Significantly improved convergence for mesh and cuboid, new ESDF collision.

2024-03-18 11:19:48 -07:00
parent 286b3820a5
commit b1f63e8778
100 changed files with 7587 additions and 2589 deletions
--- a/src/curobo/content/assets/robot/franka_description/franka_test.urdf
+++ b/src/curobo/content/assets/robot/franka_description/franka_test.urdf
@@ -280,6 +280,7 @@
    <origin rpy="0 0 0" xyz="0 -0.04 0.0584"/>
    <axis xyz="0 -1 0"/>
    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
+    <mimic joint="panda_finger_joint1"/>
  </joint>
  <link name="right_gripper">
    <inertial>