TactileLab: the robot, calibration and third-party object files (62 files)

.gitattributes

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tactilelab-thirdparty/tactilelab_tasks/assets/objects/insertion/TestTube/Annotation/insertion_pose.json

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tactilelab-thirdparty/tactilelab_tasks/assets/objects/insertion/TestTubeBase/Annotation/insertion_pose.json

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tactilelab-thirdparty/tactilelab_tasks/assets/objects/insertion/TestTubeSlot/Annotation/insertion_pose.json

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tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/bolt_m16/Annotation/insertion_pose.json

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tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/bolt_m16/Object.usd

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tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/gear_base/Annotation/insertion_pose.json

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tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/gear_large/Object.usd

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tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/gear_medium/Annotation/grasp_pose.json

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+}

tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/gear_medium/Annotation/insertion_pose.json

@@ -0,0 +1,14 @@
+{
+  "insertion_axis": {
+    "tail_local": [
+      0.0,
+      0.0,
+      0.0125
+    ],
+    "head_local": [
+      0.0,
+      0.0,
+      -0.0125
+    ]
+  }
+}

tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/gear_medium/Object.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:ff172566ed6b4af1064c51c0359173739569e78bc7277c9a6b67e2e375390883
+size 342414

tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/gear_small/Object.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:29d680db1477f93d06f8f44c6baa032dbdebd1c2301cdf94a864b56dd5db20c9
+size 523067

tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/nut_m16/Annotation/grasp_pose.json

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+{
+ "type": "mechanical",
+ "bottom_center": [
+  -0.00019999966025352478,
+  0.0,
+  -0.006500000223517419
+ ],
+ "functional_grasp": {
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+ },
+ "grasp": {}
+}

tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/nut_m16/Annotation/insertion_pose.json

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+{
+ "insertion_axis": {
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+   0.0,
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+   0.0065
+  ],
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+}

tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/nut_m16/Object.usd

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+version https://git-lfs.github.com/spec/v1
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+size 722632

tactilelab-thirdparty/tactilelab_tasks/assets/robots/xtrainer_gsmini/curobo/xtrainer_gsmini.yml

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+# xtrainer_gsmini.yml - cuRobo robot configuration for the X-Trainer with GelSight-Mini fingers.
+# Arm, wrist, ignore lists and buffers follow the stock X-Trainer configuration; the J1_7/J1_8/J2_7/J2_8
+# collision spheres cover the printed GelSight-Mini fingers (greedy sphere cover of finger + sensor shell,
+# nothing within 0.5 mm of the gel face).
+# cuRobo is not installed in the task images: this file is read only for its collision spheres (the hand clearance of
+# tactilelab_tasks.soft.cables.load_hand_spheres); the cuRobo planner and its URDF are not part of the package.
+# Position-mode FK readout order.
+info_links: ["J1_6", "J2_6"]
+
+robot_cfg:
+  kinematics:
+    add_object_link: false
+    asset_root_path: .
+    base_link: base_link
+    collision_link_names: 
+    - J1_1
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+    - J1_3
+    - J1_4
+    - J1_5
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+    - J1_8
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+    - J2_4
+    - J2_5
+    - J2_6
+    - J2_7
+    - J2_8
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+        - -0.003922302275896072
+        - -0.010725383646786213
+        radius: 0.04119454696774483
+      - center:
+        - 0.002824191004037857
+        - -7.93295112089254e-05
+        - -0.00021189558901824057
+        radius: 0.04974997043609619
+      - center:
+        - 0.22954513132572174
+        - -0.012922285124659538
+        - 0.016520710662007332
+        radius: 0.021306166425347328
+      - center:
+        - 0.06668145954608917
+        - -0.008669398725032806
+        - -0.00943031907081604
+        radius: 0.03979480639100075
+      - center:
+        - 0.12015441060066223
+        - 0.0029843293596059084
+        - -0.010853664949536324
+        radius: 0.03990226611495018
+      - center:
+        - -0.019597474485635757
+        - 0.011058203876018524
+        - 0.027845751494169235
+        radius: 0.006907857023179531
+      J2_4:
+      - center:
+        - -0.004352605435997248
+        - 0.0009937321301549673
+        - 0.0015188208781182766
+        radius: 0.03960584104061127
+      - center:
+        - -0.045449286699295044
+        - 0.00013582847896032035
+        - 0.0033221072517335415
+        radius: 0.040426965802907944
+      - center:
+        - -0.00020384122035466135
+        - 0.0006872573285363615
+        - 0.041309330612421036
+        radius: 0.042730700224637985
+      J2_5:
+      - center:
+        - -0.0006375379161909223
+        - -0.0016327961347997189
+        - -0.02272549271583557
+        radius: 0.043726496398448944
+      - center:
+        - -0.03720943257212639
+        - 0.008651859126985073
+        - 0.0019280621781945229
+        radius: 0.044746458530426025
+      - center:
+        - 0.03624742105603218
+        - 0.007954304106533527
+        - 0.005288952030241489
+        radius: 0.044382356107234955
+      J2_6:
+      - center:
+        - 0.0017301584593951702
+        - -0.0008768907282501459
+        - 0.042668119072914124
+        radius: 0.05122574418783188
+      - center:
+        - -0.001893087406642735
+        - -0.001169287716038525
+        - -0.00605650432407856
+        radius: 0.04450668394565582
+      - center:
+        - 0.0025695867370814085
+        - -0.07155793905258179
+        - 0.023271193727850914
+        radius: 0.02825024165213108
+      - center:
+        - 0.06269888579845428
+        - -0.0011344674276188016
+        - 0.06931056082248688
+        radius: 0.024825863540172577
+      - center:
+        - -0.0651039332151413
+        - 0.0030587271321564913
+        - 0.06671105325222015
+        radius: 0.025139009580016136
+      - center:
+        - -0.03795686736702919
+        - 9.609158587409183e-05
+        - 0.06683618575334549
+        radius: 0.021392876282334328
+      - center:
+        - -0.013166600838303566
+        - -0.0908217579126358
+        - 0.03085947223007679
+        radius: 0.002434312831610441
+      J2_7:
+      - center:
+        - 0.024000
+        - 0.063420
+        - 0.000216
+        radius: 0.020754
+      - center:
+        - 0.012000
+        - -0.016080
+        - 0.007716
+        radius: 0.014335
+      - center:
+        - 0.036000
+        - -0.016080
+        - 0.007716
+        radius: 0.014335
+      - center:
+        - 0.033000
+        - 0.000420
+        - 0.004716
+        radius: 0.016216
+      - center:
+        - 0.007500
+        - 0.031920
+        - 0.006216
+        radius: 0.014095
+      - center:
+        - 0.040500
+        - 0.033420
+        - 0.003216
+        radius: 0.014307
+      - center:
+        - 0.004500
+        - 0.001920
+        - 0.004716
+        radius: 0.016183
+      - center:
+        - 0.019500
+        - -0.029580
+        - 0.009216
+        radius: 0.013254
+      - center:
+        - 0.022500
+        - 0.054420
+        - 0.001716
+        radius: 0.019254
+      - center:
+        - 0.024000
+        - 0.070920
+        - 0.001716
+        radius: 0.018906
+      J2_8:
+      - center:
+        - 0.025500
+        - -0.063000
+        - 0.000216
+        radius: 0.020754
+      - center:
+        - 0.018000
+        - 0.022500
+        - 0.006216
+        radius: 0.015325
+      - center:
+        - 0.037500
+        - 0.001500
+        - 0.006216
+        radius: 0.015707
+      - center:
+        - 0.004500
+        - 0.001500
+        - 0.006216
+        radius: 0.016254
+      - center:
+        - 0.013500
+        - -0.042000
+        - 0.003216
+        radius: 0.015600
+      - center:
+        - 0.040500
+        - 0.024000
+        - 0.009216
+        radius: 0.013254
+      - center:
+        - 0.040500
+        - -0.031500
+        - 0.004716
+        radius: 0.014035
+      - center:
+        - 0.006000
+        - -0.024000
+        - 0.006216
+        radius: 0.014459
+      - center:
+        - 0.025500
+        - -0.070500
+        - 0.001716
+        radius: 0.019254
+      - center:
+        - 0.004500
+        - 0.021000
+        - 0.009216
+        radius: 0.012996
+    cspace:
+      acceleration_scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 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
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      default_joint_position:
+      - 0.0
+      - -0.0608
+      - 0.0546
+      - 0.013
+      - -0.0
+      - 0.0
+      - 0.0
+      - 0.0609
+      - 0.0547
+      - -0.013
+      - -0.0
+      - 0.0
+      - -0.0139999995008111
+      - 0.0139999995008111
+      - -0.0139999995008111
+      - 0.0139999995008111
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      jerk_scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      joint_names:
+      - J1_1_joint
+      - J1_2_joint
+      - J1_3_joint
+      - J1_4_joint
+      - J1_5_joint
+      - J1_6_joint
+      - J2_1_joint
+      - J2_2_joint
+      - J2_3_joint
+      - J2_4_joint
+      - J2_5_joint
+      - J2_6_joint
+      - J1_7_joint
+      - J1_8_joint
+      - J2_7_joint
+      - J2_8_joint
+      - J3_1_joint
+      - J3_2_joint
+      - J3_3_joint
+      - J3_4_joint
+      - J3_5_joint
+      - J3_6_joint
+      - J4_1_joint
+      - J4_2_joint
+      - J4_3_joint
+      - J4_4_joint
+      - J4_5_joint
+      - J4_6_joint
+      max_acceleration:
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      - 10.0
+      max_jerk:
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      - 500.0
+      null_space_maximum_distance:
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      null_space_weight:
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      position_limit_clip: 0.0
+      velocity_scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+      - 1.0
+    debug: null
+    external_asset_path: null
+    external_robot_configs_path: null
+    extra_collision_spheres: null
+    extra_links: {}
+    format_version: 2.0
+    grasp_contact_link_names: null
+    load_meshes: false
+    load_tool_frames_with_mesh: false
+    # J1_7/J1_8/J2_7/J2_8 are the gripper joints; their links are in the tree
+    # (they are collision links), so they are locked here directly. J3_*/J4_*
+    # are separate chains off base_link that are NOT built into the kinematic
+    # tree (not collision links / tool frames), so they cannot be locked here
+    # without a KeyError. They stay in cspace.joint_names and are auto-locked at
+    # their default_joint_position by the loader's extra_lock_joints path.
+    lock_joints:
+      J1_7_joint: 0.0
+      J1_8_joint: 0.0
+      J2_7_joint: 0.0
+      J2_8_joint: 0.0
+    mesh_link_names:
+    - J1_1
+    - J1_2
+    - J1_3
+    - J1_4
+    - J1_5
+    - J1_6
+    - J1_7
+    - J1_8
+    - J2_1
+    - J2_2
+    - J2_3
+    - J2_4
+    - J2_5
+    - J2_6
+    - J2_7
+    - J2_8
+    self_collision_buffer:
+      J1_1: 0.0
+      J1_2: 0.0
+      J1_3: 0.0
+      J1_4: 0.0
+      J1_5: 0.0
+      J1_6: 0.0
+      J1_7: 0.0
+      J1_8: 0.0
+      J2_1: 0.0
+      J2_2: 0.0
+      J2_3: 0.0
+      J2_4: 0.0
+      J2_5: 0.0
+      J2_6: 0.0
+      J2_7: 0.0
+      J2_8: 0.0
+      J3_1: 0.0
+      J3_2: 0.0
+      J3_3: 0.0
+      J3_4: 0.0
+      J3_5: 0.0
+      J3_6: 0.0
+      J4_1: 0.0
+      J4_2: 0.0
+      J4_3: 0.0
+      J4_4: 0.0
+      J4_5: 0.0
+      J4_6: 0.0
+      base_link: 0.0
+    self_collision_ignore:
+      J1_1:
+      - base_link
+      - J1_2
+      - J2_1
+      - J2_2
+      - J2_3
+      - J2_4
+      - J2_5
+      - J2_6
+      - J2_7
+      - J2_8
+      - J3_1
+      - J3_2
+      - J3_3
+      - J3_4
+      - J3_5
+      - J3_6
+      - J4_1
+      - J4_2
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+      J1_2:
+      - J1_1
+      - J1_3
+      - J2_1
+      - J2_2
+      - J2_3
+      - J2_4
+      - J2_5
+      - J3_1
+      - J3_2
+      - J3_3
+      - J3_4
+      - J3_5
+      - J3_6
+      - J4_1
+      - J4_2
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+      J1_3:
+      - J1_2
+      - J1_4
+      - J1_5
+      - J2_1
+      - J2_2
+      - J3_1
+      - J3_2
+      - J3_3
+      - J3_4
+      - J3_5
+      - J3_6
+      - J4_1
+      - J4_2
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+      J1_4:
+      - J1_3
+      - J1_5
+      - J1_6
+      - J2_1
+      - J2_2
+      - J1_7
+      - J1_8
+      - J3_4
+      - J3_5
+      - J3_6
+      - J4_1
+      - J4_2
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+      J1_5:
+      - J1_4
+      - J1_6
+      - J2_1
+      - J2_2
+      - J1_7
+      - J1_8
+      - J3_5
+      - J3_6
+      - J4_1
+      - J4_2
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+      J1_6:
+      - J1_5
+      - J1_7
+      - J1_8
+      - J2_1
+      - J3_6
+      - J4_1
+      - J4_2
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+      J1_7:
+      - J1_6
+      - J2_1
+      - J4_1
+      - J4_2
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+      J1_8:
+      - J1_6
+      - J2_1
+      - J4_1
+      - J4_2
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+      J2_1:
+      - base_link
+      - J2_2
+      - J3_1
+      - J3_2
+      - J3_3
+      - J3_4
+      - J3_5
+      - J3_6
+      - J4_1
+      - J4_2
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+      J2_2:
+      - J2_1
+      - J2_3
+      - J3_1
+      - J3_2
+      - J3_3
+      - J3_4
+      - J3_5
+      - J3_6
+      - J4_1
+      - J4_2
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+      J2_3:
+      - J2_2
+      - J2_4
+      - J2_5
+      - J3_1
+      - J3_2
+      - J3_3
+      - J3_4
+      - J3_5
+      - J3_6
+      - J4_1
+      - J4_2
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+      J2_4:
+      - J2_3
+      - J2_5
+      - J2_6
+      - J2_7
+      - J2_8
+      - J3_1
+      - J3_2
+      - J3_3
+      - J3_4
+      - J3_5
+      - J3_6
+      - J4_4
+      - J4_5
+      - J4_6
+      J2_5:
+      - J2_4
+      - J2_6
+      - J2_7
+      - J2_8
+      - J3_1
+      - J3_2
+      - J3_3
+      - J3_4
+      - J3_5
+      - J3_6
+      - J4_5
+      - J4_6
+      J2_6:
+      - J2_5
+      - J2_7
+      - J2_8
+      - J3_1
+      - J3_2
+      - J3_3
+      - J3_4
+      - J3_5
+      - J3_6
+      - J4_6
+      J2_7:
+      - J2_6
+      - J3_1
+      - J3_2
+      - J3_3
+      - J3_4
+      - J3_5
+      - J3_6
+      J2_8:
+      - J2_6
+      - J3_1
+      - J3_2
+      - J3_3
+      - J3_4
+      - J3_5
+      - J3_6
+      J3_1:
+      - base_link
+      - J3_2
+      - J3_3
+      - J3_4
+      - J3_5
+      - J3_6
+      - J4_1
+      - J4_2
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+      J3_2:
+      - J3_1
+      - J3_3
+      - J3_4
+      - J3_5
+      - J3_6
+      - J4_1
+      - J4_2
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+      J3_3:
+      - J3_2
+      - J3_4
+      - J3_5
+      - J3_6
+      - J4_1
+      - J4_2
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+      J3_4:
+      - J3_3
+      - J3_5
+      - J3_6
+      - J4_1
+      - J4_2
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+      J3_5:
+      - J3_4
+      - J3_6
+      - J4_1
+      - J4_2
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+      J3_6:
+      - J3_5
+      - J4_1
+      - J4_2
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+      J4_1:
+      - base_link
+      - J4_2
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+      J4_2:
+      - J4_1
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+      J4_3:
+      - J4_2
+      - J4_4
+      - J4_5
+      - J4_6
+      J4_4:
+      - J4_3
+      - J4_5
+      - J4_6
+      J4_5:
+      - J4_4
+      - J4_6
+      J4_6:
+      - J4_5
+      base_link:
+      - J1_1
+      - J2_1
+      - J3_1
+      - J4_1
+      - J3_2
+      - J3_3
+      - J3_4
+      - J3_5
+      - J3_6
+      - J4_2
+      - J4_3
+      - J4_4
+      - J4_5
+      - J4_6
+    tool_frames:
+    - J1_6
+    - J2_6
+    urdf_path: xtrainer_gsmini_curobo.urdf
+    use_external_assets: false
+    use_global_cumul: true
+  load_dynamics: false

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