kinematics refactor with mimic joint support
This commit is contained in:
Balakumar Sundaralingam
@@ -324,7 +324,6 @@
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<axis xyz="0 -1 0"/>
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<dynamics damping="10.0"/>
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<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
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<mimic joint="panda_finger_joint1"/>
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</joint>
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|
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</robot>
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|
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@@ -0,0 +1,23 @@
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Copyright (c) 2013, ROS-Industrial
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All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without modification,
|
||||
are permitted provided that the following conditions are met:
|
||||
|
||||
Redistributions of source code must retain the above copyright notice, this
|
||||
list of conditions and the following disclaimer.
|
||||
|
||||
Redistributions in binary form must reproduce the above copyright notice, this
|
||||
list of conditions and the following disclaimer in the documentation and/or
|
||||
other materials provided with the distribution.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
|
||||
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
|
||||
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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@@ -0,0 +1,12 @@
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This is the README file from Robotiq's package for the 2F-140 gripper. The package's license file can also be found in this folder.
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We used commit `4e3196c1c6a83f54acfa3dd8cf02b575ebba3e53` from [Robotiq's ROS Industrial Github repository](https://github.com/ros-industrial/robotiq)
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# Robotiq 140mm 2-Finger-Adaptive-Gripper
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This package contains the URDF files describing the 140mm stroke gripper from robotiq, also known as series **C3**.
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## Robot Visual
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## Robot Collision
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@@ -0,0 +1,3 @@
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|
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|
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size 160684
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108
src/curobo/content/assets/robot/simple/simple_mimic_robot.urdf
Normal file
108
src/curobo/content/assets/robot/simple/simple_mimic_robot.urdf
Normal file
@@ -0,0 +1,108 @@
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<?xml version="1.0" ?>
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<robot name="simple_closed_chain_robot">
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<link name="base_link">
|
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<visual>
|
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<origin rpy="0 0 0" xyz="0 0 0"/>
|
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<geometry>
|
||||
<box size="0.1 0.1 0.1"/>
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</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.9 0.9 0.9 1"/>
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</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
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<geometry>
|
||||
<box size="0.01 0.01 0.01"/>
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||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="chain_1_active_joint_1" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.0"/>
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<parent link="base_link"/>
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<child link="chain_1_link_1"/>
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<axis xyz="1 0 0"/>
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<limit effort="1000" lower="-6.0" upper="6.0" velocity="2.0"/>
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||||
</joint>
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||||
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||||
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||||
<link name="chain_1_link_1">
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<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.35"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.5"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.0 0.0 0.9 1"/>
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||||
</material>
|
||||
</visual>
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||||
<collision>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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||||
<geometry>
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||||
<box size="0.01 0.01 0.01"/>
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</geometry>
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</collision>
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</link>
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<joint name="chain_1_mimic_joint_2" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.6"/>
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<parent link="chain_1_link_1"/>
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||||
<child link="chain_1_link_2"/>
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<axis xyz="1 0 0"/>
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<limit effort="1000" lower="-10.0" upper="10.0" velocity="5.0"/>
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||||
<mimic joint="chain_1_active_joint_1" multiplier="-1.5" offset="0.5"/>
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||||
</joint>
|
||||
|
||||
<link name="chain_1_link_2">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.35"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.5"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.9 0.9 0.9 1"/>
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</material>
|
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</visual>
|
||||
<collision>
|
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.01 0.01 0.01"/>
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</geometry>
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</collision>
|
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</link>
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|
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<link name="ee_link">
|
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
|
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<geometry>
|
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<box size="0.2 0.2 0.1"/>
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||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.0 0.9 0.0 1"/>
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||||
</material>
|
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</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
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<box size="0.01 0.01 0.01"/>
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</geometry>
|
||||
</collision>
|
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</link>
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||||
|
||||
|
||||
|
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<joint name="active_joint_2" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.0"/>
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<parent link="chain_1_link_2"/>
|
||||
<child link="ee_link"/>
|
||||
<axis xyz="1 0 0"/>
|
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<limit effort="1000" lower="-6.0" upper="6.0" velocity="2.0"/>
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</joint>
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|
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</robot>
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@@ -0,0 +1,691 @@
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from ur_description/urdf/ur5e.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="ur5e_robot">
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<!--
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Base UR robot series xacro macro.
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NOTE: this is NOT a URDF. It cannot directly be loaded by consumers
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expecting a flattened '.urdf' file. See the top-level '.xacro' for that
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(but note: that .xacro must still be processed by the xacro command).
|
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|
||||
For use in '.launch' files: use one of the 'load_urX.launch' convenience
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launch files.
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This file models the base kinematic chain of a UR robot, which then gets
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parameterised by various configuration files to convert it into a UR3(e),
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UR5(e), UR10(e) or UR16e.
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NOTE: the default kinematic parameters (ie: link lengths, frame locations,
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offets, etc) do not correspond to any particular robot. They are defaults
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only. There WILL be non-zero offsets between the Forward Kinematics results
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in TF (ie: robot_state_publisher) and the values reported by the Teach
|
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Pendant.
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||||
For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
|
||||
parameter MUST point to a .yaml file containing the appropriate values for
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||||
the targetted robot.
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||||
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||||
If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
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described in the readme of that repository to extract the kinematic
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calibration from the controller and generate the required .yaml file.
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Main author of the migration to yaml configs: Ludovic Delval.
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Contributors to previous versions (in no particular order):
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||||
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- Felix Messmer
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- Kelsey Hawkins
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- Wim Meeussen
|
||||
- Shaun Edwards
|
||||
- Nadia Hammoudeh Garcia
|
||||
- Dave Hershberger
|
||||
- G. vd. Hoorn
|
||||
- Philip Long
|
||||
- Dave Coleman
|
||||
- Miguel Prada
|
||||
- Mathias Luedtke
|
||||
- Marcel Schnirring
|
||||
- Felix von Drigalski
|
||||
- Felix Exner
|
||||
- Jimmy Da Silva
|
||||
- Ajit Krisshna N L
|
||||
- Muhammad Asif Rana
|
||||
-->
|
||||
<!--
|
||||
NOTE: the macro defined in this file is NOT part of the public API of this
|
||||
package. Users CANNOT rely on this file being available, or stored in
|
||||
this location. Nor can they rely on the existence of the macro.
|
||||
-->
|
||||
<transmission name="shoulder_pan_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="shoulder_pan_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="shoulder_pan_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="shoulder_lift_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="shoulder_lift_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="shoulder_lift_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="elbow_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="elbow_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="elbow_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="wrist_1_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="wrist_1_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="wrist_1_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="wrist_2_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="wrist_2_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="wrist_2_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="wrist_3_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="wrist_3_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="wrist_3_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- links: main serial chain -->
|
||||
<link name="base_link"/>
|
||||
<link name="base_link_inertia">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/visual/base.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/collision/base.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="4.0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="shoulder_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/visual/shoulder.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/collision/shoulder.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="3.7"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="upper_arm_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.138"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/visual/upperarm.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.138"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/collision/upperarm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="8.393"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.138"/>
|
||||
<inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="forearm_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.007"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/visual/forearm.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.007"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/collision/forearm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="2.275"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.1961 0.0 0.007"/>
|
||||
<inertia ixx="0.031209355099586295" ixy="0.0" ixz="0.0" iyy="0.031209355099586295" iyz="0.0" izz="0.004095"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_1_link">
|
||||
<visual>
|
||||
<!-- TODO: Move this to a parameter -->
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.127"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/visual/wrist1.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.127"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/collision/wrist1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.219"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0025598989760400002" ixy="0.0" ixz="0.0" iyy="0.0025598989760400002" iyz="0.0" izz="0.0021942"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_2_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0997"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/visual/wrist2.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0997"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/collision/wrist2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.219"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0025598989760400002" ixy="0.0" ixz="0.0" iyy="0.0025598989760400002" iyz="0.0" izz="0.0021942"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_3_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0989"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/visual/wrist3.dae"/>
|
||||
</geometry>
|
||||
<material name="LightGrey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0989"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/ur5e/collision/wrist3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1879"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 -0.0229"/>
|
||||
<inertia ixx="9.890410052167731e-05" ixy="0.0" ixz="0.0" iyy="9.890410052167731e-05" iyz="0.0" izz="0.0001321171875"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- joints: main serial chain -->
|
||||
<joint name="base_link-base_link_inertia" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="base_link_inertia"/>
|
||||
<!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
|
||||
frames of the robot/controller have X+ pointing backwards.
|
||||
Use the joint between 'base_link' and 'base_link_inertia' (a dummy
|
||||
link/frame) to introduce the necessary rotation over Z (of pi rad).
|
||||
-->
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<joint name="shoulder_pan_joint" type="revolute">
|
||||
<parent link="base_link_inertia"/>
|
||||
<child link="shoulder_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1625"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="shoulder_lift_joint" type="revolute">
|
||||
<parent link="shoulder_link"/>
|
||||
<child link="upper_arm_link"/>
|
||||
<origin rpy="1.570796327 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="elbow_joint" type="revolute">
|
||||
<parent link="upper_arm_link"/>
|
||||
<child link="forearm_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.425 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_1_joint" type="revolute">
|
||||
<parent link="forearm_link"/>
|
||||
<child link="wrist_1_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.3922 0 0.1333"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_2_joint" type="revolute">
|
||||
<parent link="wrist_1_link"/>
|
||||
<child link="wrist_2_link"/>
|
||||
<origin rpy="1.570796327 0 0" xyz="0 -0.0997 -2.044881182297852e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_3_joint" type="revolute">
|
||||
<parent link="wrist_2_link"/>
|
||||
<child link="wrist_3_link"/>
|
||||
<origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.0996 -2.042830148012698e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'base' frame: base_link to UR 'Base' Coordinates transform -->
|
||||
<link name="base"/>
|
||||
<joint name="base_link-base_fixed_joint" type="fixed">
|
||||
<!-- Note the rotation over Z of pi radians: as base_link is REP-103
|
||||
aligned (ie: has X+ forward, Y+ left and Z+ up), this is needed
|
||||
to correctly align 'base' with the 'Base' coordinate system of
|
||||
the UR controller.
|
||||
-->
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="base"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
|
||||
<link name="flange"/>
|
||||
<joint name="wrist_3-flange" type="fixed">
|
||||
<parent link="wrist_3_link"/>
|
||||
<child link="flange"/>
|
||||
<origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
|
||||
<link name="tool0"/>
|
||||
<joint name="flange-tool0" type="fixed">
|
||||
<!-- default toolframe: X+ left, Y+ up, Z+ front -->
|
||||
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
|
||||
<parent link="flange"/>
|
||||
<child link="tool0"/>
|
||||
</joint>
|
||||
<!-- This joint was added by Kinova -->
|
||||
<joint name="gripper_base_joint" type="fixed">
|
||||
<parent link="tool0"/>
|
||||
<child link="robotiq_arg2f_base_link"/>
|
||||
<origin rpy="0.0 0.0 1.57" xyz="0.0 0.0 0.0"/>
|
||||
</joint>
|
||||
<link name="robotiq_arg2f_base_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
|
||||
<mass value="0.22652"/>
|
||||
<inertia ixx="0.00020005" ixy="-4.2442E-10" ixz="-2.9069E-10" iyy="0.00017832" iyz="-3.4402E-08" izz="0.00013478"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../kinova/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_base_link.stl"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.1 0.1 0.1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../kinova/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_base_link.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="left_outer_knuckle">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331"/>
|
||||
<mass value="0.00853198276973456"/>
|
||||
<inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../kinova/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_knuckle.stl" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../kinova/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_knuckle.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_outer_finger">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385"/>
|
||||
<mass value="0.022614240507152"/>
|
||||
<inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../kinova/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_finger.stl" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.1 0.1 0.1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../kinova/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_finger.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_inner_finger">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257"/>
|
||||
<mass value="0.0104003125914103"/>
|
||||
<inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../kinova/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_finger.stl" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.1 0.1 0.1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../kinova/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_finger.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_inner_finger_pad">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.027 0.065 0.0075"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.9 0.9 0.9 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.027 0.065 0.0075"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.9 0.0 0.0 1"/>
|
||||
</material>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_inner_knuckle">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166"/>
|
||||
<mass value="0.0271177346495152"/>
|
||||
<inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../kinova/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_knuckle.stl" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.1 0.1 0.1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../kinova/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_knuckle.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_outer_knuckle">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331"/>
|
||||
<mass value="0.00853198276973456"/>
|
||||
<inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../kinova/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_knuckle.stl" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../kinova/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_knuckle.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_outer_finger">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385"/>
|
||||
<mass value="0.022614240507152"/>
|
||||
<inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../kinova/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_finger.stl" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.1 0.1 0.1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../kinova/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_outer_finger.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_inner_finger">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257"/>
|
||||
<mass value="0.0104003125914103"/>
|
||||
<inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../kinova/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_finger.stl" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.1 0.1 0.1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../kinova/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_finger.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_inner_finger_pad">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.027 0.065 0.0075"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.9 0.9 0.9 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.027 0.065 0.0075"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.9 0.0 0.0 1"/>
|
||||
</material>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_inner_knuckle">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166"/>
|
||||
<mass value="0.0271177346495152"/>
|
||||
<inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../kinova/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_knuckle.stl" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.1 0.1 0.1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="../kinova/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_knuckle.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="finger_joint" type="revolute">
|
||||
<origin rpy="2.29579632679 0 0" xyz="0 -0.030601 0.054905"/>
|
||||
<parent link="robotiq_arg2f_base_link"/>
|
||||
<child link="left_outer_knuckle"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="1000" lower="0.0" upper="0.7" velocity="2.0"/>
|
||||
</joint>
|
||||
<joint name="left_outer_finger_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.01821998610742 0.0260018192872234"/>
|
||||
<parent link="left_outer_knuckle"/>
|
||||
<child link="left_outer_finger"/>
|
||||
|
||||
</joint>
|
||||
<joint name="left_inner_knuckle_joint" type="revolute">
|
||||
<origin rpy="2.29579632679 0 0.0" xyz="0 -0.0127 0.06142"/>
|
||||
<parent link="robotiq_arg2f_base_link"/>
|
||||
<child link="left_inner_knuckle"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-0.8757" upper="0.8757" velocity="2.0" effort="1000" />
|
||||
<mimic joint="finger_joint" multiplier="-1" offset="0" />
|
||||
|
||||
</joint>
|
||||
<joint name="left_inner_finger_joint" type="revolute">
|
||||
<origin rpy="-0.725 0 0" xyz="0 0.0817554015893473 -0.0282203446692936"/>
|
||||
<parent link="left_outer_finger"/>
|
||||
<child link="left_inner_finger"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
|
||||
<mimic joint="finger_joint" multiplier="1" offset="0" />
|
||||
|
||||
</joint>
|
||||
<joint name="left_inner_finger_pad_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.0457554015893473 -0.0272203446692936"/>
|
||||
<parent link="left_inner_finger"/>
|
||||
<child link="left_inner_finger_pad"/>
|
||||
</joint>
|
||||
<joint name="right_outer_knuckle_joint" type="revolute">
|
||||
<origin rpy="2.29579632679 0 3.14159265359" xyz="0 0.030601 0.054905"/>
|
||||
<parent link="robotiq_arg2f_base_link"/>
|
||||
<child link="right_outer_knuckle"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
|
||||
<mimic joint="finger_joint" multiplier="-1" offset="0" />
|
||||
|
||||
</joint>
|
||||
<joint name="right_outer_finger_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.01821998610742 0.0260018192872234"/>
|
||||
<parent link="right_outer_knuckle"/>
|
||||
<child link="right_outer_finger"/>
|
||||
</joint>
|
||||
<joint name="right_inner_knuckle_joint" type="revolute">
|
||||
<origin rpy="2.29579632679 0 -3.14159265359" xyz="0 0.0127 0.06142"/>
|
||||
<parent link="robotiq_arg2f_base_link"/>
|
||||
<child link="right_inner_knuckle"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
|
||||
<mimic joint="finger_joint" multiplier="-1" offset="0" />
|
||||
|
||||
</joint>
|
||||
<joint name="right_inner_finger_joint" type="revolute">
|
||||
<origin rpy="-0.725 0 0" xyz="0 0.0817554015893473 -0.0282203446692936"/>
|
||||
<parent link="right_outer_finger"/>
|
||||
<child link="right_inner_finger"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
|
||||
<mimic joint="finger_joint" multiplier="1" offset="0" />
|
||||
</joint>
|
||||
<joint name="right_inner_finger_pad_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.0457554015893473 -0.0272203446692936"/>
|
||||
<parent link="right_inner_finger"/>
|
||||
<child link="right_inner_finger_pad"/>
|
||||
</joint>
|
||||
<link name="grasp_frame">
|
||||
<inertial>
|
||||
<!-- Dummy inertial parameters to avoid link lumping-->
|
||||
<mass value="0.01"/>
|
||||
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="grasp_joint" type="fixed">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="robotiq_arg2f_base_link"/>
|
||||
<child link="grasp_frame"/>
|
||||
</joint>
|
||||
</robot>
|
||||
47
src/curobo/content/configs/robot/simple_mimic_robot.yml
Normal file
47
src/curobo/content/configs/robot/simple_mimic_robot.yml
Normal file
@@ -0,0 +1,47 @@
|
||||
##
|
||||
## 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: null
|
||||
usd_path: "robot/simple/three_link_mimic.usda"
|
||||
usd_robot_root: "/base_link"
|
||||
urdf_path: "robot/simple/simple_mimic_robot.urdf"
|
||||
asset_root_path: "robot/simple"
|
||||
base_link: "base_link"
|
||||
ee_link: "ee_link"
|
||||
collision_link_names: null
|
||||
collision_spheres: null
|
||||
collision_sphere_buffer: 0.004 # 0.0025
|
||||
extra_collision_spheres: null
|
||||
use_global_cumul: True
|
||||
self_collision_ignore: null
|
||||
|
||||
|
||||
self_collision_buffer: null
|
||||
mesh_link_names:
|
||||
[
|
||||
"base_link",
|
||||
"chain_1_link_1",
|
||||
"chain_1_link_2",
|
||||
"ee_link",
|
||||
|
||||
]
|
||||
lock_joints: {"chain_1_active_joint_1": 0.2}
|
||||
extra_links: null
|
||||
cspace:
|
||||
joint_names: ["chain_1_active_joint_1", "active_joint_2"]
|
||||
retract_config: [0.3, 0.0]
|
||||
null_space_weight: [1,1]
|
||||
cspace_distance_weight: [1,1]
|
||||
max_acceleration: 15.0
|
||||
max_jerk: 500.0
|
||||
265
src/curobo/content/configs/robot/ur5e_robotiq_2f_140.yml
Normal file
265
src/curobo/content/configs/robot/ur5e_robotiq_2f_140.yml
Normal file
@@ -0,0 +1,265 @@
|
||||
##
|
||||
## 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:
|
||||
usd_path: "robot/ur_description/ur5e_robotiq_2f_140.usd"
|
||||
usd_robot_root: "/robot"
|
||||
isaac_usd_path: ""
|
||||
usd_flip_joints: {}
|
||||
usd_flip_joint_limits: []
|
||||
|
||||
urdf_path: "robot/ur_description/ur5e_robotiq_2f_140.urdf"
|
||||
asset_root_path: "robot/ur_description"
|
||||
|
||||
base_link: "base_link"
|
||||
ee_link: "grasp_frame"
|
||||
link_names: null
|
||||
lock_joints: {'finger_joint': 0.7}
|
||||
|
||||
extra_links: null #{"attached_object":{"parent_link_name": "grasp_frame" ,
|
||||
#"link_name": "attached_object", "fixed_transform": [0,0,0,1,0,0,0], "joint_type":"FIXED",
|
||||
#"joint_name": "attach_joint" }}
|
||||
extra_collision_spheres: null #{"attached_object": 4}
|
||||
|
||||
collision_link_names: ['shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link',
|
||||
'wrist_2_link' ,'wrist_3_link', 'tool0', 'robotiq_arg2f_base_link',
|
||||
'left_outer_knuckle',
|
||||
'left_inner_knuckle',
|
||||
'left_outer_finger',
|
||||
'left_inner_finger',
|
||||
'left_inner_finger_pad',
|
||||
'right_outer_knuckle',
|
||||
'right_inner_knuckle',
|
||||
'right_outer_finger' ,
|
||||
'right_inner_finger',
|
||||
'right_inner_finger_pad',
|
||||
] # List[str]
|
||||
collision_spheres:
|
||||
shoulder_link:
|
||||
- "center": [0.0, 0.0, 0.0]
|
||||
"radius": 0.1
|
||||
upper_arm_link:
|
||||
- "center": [-0.416, -0.0, 0.143]
|
||||
"radius": 0.078
|
||||
- "center": [-0.015, 0.0, 0.134]
|
||||
"radius": 0.077
|
||||
- "center": [-0.14, 0.0, 0.138]
|
||||
"radius": 0.062
|
||||
- "center": [-0.285, -0.001, 0.139]
|
||||
"radius": 0.061
|
||||
- "center": [-0.376, 0.001, 0.138]
|
||||
"radius": 0.077
|
||||
- "center": [-0.222, 0.001, 0.139]
|
||||
"radius": 0.061
|
||||
- "center": [-0.055, 0.008, 0.14]
|
||||
"radius": 0.07
|
||||
- "center": [-0.001, -0.002, 0.143]
|
||||
"radius": 0.08
|
||||
forearm_link:
|
||||
- "center": [-0.01, 0.002, 0.031]
|
||||
"radius": 0.072
|
||||
- "center": [-0.387, 0.0, 0.014]
|
||||
"radius": 0.057
|
||||
- "center": [-0.121, -0.0, 0.006]
|
||||
"radius": 0.057
|
||||
- "center": [-0.206, 0.001, 0.007]
|
||||
"radius": 0.057
|
||||
- "center": [-0.312, -0.001, 0.006]
|
||||
"radius": 0.056
|
||||
- "center": [-0.057, 0.003, 0.008]
|
||||
"radius": 0.065
|
||||
- "center": [-0.266, 0.0, 0.006]
|
||||
"radius": 0.057
|
||||
- "center": [-0.397, -0.001, -0.018]
|
||||
"radius": 0.052
|
||||
- "center": [-0.164, -0.0, 0.007]
|
||||
"radius": 0.057
|
||||
wrist_1_link:
|
||||
- "center": [-0.0, 0.0, -0.009]
|
||||
"radius": 0.047
|
||||
- "center": [-0.0, 0.0, -0.052]
|
||||
"radius": 0.047
|
||||
- "center": [-0.002, 0.027, -0.001]
|
||||
"radius": 0.045
|
||||
- "center": [0.001, -0.01, 0.0]
|
||||
"radius": 0.046
|
||||
wrist_2_link:
|
||||
- "center": [0.0, -0.01, -0.001]
|
||||
"radius": 0.047
|
||||
- "center": [0.0, 0.008, -0.001]
|
||||
"radius": 0.047
|
||||
- "center": [0.001, -0.001, -0.036]
|
||||
"radius": 0.047
|
||||
- "center": [0.001, -0.03, -0.0]
|
||||
"radius": 0.047
|
||||
wrist_3_link:
|
||||
- "center": [0.001, 0.001, -0.029]
|
||||
"radius": 0.043
|
||||
tool0:
|
||||
- "center": [0.001, 0.001, 0.05]
|
||||
"radius": -0.01 #0.05
|
||||
robotiq_arg2f_base_link:
|
||||
- "center": [0.0, -0.0, 0.04]
|
||||
"radius": 0.035
|
||||
- "center": [0.0, -0.0, 0.02]
|
||||
"radius": 0.035
|
||||
left_outer_finger:
|
||||
- "center": [0.0, -0.01, 0.0]
|
||||
"radius": 0.01
|
||||
- "center": [0.0, 0.015, -0.01]
|
||||
"radius": 0.01
|
||||
|
||||
left_inner_finger_pad:
|
||||
- "center": [0.0, -0.0, 0.005]
|
||||
"radius": 0.01
|
||||
- "center": [0.0, 0.02, 0.005]
|
||||
"radius": 0.01
|
||||
- "center": [0.0, -0.02, 0.005]
|
||||
"radius": 0.01
|
||||
left_inner_knuckle:
|
||||
- "center": [0.0, 0.04, -0.0]
|
||||
"radius": 0.01
|
||||
- "center": [0.0, 0.06, -0.0]
|
||||
"radius": 0.01
|
||||
- "center": [0.0, 0.08, -0.0]
|
||||
"radius": 0.01
|
||||
left_inner_finger:
|
||||
- "center": [0.0, -0.0, -0.0]
|
||||
"radius": 0.01
|
||||
|
||||
left_outer_knuckle:
|
||||
- "center": [0.0, 0.055, 0.01]
|
||||
"radius": 0.01
|
||||
- "center": [0.0, 0.08, 0.005]
|
||||
"radius": 0.01
|
||||
|
||||
|
||||
right_outer_finger:
|
||||
- "center": [0.0, -0.01, 0.0]
|
||||
"radius": 0.01
|
||||
- "center": [0.0, 0.015, -0.01]
|
||||
"radius": 0.01
|
||||
|
||||
right_inner_finger_pad:
|
||||
- "center": [0.0, -0.0, 0.005]
|
||||
"radius": 0.01
|
||||
- "center": [0.0, 0.02, 0.005]
|
||||
"radius": 0.01
|
||||
- "center": [0.0, -0.02, 0.005]
|
||||
"radius": 0.01
|
||||
right_inner_knuckle:
|
||||
- "center": [0.0, 0.04, -0.0]
|
||||
"radius": 0.01
|
||||
- "center": [0.0, 0.06, -0.0]
|
||||
"radius": 0.01
|
||||
- "center": [0.0, 0.08, -0.0]
|
||||
"radius": 0.01
|
||||
right_inner_finger:
|
||||
- "center": [0.0, -0.0, -0.0]
|
||||
"radius": 0.01
|
||||
|
||||
right_outer_knuckle:
|
||||
- "center": [0.0, 0.055, 0.01]
|
||||
"radius": 0.01
|
||||
- "center": [0.0, 0.08, 0.005]
|
||||
"radius": 0.01
|
||||
|
||||
|
||||
collision_sphere_buffer: 0.005
|
||||
|
||||
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","tool0", "robotiq_arg2f_base_link"],
|
||||
"wrist_2_link": ["wrist_3_link", "tool0", "robotiq_arg2f_base_link"],
|
||||
"wrist_3_link": ["tool0", "robotiq_arg2f_base_link"],
|
||||
|
||||
"tool0": ['robotiq_arg2f_base_link', 'left_outer_finger', 'left_inner_finger_pad',
|
||||
'left_inner_knuckle', 'left_inner_finger', 'left_outer_knuckle',
|
||||
'right_outer_finger', 'right_inner_finger_pad',
|
||||
'right_inner_knuckle', 'right_inner_finger', 'right_outer_knuckle'],
|
||||
|
||||
"robotiq_arg2f_base_link": ['left_outer_finger', 'left_inner_finger_pad',
|
||||
'left_inner_knuckle', 'left_inner_finger', 'left_outer_knuckle',
|
||||
'right_outer_finger', 'right_inner_finger_pad',
|
||||
'right_inner_knuckle', 'right_inner_finger', 'right_outer_knuckle'],
|
||||
|
||||
"left_outer_finger": ['left_inner_finger_pad',
|
||||
'left_inner_knuckle', 'left_inner_finger', 'left_outer_knuckle',
|
||||
'right_outer_finger', 'right_inner_finger_pad',
|
||||
'right_inner_knuckle', 'right_inner_finger', 'right_outer_knuckle'],
|
||||
|
||||
"left_inner_finger_pad": [
|
||||
'left_inner_knuckle', 'left_inner_finger', 'left_outer_knuckle',
|
||||
'right_outer_finger', 'right_inner_finger_pad',
|
||||
'right_inner_knuckle', 'right_inner_finger', 'right_outer_knuckle'],
|
||||
|
||||
"left_inner_knuckle": ['left_inner_finger', 'left_outer_knuckle',
|
||||
'right_outer_finger', 'right_inner_finger_pad',
|
||||
'right_inner_knuckle', 'right_inner_finger', 'right_outer_knuckle'],
|
||||
|
||||
"left_inner_finger": ['left_outer_knuckle',
|
||||
'right_outer_finger', 'right_inner_finger_pad',
|
||||
'right_inner_knuckle', 'right_inner_finger', 'right_outer_knuckle'],
|
||||
|
||||
"left_outer_knuckle": [
|
||||
'right_outer_finger', 'right_inner_finger_pad',
|
||||
'right_inner_knuckle', 'right_inner_finger', 'right_outer_knuckle'],
|
||||
|
||||
|
||||
|
||||
"right_outer_finger": ['right_inner_finger_pad',
|
||||
'right_inner_knuckle', 'right_inner_finger', 'right_outer_knuckle'],
|
||||
|
||||
"right_inner_finger_pad": [
|
||||
'right_inner_knuckle', 'right_inner_finger', 'right_outer_knuckle'],
|
||||
|
||||
"right_inner_knuckle": [ 'right_inner_finger', 'right_outer_knuckle'],
|
||||
|
||||
"right_inner_finger": [ 'right_outer_knuckle'],
|
||||
|
||||
|
||||
|
||||
}
|
||||
self_collision_buffer: {
|
||||
'shoulder_link': 0.01,
|
||||
'upper_arm_link': 0,
|
||||
'forearm_link': 0,
|
||||
'wrist_1_link': 0,
|
||||
'wrist_2_link': 0,
|
||||
'wrist_3_link' : 0,
|
||||
'tool0': 0.02,
|
||||
}
|
||||
|
||||
use_global_cumul: True
|
||||
mesh_link_names: ['shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link',
|
||||
'wrist_2_link' ,'wrist_3_link', 'robotiq_arg2f_base_link',
|
||||
'left_outer_knuckle',
|
||||
'left_inner_knuckle',
|
||||
'left_outer_finger',
|
||||
'left_inner_finger',
|
||||
'right_outer_knuckle',
|
||||
'right_inner_knuckle',
|
||||
'right_outer_finger' ,
|
||||
'right_inner_finger',
|
||||
] # List[str]
|
||||
|
||||
cspace:
|
||||
joint_names: ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint',
|
||||
'wrist_2_joint', 'wrist_3_joint',
|
||||
'finger_joint']
|
||||
retract_config: [0.0, -2.2, 1.0, -1.383, -1.57, 0.00, 0.6]
|
||||
null_space_weight: [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]
|
||||
max_jerk: 500.0
|
||||
max_acceleration: 12.0
|
||||
position_limit_clip: 0.0
|
||||
@@ -28,14 +28,16 @@ model:
|
||||
cost:
|
||||
pose_cfg:
|
||||
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
|
||||
weight: [1000, 20000, 30, 50]
|
||||
weight: [200,4000,10,20]
|
||||
#weight: [5000,500000,5,20]
|
||||
|
||||
vec_convergence: [0.0, 0.00]
|
||||
terminal: False
|
||||
use_metric: True
|
||||
run_weight: 1.0
|
||||
link_pose_cfg:
|
||||
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
|
||||
weight: [1000, 20000, 30, 50]
|
||||
weight: [200,4000,10,20]
|
||||
vec_convergence: [0.00, 0.000]
|
||||
terminal: False
|
||||
use_metric: True
|
||||
@@ -57,15 +59,15 @@ cost:
|
||||
|
||||
|
||||
lbfgs:
|
||||
n_iters: 80 #60
|
||||
inner_iters: 20
|
||||
n_iters: 100 #60
|
||||
inner_iters: 25
|
||||
cold_start_n_iters: null
|
||||
min_iters: 20
|
||||
min_iters: 25
|
||||
line_search_scale: [0.1, 0.3, 0.7, 1.0]
|
||||
fixed_iters: True
|
||||
cost_convergence: 1e-7
|
||||
cost_delta_threshold: 1e-6 #0.0001
|
||||
cost_relative_threshold: 1.0
|
||||
cost_convergence: 0.001
|
||||
cost_delta_threshold: 1.0 #0.0001
|
||||
cost_relative_threshold: 0.999
|
||||
epsilon: 0.01 #0.01 # used only in stable_mode
|
||||
history: 6
|
||||
horizon: 1
|
||||
@@ -73,6 +75,7 @@ lbfgs:
|
||||
n_problems: 1
|
||||
store_debug: False
|
||||
use_cuda_kernel: True
|
||||
use_shared_buffers_kernel: True
|
||||
stable_mode: True
|
||||
line_search_type: "approx_wolfe" #"wolfe"
|
||||
use_cuda_line_search_kernel: True
|
||||
|
||||
@@ -32,7 +32,8 @@ cost:
|
||||
pose_cfg:
|
||||
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] # orientation, position for all timesteps
|
||||
run_vec_weight: [0.00,0.00,0.00,0.0,0.0,0.0] # running weight orientation, position
|
||||
weight: [2000,50000.0,30,60] #[150.0, 2000.0, 30, 40]
|
||||
weight: [2000,50000.0,30,50] #[150.0, 2000.0, 30, 40]
|
||||
|
||||
vec_convergence: [0.0,0.0] # orientation, position, orientation metric activation, position metric activation
|
||||
terminal: True
|
||||
run_weight: 1.0
|
||||
@@ -62,7 +63,7 @@ cost:
|
||||
null_space_weight: [0.0]
|
||||
|
||||
primitive_collision_cfg:
|
||||
weight: 100000.0
|
||||
weight: 100000
|
||||
use_sweep: True
|
||||
sweep_steps: 4
|
||||
classify: False
|
||||
|
||||
@@ -34,7 +34,7 @@ cost:
|
||||
run_weight: 1.0
|
||||
link_pose_cfg:
|
||||
vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
|
||||
weight: [0, 50, 10, 10] #[20.0, 100.0]
|
||||
weight: [30, 50, 10, 10] #[20.0, 100.0]
|
||||
vec_convergence: [0.00, 0.000] # orientation, position
|
||||
terminal: False
|
||||
use_metric: True
|
||||
|
||||
Reference in New Issue
Block a user