 3065 3375 3066 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3374 3065 3385 3089 3388 3079 3398 3090 3398 3090 3388 3079 1987 1670 3398 3090 1987 1670 3399 3091 3399 3091 1987 1670 1994 1677 3399 3091 1994 1677 3400 3092 3400 3092 1994 1677 1993 1676 3400 3092 1993 1676 3372 3063 3372 3063 1993 1676 1990 1673 2000 1683 1999 1682 3401 3093 3401 3093 1999 1682 3402 3094 3403 3095 3404 3096 3405 3097 3405 3097 3404 3096 3406 3098 3407 3099 3408 3100 1974 1657 1974 1657 3408 3100 1975 1658 3406 3098 3404 3096 3409 3101 3382 3073 3410 3102 3391 3082 3391 3082 3410 3102 3411 3103 3391 3082 3411 3103 3412 3104 1988 1671 3387 3078 1989 1672 1989 1672 3387 3078 3413 3105 1975 1658 3414 3106 2731 2421 2731 2421 3414 3106 3415 3107 2731 2421 3415 3107 2733 2423 2733 2423 3415 3107 3416 3108 2733 2423 3416 3108 2734 2424 2734 2424 3416 3108 3417 3109 2734 2424 3417 3109 2727 2417 2727 2417 3417 3109 3418 3110 2727 2417 3418 3110 2728 2418 2728 2418 3418 3110 3419 3111 2728 2418 3419 3111 2729 2419 2729 2419 3419 3111 3420 3112 2729 2419 3420 3112 2730 2420 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0.02106 + - "center": [0.027, -0.005, 0.01] + "radius": 0.02106 + - "center": [0.017, 0.024, 0.01] + "radius": 0.02106 + - "center": [-0.01, -0.032, 0.01] + "radius": 0.02106 + - "center": [0.023, -0.036, 0.01] + "radius": 0.02106 + - "center": [-0.012, 0.013, 0.01] + "radius": 0.02106 + shoulder_link: + - "center": [-0.004, 0.017, -0.014] + "radius": 0.06067 + - "center": [0.002, -0.01, -0.02] + "radius": 0.05467 + - "center": [0.017, 0.03, 0.001] + "radius": 0.05039 + - "center": [-0.019, 0.033, 0.008] + "radius": 0.04697 + - "center": [0.011, -0.037, 0.037] + "radius": 0.02898 + upper_arm_link: + - "center": [0.001, -0.015, 0.41] + "radius": 0.06004 + - "center": [-0.0, 0.0, 0.201] + "radius": 0.05949 + - "center": [-0.0, -0.015, 0.016] + "radius": 0.06004 + - "center": [0.0, -0.001, 0.306] + "radius": 0.05893 + - "center": [0.0, -0.0, 0.122] + "radius": 0.05949 + forearm_link: + - "center": [-0.001, 0.01, 0.02] + "radius": 0.05308 + - "center": [-0.0, 0.0, 0.215] + "radius": 0.04707 + - "center": [-0.0, -0.0, 0.128] + "radius": 0.04707 + - "center": [-0.0, -0.0, 0.293] + "radius": 0.04707 + - "center": [-0.001, 0.015, 0.381] + "radius": 0.04256 + wrist_1_link: + - "center": [0.001, 0.082, 0.01] + "radius": 0.04397 + - "center": [-0.002, 0.099, 0.016] + "radius": 0.04157 + - "center": [0.002, 0.109, -0.038] + "radius": 0.02958 + wrist_2_link: + - "center": [-0.001, 0.01, 0.083] + "radius": 0.0439 + - "center": [0.002, 0.016, 0.1] + "radius": 0.04151 + - "center": [-0.002, -0.038, 0.11] + "radius": 0.02954 + wrist_3_link: + - "center": [-0.023, 0.062, -0.005] + "radius": 0.02428 + - "center": [0.024, 0.062, -0.003] + "radius": 0.02339 + robotiq_85_base_link: + - "center": [0.0, 0.0, 0.0] + "radius": 0.001 + # - "center": [0.021, 0.002, -0.001] + # "radius": 0.03085 + # - "center": [0.017, 0.007, 0.019] + # "radius": 0.02688 + robotiq_85_left_inner_knuckle_link: + - "center": [0.026, -0.024, -0.012] + "radius": 0.01419 + - "center": [0.026, -0.024, 0.012] + "radius": 0.01419 + robotiq_85_left_finger_tip_link: + - "center": [-0.003, -0.008, -0.001] + "radius": 0.0157 + - "center": [0.006, -0.003, -0.002] + "radius": 0.01361 + robotiq_85_left_knuckle_link: + - "center": [0.002, -0.001, 0.0] + "radius": 0.01529 + robotiq_85_left_finger_link: + - "center": [0.024, -0.003, 0.007] + "radius": 0.01509 + robotiq_85_right_inner_knuckle_link: + - "center": [0.026, -0.024, -0.012] + "radius": 0.01419 + - "center": [0.026, -0.024, 0.012] + "radius": 0.01419 + robotiq_85_right_finger_tip_link: + - "center": [-0.003, -0.008, -0.001] + "radius": 0.0157 + - "center": [0.006, -0.003, -0.002] + "radius": 0.01361 + robotiq_85_right_knuckle_link: + - "center": [0.002, -0.001, 0.0] + "radius": 0.01529 + robotiq_85_right_finger_link: + - "center": [0.024, -0.003, 0.007] + "radius": 0.01509 + - "center": [0.023, -0.004, -0.002] + "radius": 0.01509 + ee_link: + - "center": [0.0, 0.0, 0.0] + "radius": 0.001 diff --git a/ur5-wsg/config.yml b/ur5-wsg/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..89ae1e704e528525b290bb3dce2c54c6fd416782 --- /dev/null +++ b/ur5-wsg/config.yml @@ -0,0 +1,41 @@ +urdf_path: "./ur5_wsg_gripper.urdf" +srdf_path: "./ur5.srdf" +joint_stiffness: 1000 +joint_damping: 200 +gripper_stiffnes: 1000 +gripper_damping: 200 +move_group: ["ee_link","ee_link"] +ee_joints: ["ee_fixed_joint","ee_fixed_joint"] +arm_joints_name: [["shoulder_pan_joint" ,"shoulder_lift_joint" ,"elbow_joint" ,"wrist_1_joint", "wrist_2_joint", "wrist_3_joint"], + ["shoulder_pan_joint" ,"shoulder_lift_joint" ,"elbow_joint" ,"wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]] +# gripper_name: [["robotiq_85_left_knuckle_joint", "robotiq_85_right_knuckle_joint"], + # ["robotiq_85_left_knuckle_joint", "robotiq_85_right_knuckle_joint"]] +gripper_name: + - base: "base_joint_gripper_left" + mimic: [["base_joint_gripper_right", -1., 0.]] + - base: "base_joint_gripper_left" + mimic: [["base_joint_gripper_right", -1., 0.]] +gripper_bias: 0.11 +gripper_scale: [0.01, -0.06] +homestate: [[-1.5447, -1.5447, -1.5447, -1.5794, 1.5794, 0], + [-1.5447, -1.5447, -1.5447, -1.5794, 1.5794, 0]] +delta_matrix: [[1,0,0],[0,1,0],[0,0,1]] +global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]] +robot_pose: [[0, -0.65, 0.65, 1, 0, 0, 0],[0, -0.65, 0.75, 1, 0, 0, 0]] # modify +planner: "curobo" +dual_arm: False +fix_gripper_name: ["finger_left", "finger_right"] +static_camera_list: +- name: head_camera + position: + - -0.032 + - -0.45 + - 1.35 + forward: + - 0 + - 0.6 + - -0.8 + left: + - -1 + - 0 + - 0 \ No newline at end of file diff --git a/ur5-wsg/curobo_tmp.yml b/ur5-wsg/curobo_tmp.yml new file mode 100644 index 0000000000000000000000000000000000000000..8ebcf2691c34185d88edaa0e5f91566c502ff0e6 --- /dev/null +++ b/ur5-wsg/curobo_tmp.yml @@ -0,0 +1,76 @@ +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/ur5-wsg/ur5_wsg_gripper.urdf + asset_root_path: null + base_link: "base_link" + ee_link: "ee_link" + collision_link_names: [ + "base_link", + "shoulder_link", + "upper_arm_link", + "forearm_link", + "wrist_1_link", + "wrist_2_link", + "wrist_3_link", + "ee_link" + ] + collision_spheres: ${ASSETS_PATH}/assets/embodiments/ur5-wsg/collision_wsg.yml + collision_sphere_buffer: 0.004 + extra_collision_spheres: null + use_global_cumul: True + self_collision_ignore: { + "base_link": ["shoulder_link"], + "shoulder_link": ["upper_arm_link", "base_link"], + "upper_arm_link": ["forearm_link", "shoulder_link"], + "forearm_link": ["wrist_1_link", "upper_arm_link"], + "wrist_1_link": ["wrist_2_link", "forearm_link", "ee_link"], + "wrist_2_link": ["wrist_3_link", "wrist_1_link", "ee_link"], + "wrist_3_link": ["ee_link", "wrist_2_link", "wrist_1_link"], + } + + self_collision_buffer: + { + "base_link": 0.0, + "shoulder_link": 0.0, + "upper_arm_link": 0.0, + "forearm_link": 0.0, + "wrist_1_link": 0.0, + "wrist_2_link": 0.0, + "wrist_3_link": 0.0, + "ee_link": 0.0 + } + mesh_link_names: + [ + "base_link", + "shoulder_link", + "upper_arm_link", + "forearm_link", + "wrist_1_link", + "wrist_2_link", + "wrist_3_link", + "ee_link" + ] + + lock_joints: {} + + extra_links: null + cspace: + joint_names: ["shoulder_pan_joint" + ,"shoulder_lift_joint" + ,"elbow_joint" + ,"wrist_1_joint" + ,"wrist_2_joint" + ,"wrist_3_joint"] + retract_config: [0, 0, 0, 0, 0, 0] + null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] + cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] + max_acceleration: 15.0 + max_jerk: 500.0 +planner: + frame_bias: [0., 0., 0.] \ No newline at end of file diff --git a/ur5-wsg/meshes/gripper/GUIDE_WSG50_110.stl b/ur5-wsg/meshes/gripper/GUIDE_WSG50_110.stl new file mode 100644 index 0000000000000000000000000000000000000000..62c8142e42412ef3c134e95821f5f5cfc08babaa Binary files /dev/null and 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678 1100 678 1101 677 1101 679 1101 678 1102 679 1102 680 1102 680 1103 679 1103 681 1103 680 1104 681 1104 682 1104 682 1105 681 1105 683 1105 682 1106 683 1106 684 1106 684 1107 683 1107 685 1107 684 1108 685 1108 686 1108 686 1109 685 1109 687 1109 686 1110 687 1110 688 1110 688 1111 687 1111 689 1111 688 1112 689 1112 690 1112 690 1113 689 1113 691 1113 690 1114 691 1114 692 1114 692 1115 691 1115 693 1115 692 1116 693 1116 694 1116 694 1117 693 1117 695 1117 694 1118 695 1118 696 1118 696 1119 695 1119 697 1119 696 1120 697 1120 698 1120 698 1121 697 1121 699 1121 698 1122 699 1122 700 1122 700 1123 699 1123 701 1123 700 1124 701 1124 702 1124 702 1125 701 1125 703 1125 702 1126 703 1126 704 1126 704 1127 703 1127 705 1127 704 1128 705 1128 706 1128 706 1129 705 1129 707 1129 706 1130 707 1130 708 1130 708 1131 707 1131 709 1131 708 1132 709 1132 710 1132 710 1133 709 1133 711 1133 710 1134 711 1134 712 1134 712 1135 711 1135 713 1135 712 1136 713 1136 714 1136 714 1137 713 1137 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