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a/tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/gear_medium/Annotation/insertion_pose.json b/tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/gear_medium/Annotation/insertion_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..d65f1878e8beced636ccd26d900fb21eabf764d3 --- /dev/null +++ b/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 + ] + } +} diff --git a/tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/gear_medium/Object.usd b/tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/gear_medium/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..a3e4b9d6205a574138397a635dd8dd09886af399 --- /dev/null +++ b/tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/gear_medium/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff172566ed6b4af1064c51c0359173739569e78bc7277c9a6b67e2e375390883 +size 342414 diff --git a/tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/gear_small/Object.usd b/tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/gear_small/Object.usd new file mode 100644 index 0000000000000000000000000000000000000000..b3e744ded9bd35a41380d3ba8d190b79920e18be --- /dev/null +++ b/tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/gear_small/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29d680db1477f93d06f8f44c6baa032dbdebd1c2301cdf94a864b56dd5db20c9 +size 523067 diff --git a/tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/nut_m16/Annotation/grasp_pose.json b/tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/nut_m16/Annotation/grasp_pose.json new file mode 100644 index 0000000000000000000000000000000000000000..37e35a82bdd7742707676575542eb0417affbb85 --- /dev/null +++ b/tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/nut_m16/Annotation/grasp_pose.json @@ -0,0 +1,58 @@ +{ + "type": "mechanical", + "bottom_center": [ + -0.00019999966025352478, + 0.0, + -0.006500000223517419 + ], + "functional_grasp": { + "body": [ + [ + 0.0, + 0.0, + 0.183, + 5.914599714032012e-17, + -0.2588130371988605, + -0.9659274360819767, + -1.5847727879159468e-17 + ], + [ + 0.0, + 0.0, + 0.183, + 1.5847727080720174e-17, + -0.965927439575814, + -0.2588130241593573, + -5.914599735425595e-17 + ], + [ + 0.0, + 0.0, + 0.183, + 4.329780281177466e-17, + -0.7071067811865475, + -0.7071067811865475, + -4.329780281177466e-17 + ], + [ + 0.0, + 0.0, + 0.183, + 5.914600132949683e-17, + -0.2588127818661789, + -0.9659275044964243, + 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0000000000000000000000000000000000000000..6d0cc6900cb634ecc0316a5aa95e699f25918a04 --- /dev/null +++ b/tactilelab-thirdparty/tactilelab_tasks/assets/objects/mechanical/nut_m16/Object.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:189b0476c5984f9b92a11448b4722becb97f37f38c7db337e007037cb9b30a25 +size 722632 diff --git a/tactilelab-thirdparty/tactilelab_tasks/assets/robots/xtrainer_gsmini/curobo/xtrainer_gsmini.yml b/tactilelab-thirdparty/tactilelab_tasks/assets/robots/xtrainer_gsmini/curobo/xtrainer_gsmini.yml new file mode 100644 index 0000000000000000000000000000000000000000..5c054b1b26791729e768e6a9e74b85f450bd7d2c --- /dev/null +++ b/tactilelab-thirdparty/tactilelab_tasks/assets/robots/xtrainer_gsmini/curobo/xtrainer_gsmini.yml @@ -0,0 +1,1366 @@ +# 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 + - 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 + + collision_sphere_buffer: 0.0 + collision_spheres: + J1_1: + - center: + - 0.001178642502054572 + - -0.03708689287304878 + - 0.0008487540762871504 + radius: 0.052720505744218826 + - center: + - -0.0314299613237381 + - -0.0704493448138237 + - 0.0018200983759015799 + radius: 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radius: 0.035251129418611526 + - center: + - -0.0005365947727113962 + - -0.0642048567533493 + - 0.11646095663309097 + radius: 0.04962605983018875 + - center: + - -0.006502264179289341 + - -0.1276606321334839 + - 0.1200287789106369 + radius: 0.040659163147211075 + - center: + - 0.01599295251071453 + - 0.02348276972770691 + - 0.07101000845432281 + radius: 0.008638324216008186 + J2_3: + - center: + - 0.22209613025188446 + - -0.0016892842249944806 + - -0.0090586943551898 + radius: 0.039469338953495026 + - center: + - 0.22367987036705017 + - -0.00011851404269691557 + - 0.04280681908130646 + radius: 0.03972874954342842 + - center: + - -0.0052076117135584354 + - 0.0010500558419153094 + - 0.010621956549584866 + radius: 0.04244934767484665 + - center: + - -0.012960851192474365 + - -0.032065797597169876 + - 0.03293991833925247 + radius: 0.006432630121707916 + - center: + - 0.0676983967423439 + - 0.012536549009382725 + - -0.014857560396194458 + radius: 0.03344754874706268 + - center: + - 0.17186962068080902 + - -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 diff --git a/tactilelab-thirdparty/tactilelab_tasks/assets/robots/xtrainer_gsmini/meshes/J1_1.STL 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