hofee/gen_data_curobo
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update to 0.6.2

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This commit is contained in:
Balakumar Sundaralingam
2023-12-15 02:01:33 -08:00
parent d85ae41fba
commit 58958bbcce
105 changed files with 2514 additions and 934 deletions
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18
src/curobo/content/configs/robot/ur5e.yml
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@@ -27,7 +27,8 @@ robot_cfg:
extra_links: null
collision_link_names: ['shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link', 'wrist_2_link' ,'wrist_3_link'] # List[str]
collision_link_names: ['shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link',
'wrist_2_link' ,'wrist_3_link', 'tool0'] # List[str]
collision_spheres:
shoulder_link:
- "center": [0.0, 0.0, 0.0]
@@ -89,14 +90,19 @@ robot_cfg:
wrist_3_link:
- "center": [0.001, 0.001, -0.029]
"radius": 0.043
tool0:
- "center": [0.001, 0.001, 0.05]
"radius": 0.05
collision_sphere_buffer: 0.005
extra_collision_spheres: {}
self_collision_ignore: {
"upper_arm_link": ["forearm_link", "shoulder_link"],
"forearm_link": ["wrist_1_link", "wrist_2_link", "wrist_3_link"],
"wrist_1_link": ["wrist_2_link","wrist_3_link"],
"wrist_2_link": ["wrist_3_link"],
"wrist_1_link": ["wrist_2_link","wrist_3_link","tool0"],
"wrist_2_link": ["wrist_3_link", "tool0"],
"wrist_3_link": ["tool0"],
}
self_collision_buffer: {'upper_arm_link': 0,
'forearm_link': 0,
@@ -106,7 +112,8 @@ robot_cfg:
}
use_global_cumul: True
mesh_link_names: null # List[str]
mesh_link_names: ['shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link',
'wrist_2_link' ,'wrist_3_link'] # List[str]
cspace:
joint_names: ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
@@ -114,4 +121,5 @@ robot_cfg:
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_jerk: 500.0
max_acceleration: 15.0
max_acceleration: 12.0
position_limit_clip: 0.1