Adds two new robots with grippers #3229
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- add surfacegripper actions - add new task envs with UR10 + suction cups
…dundant parallel_gripper task
…the RobotCfg back to default - move surface_gripper_actions out of binary_joint_actions to a standalone file
…eractiveScene class
…miniation function cannot be reached
Signed-off-by: rebeccazhang0707 <168459200+rebeccazhang0707@users.noreply.github.com>
…ed() terminiation function cannot be reached" This reverts commit 6edd402.
- franka + robotiq_2f_85 gripper - ur10e + robotiq_2f_140 gripper
…riants - decrease cube_scale to original, otherwise, cube_stacked termination func cannot be reachced
| """ | ||
| FRANKA_ROBOTIQ_GRIPPER_CFG = ArticulationCfg( | ||
| spawn=sim_utils.UsdFileCfg( | ||
| usd_path=f"{ISAACLAB_ASSETS_DATA_DIR}/Robots/Franka/franka_2f_85.usd", |
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could we upload the assets to Nucleus under the same Isaac/Robots folders with the other Frankas - https://isaac-dev.ov.nvidia.com/omni/web3/omniverse://isaac-dev.ov.nvidia.com/Isaac/Robots/FrankaRobotics/? What are the differences between this and the existing Franka assets?
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I think if it's just the gripper, we might want to set it up as a variance.
| enabled_self_collisions=True, solver_position_iteration_count=8, solver_velocity_iteration_count=0 | ||
| ), | ||
| ), | ||
| init_state=ArticulationCfg.InitialStateCfg( |
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do these values differ from existing Franka configs? could we use any of the current cfgs as the base?
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Thanks Kelly. Since original panda hand is replaced by a robotiq gripper, the original gains need to be increased to control the new gripper, but init_pose of the panda arm joints can inherit current cfg. I will modify the Cfg for your review.
rebeccazhang0707
requested review from
jtigue-bdai,
Mayankm96 and
ooctipus
as code owners
Description
Adds two new robots with grippers:
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there