hofee/gen_data_curobo
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

add isaac sim 2023 support and dockerfiles

Browse Source
This commit is contained in:
Balakumar Sundaralingam
2023-11-04 09:32:30 -07:00
parent f2eb5f937a
commit 102c5d6ab2
41 changed files with 1284 additions and 622 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/curobo/content/configs/robot/franka.yml
View File

@@ -13,7 +13,7 @@ robot_cfg:
kinematics:
use_usd_kinematics: False
isaac_usd_path: "/Isaac/Robots/Franka/franka.usd"
usd_path: "robot/non_shipping/franka/franka_panda_meters1.usda"
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"]

1
src/curobo/content/configs/robot/ur10e.yml
View File

@@ -40,6 +40,7 @@ robot_cfg:
'wrist_3_link' : 0,
'tool0': 0,
}
mesh_link_names: [ 'shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link', 'wrist_2_link' ,'wrist_3_link' ]
lock_joints: null
cspace: