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TianxingChen
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MemoryArena

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Upload [aloha]

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  1. .gitattributes +33 -0
  2. embodiments/aloha-agilex/collision_aloha_left.yml +168 -0
  3. embodiments/aloha-agilex/collision_aloha_right.yml +82 -0
  4. embodiments/aloha-agilex/config.yml +54 -0
  5. embodiments/aloha-agilex/curobo_left.yml +88 -0
  6. embodiments/aloha-agilex/curobo_left_tmp.yml +88 -0
  7. embodiments/aloha-agilex/curobo_right.yml +88 -0
  8. embodiments/aloha-agilex/curobo_right_tmp.yml +88 -0
  9. embodiments/aloha-agilex/meshes/Image_0.png +3 -0
  10. embodiments/aloha-agilex/meshes/Image_290.png +3 -0
  11. embodiments/aloha-agilex/meshes/Image_442.png +3 -0
  12. embodiments/aloha-agilex/meshes/base_arm.STL +0 -0
  13. embodiments/aloha-agilex/meshes/base_link.STL +3 -0
  14. embodiments/aloha-agilex/meshes/box1_Link.STL +0 -0
  15. embodiments/aloha-agilex/meshes/box2_Link.STL +3 -0
  16. embodiments/aloha-agilex/meshes/box2_Link.dae +3 -0
  17. embodiments/aloha-agilex/meshes/caster.stl +0 -0
  18. embodiments/aloha-agilex/meshes/caster_L.stl +0 -0
  19. embodiments/aloha-agilex/meshes/castor.dae +0 -0
  20. embodiments/aloha-agilex/meshes/castor_joint.dae +0 -0
  21. embodiments/aloha-agilex/meshes/d435.dae +3 -0
  22. embodiments/aloha-agilex/meshes/d435.dae.backup +3 -0
  23. embodiments/aloha-agilex/meshes/link1.STL +3 -0
  24. embodiments/aloha-agilex/meshes/link2.STL +3 -0
  25. embodiments/aloha-agilex/meshes/link3.STL +3 -0
  26. embodiments/aloha-agilex/meshes/link4.STL +3 -0
  27. embodiments/aloha-agilex/meshes/link5.STL +3 -0
  28. embodiments/aloha-agilex/meshes/link6.STL +3 -0
  29. embodiments/aloha-agilex/meshes/link7.STL +0 -0
  30. embodiments/aloha-agilex/meshes/link8.STL +0 -0
  31. embodiments/aloha-agilex/meshes/right_cam_link.dae +0 -0
  32. embodiments/aloha-agilex/meshes/tracer_base_link.dae +3 -0
  33. embodiments/aloha-agilex/meshes/tracer_base_link_no_wheel.dae +3 -0
  34. embodiments/aloha-agilex/meshes/tracer_wheel.dae +0 -0
  35. embodiments/aloha-agilex/srdf/arx5_description_isaac.srdf +401 -0
  36. embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/BrushedAluminum_BaseColor.jpg +3 -0
  37. embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/Image_0.png +3 -0
  38. embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/Image_100.png +3 -0
  39. embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/Image_269.png +3 -0
  40. embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/Image_290.png +3 -0
  41. embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/Image_442.png +3 -0
  42. embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/back_link7.STL +3 -0
  43. embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/back_link7.dae +0 -0
  44. embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/base_arm.STL +0 -0
  45. embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/base_arm.dae +0 -0
  46. embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/base_link.STL +3 -0
  47. embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/box1_Link.STL +0 -0
  48. embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/box1_Link.STL.convex.stl +0 -0
  49. embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/box2_Link.STL +3 -0
  50. embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/box2_Link.dae +3 -0
.gitattributes CHANGED
@@ -102,3 +102,36 @@ objects/001_plasticbox/collision/base1.glb filter=lfs diff=lfs merge=lfs -text
102
  objects/001_plasticbox/visual/base1.glb filter=lfs diff=lfs merge=lfs -text
103
  objects/002_breadbasket/collision/base1.glb filter=lfs diff=lfs merge=lfs -text
104
  objects/002_breadbasket/visual/base1.glb filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
102
  objects/001_plasticbox/visual/base1.glb filter=lfs diff=lfs merge=lfs -text
103
  objects/002_breadbasket/collision/base1.glb filter=lfs diff=lfs merge=lfs -text
104
  objects/002_breadbasket/visual/base1.glb filter=lfs diff=lfs merge=lfs -text
105
+ embodiments/aloha-agilex/meshes/base_link.STL filter=lfs diff=lfs merge=lfs -text
106
+ embodiments/aloha-agilex/meshes/box2_Link.STL filter=lfs diff=lfs merge=lfs -text
107
+ embodiments/aloha-agilex/meshes/box2_Link.dae filter=lfs diff=lfs merge=lfs -text
108
+ embodiments/aloha-agilex/meshes/d435.dae filter=lfs diff=lfs merge=lfs -text
109
+ embodiments/aloha-agilex/meshes/d435.dae.backup filter=lfs diff=lfs merge=lfs -text
110
+ embodiments/aloha-agilex/meshes/link1.STL filter=lfs diff=lfs merge=lfs -text
111
+ embodiments/aloha-agilex/meshes/link2.STL filter=lfs diff=lfs merge=lfs -text
112
+ embodiments/aloha-agilex/meshes/link3.STL filter=lfs diff=lfs merge=lfs -text
113
+ embodiments/aloha-agilex/meshes/link4.STL filter=lfs diff=lfs merge=lfs -text
114
+ embodiments/aloha-agilex/meshes/link5.STL filter=lfs diff=lfs merge=lfs -text
115
+ embodiments/aloha-agilex/meshes/link6.STL filter=lfs diff=lfs merge=lfs -text
116
+ embodiments/aloha-agilex/meshes/tracer_base_link.dae filter=lfs diff=lfs merge=lfs -text
117
+ embodiments/aloha-agilex/meshes/tracer_base_link_no_wheel.dae filter=lfs diff=lfs merge=lfs -text
118
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/back_link7.STL filter=lfs diff=lfs merge=lfs -text
119
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/base_link.STL filter=lfs diff=lfs merge=lfs -text
120
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/box2_Link.STL filter=lfs diff=lfs merge=lfs -text
121
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/box2_Link.dae filter=lfs diff=lfs merge=lfs -text
122
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/camera_link1.STL filter=lfs diff=lfs merge=lfs -text
123
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/camera_link1.dae filter=lfs diff=lfs merge=lfs -text
124
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/camera_link2.STL filter=lfs diff=lfs merge=lfs -text
125
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/camera_link2.dae filter=lfs diff=lfs merge=lfs -text
126
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/d435.dae filter=lfs diff=lfs merge=lfs -text
127
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/d435_back.dae filter=lfs diff=lfs merge=lfs -text
128
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/d435_back1.dae filter=lfs diff=lfs merge=lfs -text
129
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link1.STL filter=lfs diff=lfs merge=lfs -text
130
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link2.STL filter=lfs diff=lfs merge=lfs -text
131
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link3.STL filter=lfs diff=lfs merge=lfs -text
132
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link4.STL filter=lfs diff=lfs merge=lfs -text
133
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link5.STL filter=lfs diff=lfs merge=lfs -text
134
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link6.STL filter=lfs diff=lfs merge=lfs -text
135
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/tracer_base_link.STL filter=lfs diff=lfs merge=lfs -text
136
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/tracer_base_link.dae filter=lfs diff=lfs merge=lfs -text
137
+ embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae filter=lfs diff=lfs merge=lfs -text
embodiments/aloha-agilex/collision_aloha_left.yml ADDED
@@ -0,0 +1,168 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ collision_spheres:
2
+ # ----------- left arm -----------
3
+ fl_base_link:
4
+ - "center": [0.0, 0.0, 0.0]
5
+ "radius": 0.02
6
+ fl_link1:
7
+ - "center": [0.0, 0.0, 0.0]
8
+ "radius": 0.02
9
+ fl_link2:
10
+ - "center": [-0.03, 0.0, 0.0]
11
+ "radius": 0.035
12
+ - "center": [-0.06, 0.0, 0.0]
13
+ "radius": 0.035
14
+ - "center": [-0.09, 0.0, 0.0]
15
+ "radius": 0.035
16
+ - "center": [-0.12, 0.0, 0.0]
17
+ "radius": 0.035
18
+ - "center": [-0.15, 0.0, 0.0]
19
+ "radius": 0.035
20
+ - "center": [-0.18, 0.0, 0.0]
21
+ "radius": 0.035
22
+ - "center": [-0.21, 0.0, 0.0]
23
+ "radius": 0.035
24
+ - "center": [-0.24, 0.0, 0.0]
25
+ "radius": 0.035
26
+ - "center": [-0.25, 0.0, 0.0]
27
+ "radius": 0.035
28
+ - "center": [0.002, -0.001, 0.001]
29
+ "radius": 0.035
30
+ fl_link3:
31
+ - "center": [0.02, 0.0, -0.06]
32
+ "radius": 0.035
33
+ - "center": [0.06, 0.0, -0.06]
34
+ "radius": 0.035
35
+ - "center": [0.01, 0.0, -0.06]
36
+ "radius": 0.035
37
+ - "center": [-0.01, 0.0, -0.06]
38
+ "radius": 0.035
39
+ - "center": [0.014, 0.0, -0.06]
40
+ "radius": 0.035
41
+ - "center": [0.1, 0.0, -0.06]
42
+ "radius": 0.035
43
+ - "center": [0.2, 0.0, -0.06]
44
+ "radius": 0.035
45
+ - "center": [0.15, 0.0, -0.06]
46
+ "radius": 0.035
47
+ - "center": [0.19, 0.0, -0.06]
48
+ "radius": 0.035
49
+ - "center": [0.2, 0.0, -0.06]
50
+ "radius": 0.035
51
+ - "center": [0.23, 0.0, -0.06]
52
+ "radius": 0.035
53
+ - "center": [0.24, 0.0, -0.06]
54
+ "radius": 0.035
55
+ fl_link4:
56
+ - "center": [0.06, 0.0, -0.06]
57
+ "radius": 0.03
58
+ fl_link6:
59
+ - "center": [0.037, 0.003, 0.007]
60
+ "radius": 0.03
61
+ fl_link7:
62
+ - "center": [0.055, -0.013, -0.0]
63
+ "radius": 0.01
64
+ - "center": [0.021, -0.006, -0.0]
65
+ "radius": 0.01
66
+ - "center": [0.0, 0.0, 0.0]
67
+ "radius": 0.01
68
+ - "center": [0.04, -0.007, -0.0]
69
+ "radius": 0.01
70
+ fl_link5:
71
+ - "center": [0.0, 0.0, 0.08]
72
+ "radius": 0.03
73
+ fl_link8:
74
+ - "center": [0.0, 0.0, 0.0]
75
+ "radius": 0.02
76
+ - "center": [0.01, 0.0, 0.0]
77
+ "radius": 0.01
78
+ - "center": [0.03, 0.01, 0.0]
79
+ "radius": 0.01
80
+ - "center": [0.04, 0.013, 0.0]
81
+ "radius": 0.01
82
+ - "center": [0.059, 0.015, 0.0]
83
+ "radius": 0.01
84
+ left_camera:
85
+ - "center": [0.0, 0.0, 0.0]
86
+ "radius": 0.02
87
+
88
+ # ----------- right arm -----------
89
+ fr_base_link:
90
+ - "center": [0.0, 0.0, 0.0]
91
+ "radius": 0.02
92
+ fr_link1:
93
+ - "center": [0.0, 0.0, 0.0]
94
+ "radius": 0.02
95
+ fr_link2:
96
+ - "center": [0.0, 0.0, 0.0]
97
+ "radius": 0.03
98
+ - "center": [-0.03, 0.0, 0.0]
99
+ "radius": 0.03
100
+ - "center": [-0.06, 0.0, 0.0]
101
+ "radius": 0.03
102
+ - "center": [-0.09, 0.0, 0.0]
103
+ "radius": 0.03
104
+ - "center": [-0.12, 0.0, 0.0]
105
+ "radius": 0.03
106
+ - "center": [-0.16, 0.0, 0.0]
107
+ "radius": 0.03
108
+ - "center": [-0.19, 0.0, 0.0]
109
+ "radius": 0.03
110
+ - "center": [-0.21, 0.0, 0.0]
111
+ "radius": 0.03
112
+ fr_link3:
113
+ - "center": [0.04, 0.0, -0.06]
114
+ "radius": 0.03
115
+ - "center": [0.0, 0.0, -0.06]
116
+ "radius": 0.03
117
+ - "center": [0.08, 0.0, -0.06]
118
+ "radius": 0.03
119
+ - "center": [0.12, 0.0, -0.06]
120
+ "radius": 0.03
121
+ - "center": [0.14, 0.0, -0.06]
122
+ "radius": 0.03
123
+ - "center": [0.18, 0.0, -0.06]
124
+ "radius": 0.03
125
+ - "center": [0.22, 0.0, -0.06]
126
+ "radius": 0.03
127
+ - "center": [0.23, 0.0, -0.06]
128
+ "radius": 0.03
129
+ fr_link4:
130
+ - "center": [0.065, 0.001, -0.062]
131
+ "radius": 0.027
132
+ fr_link5:
133
+ - "center": [-0.0, -0.0, 0.077]
134
+ "radius": 0.03
135
+ fr_link6:
136
+ - "center": [0.022, -0.0, -0.0]
137
+ "radius": 0.03
138
+ - "center": [0.05, 0.0, 0.0]
139
+ "radius": 0.01
140
+ - "center": [0.07, 0.0, 0.0]
141
+ "radius": 0.01
142
+ - "center": [0.07, 0.03, 0.0]
143
+ "radius": 0.01
144
+ - "center": [0.07, 0.06, 0.0]
145
+ "radius": 0.01
146
+ - "center": [0.07, -0.03, 0.0]
147
+ "radius": 0.01
148
+ - "center": [0.07, -0.06, 0.0]
149
+ "radius": 0.01
150
+ fr_link7:
151
+ - "center": [0.009, 0.001, 0.0]
152
+ "radius": 0.02
153
+ - "center": [0.057, -0.009, 0.0]
154
+ "radius": 0.01
155
+ - "center": [0.037, -0.007, -0.002]
156
+ "radius": 0.01
157
+ fr_link8:
158
+ - "center": [0.063, 0.015, 0.0]
159
+ "radius": 0.01
160
+ - "center": [0.044, 0.013, 0.0]
161
+ "radius": 0.01
162
+ - "center": [0.005, -0.0, 0.0]
163
+ "radius": 0.02
164
+ right_camera:
165
+ - "center": [0.0, 0.0, 0.0]
166
+ "radius": 0.02
167
+
168
+
embodiments/aloha-agilex/collision_aloha_right.yml ADDED
@@ -0,0 +1,82 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+
2
+ collision_spheres:
3
+ fr_base_link:
4
+ - "center": [0.0, 0.0, 0.0]
5
+ "radius": 0.02
6
+ fr_link1:
7
+ - "center": [0.0, 0.0, 0.0]
8
+ "radius": 0.02
9
+ fr_link2:
10
+ - "center": [0.0, 0.0, 0.0]
11
+ "radius": 0.03
12
+ - "center": [-0.03, 0.0, 0.0]
13
+ "radius": 0.03
14
+ - "center": [-0.06, 0.0, 0.0]
15
+ "radius": 0.03
16
+ - "center": [-0.09, 0.0, 0.0]
17
+ "radius": 0.03
18
+ - "center": [-0.12, 0.0, 0.0]
19
+ "radius": 0.03
20
+ - "center": [-0.16, 0.0, 0.0]
21
+ "radius": 0.03
22
+ - "center": [-0.19, 0.0, 0.0]
23
+ "radius": 0.03
24
+ - "center": [-0.21, 0.0, 0.0]
25
+ "radius": 0.03
26
+ fr_link3:
27
+ - "center": [0.04, 0.0, -0.06]
28
+ "radius": 0.03
29
+ - "center": [0.0, 0.0, -0.06]
30
+ "radius": 0.03
31
+ - "center": [0.08, 0.0, -0.06]
32
+ "radius": 0.03
33
+ - "center": [0.12, 0.0, -0.06]
34
+ "radius": 0.03
35
+ - "center": [0.14, 0.0, -0.06]
36
+ "radius": 0.03
37
+ - "center": [0.18, 0.0, -0.06]
38
+ "radius": 0.03
39
+ - "center": [0.22, 0.0, -0.06]
40
+ "radius": 0.03
41
+ - "center": [0.23, 0.0, -0.06]
42
+ "radius": 0.03
43
+ fr_link4:
44
+ - "center": [0.065, 0.001, -0.062]
45
+ "radius": 0.027
46
+ fr_link5:
47
+ - "center": [-0.0, -0.0, 0.077]
48
+ "radius": 0.03
49
+ fr_link6:
50
+ - "center": [0.022, -0.0, -0.0]
51
+ "radius": 0.03
52
+ - "center": [0.05, 0.0, 0.0]
53
+ "radius": 0.01
54
+ - "center": [0.07, 0.0, 0.0]
55
+ "radius": 0.01
56
+ - "center": [0.07, 0.03, 0.0]
57
+ "radius": 0.01
58
+ - "center": [0.07, 0.06, 0.0]
59
+ "radius": 0.01
60
+ - "center": [0.07, -0.03, 0.0]
61
+ "radius": 0.01
62
+ - "center": [0.07, -0.06, 0.0]
63
+ "radius": 0.01
64
+ fr_link7:
65
+ - "center": [0.009, 0.001, 0.0]
66
+ "radius": 0.02
67
+ - "center": [0.057, -0.009, 0.0]
68
+ "radius": 0.01
69
+ - "center": [0.037, -0.007, -0.002]
70
+ "radius": 0.01
71
+ fr_link8:
72
+ - "center": [0.063, 0.015, 0.0]
73
+ "radius": 0.01
74
+ - "center": [0.044, 0.013, 0.0]
75
+ "radius": 0.01
76
+ - "center": [0.005, -0.0, 0.0]
77
+ "radius": 0.02
78
+ right_camera:
79
+ - "center": [0.0, 0.0, 0.0]
80
+ "radius": 0.02
81
+
82
+
embodiments/aloha-agilex/config.yml ADDED
@@ -0,0 +1,54 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ urdf_path: "./urdf/arx5_description_isaac.urdf"
2
+ srdf_path: "./srdf/arx5_description_isaac.srdf"
3
+ joint_stiffness: 1000
4
+ joint_damping: 200
5
+ gripper_stiffness: 1000
6
+ gripper_damping: 200
7
+ move_group: ["fl_link6","fr_link6"]
8
+ ee_joints: ["fl_joint6", "fr_joint6"]
9
+ arm_joints_name: [["fl_joint1", "fl_joint2", "fl_joint3", "fl_joint4", "fl_joint5", "fl_joint6"], ["fr_joint1", "fr_joint2", "fr_joint3", "fr_joint4", "fr_joint5", "fr_joint6"]]
10
+ gripper_name:
11
+ - base: "fl_joint7"
12
+ mimic: [["fl_joint8", 1., 0.]]
13
+ - base: "fr_joint7"
14
+ mimic: [["fr_joint8", 1., 0.]]
15
+ gripper_bias: 0.12
16
+ gripper_scale: [-0.01, 0.045]
17
+ homestate: [[0,0,0,0,0,0], [0,0,0,0,0,0]]
18
+ delta_matrix: [[1,0,0],[0,1,0],[0,0,1]]
19
+ global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
20
+ robot_pose: [[0, -0.65, 0.0, 0.707, 0, 0, 0.707]]
21
+ # planner: "mplib_screw"
22
+ planner: "curobo"
23
+ dual_arm: True
24
+ rotate_lim: [0, 1]
25
+ grasp_perfect_direction: ['front_right', 'front_left']
26
+ static_camera_list:
27
+ - name: head_camera
28
+ type: D435
29
+ position:
30
+ - -0.032
31
+ - -0.45
32
+ - 1.35
33
+ forward:
34
+ - 0
35
+ - 0.6
36
+ - -0.8
37
+ left:
38
+ - -1
39
+ - 0
40
+ - 0
41
+ - name: front_camera
42
+ type: D435
43
+ position:
44
+ - 0
45
+ - -0.45
46
+ - 0.85
47
+ forward:
48
+ - 0
49
+ - 1
50
+ - -0.1
51
+ left:
52
+ - -1
53
+ - 0
54
+ - 0
embodiments/aloha-agilex/curobo_left.yml ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ robot_cfg:
2
+ kinematics:
3
+ use_usd_kinematics: False
4
+ # usd_path: "FILL_THIS"
5
+ # usd_robot_root: "/robot"
6
+ # isaac_usd_path: ""
7
+ # usd_flip_joints: {}
8
+ # usd_flip_joint_limits: []
9
+ urdf_path: /home/ubuntu/Desktop/RoboHorizon/assets/embodiments/aloha-agilex/urdf/arx5_description_isaac.urdf
10
+ asset_root_path: null
11
+
12
+ base_link: "fl_base_link"
13
+ ee_link: "fl_link6"
14
+ collision_link_names:
15
+ [
16
+ "fl_base_link",
17
+ "fl_link1",
18
+ "fl_link2",
19
+ "fl_link3",
20
+ "fl_link4",
21
+ "fl_link5",
22
+ "fl_link6",
23
+ "fl_link7",
24
+ "fl_link8",
25
+ "left_camera"
26
+ ]
27
+ collision_spheres: /home/ubuntu/Desktop/RoboHorizon/assets/embodiments/aloha-agilex/collision_aloha_left.yml
28
+ collision_sphere_buffer: 0.004
29
+ extra_collision_spheres: {}
30
+ use_global_cumul: True
31
+ self_collision_ignore:
32
+ {
33
+ "fl_base_link": ["fl_link1"],
34
+ "fl_link1": ["fl_link2"],
35
+ "fl_link2": ["fl_link3"],
36
+ "fl_link3": ["fl_link4"],
37
+ "fl_link4": ["fl_link5", "fl_link7", "left_camera", "fl_link8"],
38
+ "fl_link5": ["fl_link6", "fl_link7", "left_camera", "fl_link8"],
39
+ "fl_link6": ["fl_link7", "left_camera", "fl_link8"],
40
+ "fl_link7": ["fl_link8", "left_camera"]
41
+ }
42
+ self_collision_buffer:
43
+ {
44
+ "fl_base_link": 0.00,
45
+ "fl_link1": 0.00,
46
+ "fl_link2": 0.00,
47
+ "fl_link3": 0.00,
48
+ "fl_link4": 0.00,
49
+ "fl_link5": 0.00,
50
+ "fl_link6": 0.00,
51
+ "fl_link7": 0.00,
52
+ "fl_link8": 0.00,
53
+ "left_camera": 0.00
54
+ }
55
+
56
+ mesh_link_names: [
57
+ "fl_base_link",
58
+ "fl_link1",
59
+ "fl_link2",
60
+ "fl_link3",
61
+ "fl_link4",
62
+ "fl_link5",
63
+ "fl_link6",
64
+ "fl_link7",
65
+ "fl_link8",
66
+ "left_camera"
67
+ ]
68
+ lock_joints: {"fl_joint7": 0.04, "fl_joint8": 0.04}
69
+ extra_links: null
70
+
71
+ cspace:
72
+ joint_names: [
73
+ "fl_joint1",
74
+ "fl_joint2",
75
+ "fl_joint3",
76
+ "fl_joint4",
77
+ "fl_joint5",
78
+ "fl_joint6",
79
+ "fl_joint7",
80
+ "fl_joint8"
81
+ ]
82
+ retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04, 0.04]
83
+ null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
84
+ cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
85
+ max_jerk: 100.0
86
+ max_acceleration: 3.0
87
+ planner:
88
+ frame_bias: [-0.2305, -0.297, -0.782]
embodiments/aloha-agilex/curobo_left_tmp.yml ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ robot_cfg:
2
+ kinematics:
3
+ use_usd_kinematics: False
4
+ # usd_path: "FILL_THIS"
5
+ # usd_robot_root: "/robot"
6
+ # isaac_usd_path: ""
7
+ # usd_flip_joints: {}
8
+ # usd_flip_joint_limits: []
9
+ urdf_path: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/urdf/arx5_description_isaac.urdf
10
+ asset_root_path: null
11
+
12
+ base_link: "fl_base_link"
13
+ ee_link: "fl_link6"
14
+ collision_link_names:
15
+ [
16
+ "fl_base_link",
17
+ "fl_link1",
18
+ "fl_link2",
19
+ "fl_link3",
20
+ "fl_link4",
21
+ "fl_link5",
22
+ "fl_link6",
23
+ "fl_link7",
24
+ "fl_link8",
25
+ "left_camera"
26
+ ]
27
+ collision_spheres: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/collision_aloha_left.yml
28
+ collision_sphere_buffer: 0.004
29
+ extra_collision_spheres: {}
30
+ use_global_cumul: True
31
+ self_collision_ignore:
32
+ {
33
+ "fl_base_link": ["fl_link1"],
34
+ "fl_link1": ["fl_link2"],
35
+ "fl_link2": ["fl_link3"],
36
+ "fl_link3": ["fl_link4"],
37
+ "fl_link4": ["fl_link5", "fl_link7", "left_camera", "fl_link8"],
38
+ "fl_link5": ["fl_link6", "fl_link7", "left_camera", "fl_link8"],
39
+ "fl_link6": ["fl_link7", "left_camera", "fl_link8"],
40
+ "fl_link7": ["fl_link8", "left_camera"]
41
+ }
42
+ self_collision_buffer:
43
+ {
44
+ "fl_base_link": 0.00,
45
+ "fl_link1": 0.00,
46
+ "fl_link2": 0.00,
47
+ "fl_link3": 0.00,
48
+ "fl_link4": 0.00,
49
+ "fl_link5": 0.00,
50
+ "fl_link6": 0.00,
51
+ "fl_link7": 0.00,
52
+ "fl_link8": 0.00,
53
+ "left_camera": 0.00
54
+ }
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+
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+ mesh_link_names: [
57
+ "fl_base_link",
58
+ "fl_link1",
59
+ "fl_link2",
60
+ "fl_link3",
61
+ "fl_link4",
62
+ "fl_link5",
63
+ "fl_link6",
64
+ "fl_link7",
65
+ "fl_link8",
66
+ "left_camera"
67
+ ]
68
+ lock_joints: {"fl_joint7": 0.04, "fl_joint8": 0.04}
69
+ extra_links: null
70
+
71
+ cspace:
72
+ joint_names: [
73
+ "fl_joint1",
74
+ "fl_joint2",
75
+ "fl_joint3",
76
+ "fl_joint4",
77
+ "fl_joint5",
78
+ "fl_joint6",
79
+ "fl_joint7",
80
+ "fl_joint8"
81
+ ]
82
+ retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04, 0.04]
83
+ null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
84
+ cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
85
+ max_jerk: 100.0
86
+ max_acceleration: 3.0
87
+ planner:
88
+ frame_bias: [-0.2305, -0.297, -0.782]
embodiments/aloha-agilex/curobo_right.yml ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ robot_cfg:
2
+ kinematics:
3
+ use_usd_kinematics: False
4
+ # usd_path: "FILL_THIS"
5
+ # usd_robot_root: "/robot"
6
+ # isaac_usd_path: ""
7
+ # usd_flip_joints: {}
8
+ # usd_flip_joint_limits: []
9
+ urdf_path: /home/ubuntu/Desktop/RoboHorizon/assets/embodiments/aloha-agilex/urdf/arx5_description_isaac.urdf
10
+ asset_root_path: null
11
+
12
+ base_link: "fr_base_link"
13
+ ee_link: "fr_link6"
14
+ collision_link_names:
15
+ [
16
+ "fr_base_link",
17
+ "fr_link1",
18
+ "fr_link2",
19
+ "fr_link3",
20
+ "fr_link4",
21
+ "fr_link5",
22
+ "fr_link6",
23
+ "fr_link7",
24
+ "fr_link8",
25
+ "right_camera"
26
+ ]
27
+ collision_spheres: /home/ubuntu/Desktop/RoboHorizon/assets/embodiments/aloha-agilex/collision_aloha_right.yml
28
+ collision_sphere_buffer: 0.004
29
+ extra_collision_spheres: {}
30
+ use_global_cumul: True
31
+ self_collision_ignore:
32
+ {
33
+ "fr_base_link": ["fr_link1"],
34
+ "fr_link1": ["fr_link2"],
35
+ "fr_link2": ["fr_link3"],
36
+ "fr_link3": ["fr_link4"],
37
+ "fr_link4": ["fr_link5", "fr_link7", "right_camera", "fr_link8"],
38
+ "fr_link5": ["fr_link6", "fr_link7", "right_camera", "fr_link8"],
39
+ "fr_link6": ["fr_link7", "right_camera", "fr_link8"],
40
+ "fr_link7": ["fr_link8", "right_camera"]
41
+ }
42
+ self_collision_buffer:
43
+ {
44
+ "fr_base_link": 0.00,
45
+ "fr_link1": 0.00,
46
+ "fr_link2": 0.00,
47
+ "fr_link3": 0.00,
48
+ "fr_link4": 0.00,
49
+ "fr_link5": 0.00,
50
+ "fr_link6": 0.00,
51
+ "fr_link7": 0.00,
52
+ "fr_link8": 0.00,
53
+ "right_camera": 0.00
54
+ }
55
+
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+ mesh_link_names: [
57
+ "fr_base_link",
58
+ "fr_link1",
59
+ "fr_link2",
60
+ "fr_link3",
61
+ "fr_link4",
62
+ "fr_link5",
63
+ "fr_link6",
64
+ "fr_link7",
65
+ "fr_link8",
66
+ "right_camera"
67
+ ]
68
+ lock_joints: {"fr_joint7": 0.04, "fr_joint8": 0.04}
69
+ extra_links: null
70
+
71
+ cspace:
72
+ joint_names: [
73
+ "fr_joint1",
74
+ "fr_joint2",
75
+ "fr_joint3",
76
+ "fr_joint4",
77
+ "fr_joint5",
78
+ "fr_joint6",
79
+ "fr_joint7",
80
+ "fr_joint8"
81
+ ]
82
+ retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04, 0.04]
83
+ null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
84
+ cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
85
+ max_jerk: 100.0
86
+ max_acceleration: 3.0
87
+ planner:
88
+ frame_bias: [-0.2315, 0.3063, -0.781]
embodiments/aloha-agilex/curobo_right_tmp.yml ADDED
@@ -0,0 +1,88 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ robot_cfg:
2
+ kinematics:
3
+ use_usd_kinematics: False
4
+ # usd_path: "FILL_THIS"
5
+ # usd_robot_root: "/robot"
6
+ # isaac_usd_path: ""
7
+ # usd_flip_joints: {}
8
+ # usd_flip_joint_limits: []
9
+ urdf_path: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/urdf/arx5_description_isaac.urdf
10
+ asset_root_path: null
11
+
12
+ base_link: "fr_base_link"
13
+ ee_link: "fr_link6"
14
+ collision_link_names:
15
+ [
16
+ "fr_base_link",
17
+ "fr_link1",
18
+ "fr_link2",
19
+ "fr_link3",
20
+ "fr_link4",
21
+ "fr_link5",
22
+ "fr_link6",
23
+ "fr_link7",
24
+ "fr_link8",
25
+ "right_camera"
26
+ ]
27
+ collision_spheres: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/collision_aloha_right.yml
28
+ collision_sphere_buffer: 0.004
29
+ extra_collision_spheres: {}
30
+ use_global_cumul: True
31
+ self_collision_ignore:
32
+ {
33
+ "fr_base_link": ["fr_link1"],
34
+ "fr_link1": ["fr_link2"],
35
+ "fr_link2": ["fr_link3"],
36
+ "fr_link3": ["fr_link4"],
37
+ "fr_link4": ["fr_link5", "fr_link7", "right_camera", "fr_link8"],
38
+ "fr_link5": ["fr_link6", "fr_link7", "right_camera", "fr_link8"],
39
+ "fr_link6": ["fr_link7", "right_camera", "fr_link8"],
40
+ "fr_link7": ["fr_link8", "right_camera"]
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+ }
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+ self_collision_buffer:
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+ {
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+ "fr_base_link": 0.00,
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+ "fr_link1": 0.00,
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+ "fr_link2": 0.00,
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+ "fr_link3": 0.00,
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+ "fr_link4": 0.00,
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+ "fr_link5": 0.00,
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+ "fr_link6": 0.00,
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+ "fr_link7": 0.00,
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+ "fr_link8": 0.00,
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+ "right_camera": 0.00
54
+ }
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+
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+ mesh_link_names: [
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+ "fr_base_link",
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+ "fr_link1",
59
+ "fr_link2",
60
+ "fr_link3",
61
+ "fr_link4",
62
+ "fr_link5",
63
+ "fr_link6",
64
+ "fr_link7",
65
+ "fr_link8",
66
+ "right_camera"
67
+ ]
68
+ lock_joints: {"fr_joint7": 0.04, "fr_joint8": 0.04}
69
+ extra_links: null
70
+
71
+ cspace:
72
+ joint_names: [
73
+ "fr_joint1",
74
+ "fr_joint2",
75
+ "fr_joint3",
76
+ "fr_joint4",
77
+ "fr_joint5",
78
+ "fr_joint6",
79
+ "fr_joint7",
80
+ "fr_joint8"
81
+ ]
82
+ retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04, 0.04]
83
+ null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
84
+ cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
85
+ max_jerk: 100.0
86
+ max_acceleration: 3.0
87
+ planner:
88
+ frame_bias: [-0.2315, 0.3063, -0.781]
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+ version https://git-lfs.github.com/spec/v1
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embodiments/aloha-agilex/meshes/link5.STL ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ size 467884
embodiments/aloha-agilex/meshes/link6.STL ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ size 467084
embodiments/aloha-agilex/meshes/link7.STL ADDED
Binary file (65.3 kB). View file
 
embodiments/aloha-agilex/meshes/link8.STL ADDED
Binary file (65.3 kB). View file
 
embodiments/aloha-agilex/meshes/right_cam_link.dae ADDED
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embodiments/aloha-agilex/meshes/tracer_base_link.dae ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ size 21933502
embodiments/aloha-agilex/meshes/tracer_base_link_no_wheel.dae ADDED
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+ oid sha256:d3a1ee3b34dbc418e888d68148d04fccda589e00d5100fbd3cbc2f17154e0a08
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+ size 13769590
embodiments/aloha-agilex/meshes/tracer_wheel.dae ADDED
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embodiments/aloha-agilex/srdf/arx5_description_isaac.srdf ADDED
@@ -0,0 +1,401 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" encoding="UTF-8"?>
2
+ <!--This does not replace URDF, and is not an extension of URDF.
3
+ This is a format for representing semantic information about the robot structure.
4
+ A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
5
+ -->
6
+ <robot name="arx5_description">
7
+ <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
8
+ <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
9
+ <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
10
+ <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
11
+ <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
12
+ <group name="fl_arm">
13
+ <joint name="fl_base_joint"/>
14
+ <joint name="fl_joint1"/>
15
+ <joint name="fl_joint2"/>
16
+ <joint name="fl_joint3"/>
17
+ <joint name="fl_joint4"/>
18
+ <joint name="fl_joint5"/>
19
+ <joint name="fl_joint6"/>
20
+ <chain base_link="fl_base_link" tip_link="fl_link6"/>
21
+ </group>
22
+ <group name="fr_arm">
23
+ <joint name="fr_base_joint"/>
24
+ <joint name="fr_joint1"/>
25
+ <joint name="fr_joint2"/>
26
+ <joint name="fr_joint3"/>
27
+ <joint name="fr_joint4"/>
28
+ <joint name="fr_joint5"/>
29
+ <joint name="fr_joint6"/>
30
+ <chain base_link="fr_base_link" tip_link="fr_link6"/>
31
+ </group>
32
+ <!-- <group name="lr_arm">
33
+ <joint name="lr_base_joint"/>
34
+ <joint name="lr_joint1"/>
35
+ <joint name="lr_joint2"/>
36
+ <joint name="lr_joint3"/>
37
+ <joint name="lr_joint4"/>
38
+ <joint name="lr_joint5"/>
39
+ <joint name="lr_joint6"/>
40
+ <chain base_link="lr_base_link" tip_link="lr_link6"/>
41
+ </group> -->
42
+ <!-- <group name="rr_arm">
43
+ <joint name="rr_base_joint"/>
44
+ <joint name="rr_joint1"/>
45
+ <joint name="rr_joint2"/>
46
+ <joint name="rr_joint3"/>
47
+ <joint name="rr_joint4"/>
48
+ <joint name="rr_joint5"/>
49
+ <joint name="rr_joint6"/>
50
+ <chain base_link="rr_base_link" tip_link="rr_link6"/>
51
+ </group> -->
52
+ <group name="fl_gripper">
53
+ <joint name="fl_joint7"/>
54
+ <joint name="fl_joint8"/>
55
+ </group>
56
+ <group name="fr_gripper">
57
+ <joint name="fr_joint7"/>
58
+ <joint name="fr_joint8"/>
59
+ </group>
60
+ <!-- <group name="lr_gripper">
61
+ <joint name="lr_joint7"/>
62
+ <joint name="lr_joint8"/>
63
+ </group>
64
+ <group name="rr_gripper">
65
+ <joint name="rr_joint7"/>
66
+ <joint name="rr_joint8"/>
67
+ </group> -->
68
+ <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
69
+ <group_state name="home" group="fl_arm"/>
70
+ <group_state name="home" group="fr_arm"/>
71
+ <!-- <group_state name="home" group="lr_arm">
72
+ <joint name="lr_joint1" value="0"/>
73
+ <joint name="lr_joint2" value="0"/>
74
+ <joint name="lr_joint3" value="0"/>
75
+ <joint name="lr_joint4" value="0"/>
76
+ <joint name="lr_joint5" value="0"/>
77
+ <joint name="lr_joint6" value="0"/>
78
+ </group_state> -->
79
+ <!-- <group_state name="home" group="rr_arm">
80
+ <joint name="rr_joint1" value="0"/>
81
+ <joint name="rr_joint2" value="0"/>
82
+ <joint name="rr_joint3" value="0"/>
83
+ <joint name="rr_joint4" value="0"/>
84
+ <joint name="rr_joint5" value="0"/>
85
+ <joint name="rr_joint6" value="0"/>
86
+ </group_state> -->
87
+ <group_state name="close" group="fl_gripper">
88
+ <joint name="fl_joint7" value="0"/>
89
+ <joint name="fl_joint8" value="0"/>
90
+ </group_state>
91
+ <group_state name="open" group="fl_gripper">
92
+ <joint name="fl_joint7" value="0.0476"/>
93
+ <joint name="fl_joint8" value="0.0476"/>
94
+ </group_state>
95
+ <group_state name="close" group="fr_gripper">
96
+ <joint name="fr_joint7" value="0"/>
97
+ <joint name="fr_joint8" value="0"/>
98
+ </group_state>
99
+ <group_state name="open" group="fr_gripper">
100
+ <joint name="fr_joint7" value="0.0476"/>
101
+ <joint name="fr_joint8" value="0.0476"/>
102
+ </group_state>
103
+ <!-- <group_state name="close" group="lr_gripper">
104
+ <joint name="lr_joint7" value="0"/>
105
+ <joint name="lr_joint8" value="0"/>
106
+ </group_state>
107
+ <group_state name="open" group="lr_gripper">
108
+ <joint name="lr_joint7" value="0.0476"/>
109
+ <joint name="lr_joint8" value="0.0476"/>
110
+ </group_state>
111
+ <group_state name="close" group="rr_gripper">
112
+ <joint name="rr_joint7" value="0"/>
113
+ <joint name="rr_joint8" value="0"/>
114
+ </group_state>
115
+ <group_state name="open" group="rr_gripper">
116
+ <joint name="rr_joint7" value="0.0476"/>
117
+ <joint name="rr_joint8" value="0.0476"/>
118
+ </group_state> -->
119
+
120
+ <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
121
+
122
+ <disable_collisions link1="box" link2="box1_Link" reason="Default"/>
123
+ <disable_collisions link1="box" link2="box2_Link" reason="Never"/>
124
+ <disable_collisions link1="box" link2="fl_base_link" reason="Never"/>
125
+ <disable_collisions link1="box" link2="fl_link1" reason="Never"/>
126
+ <disable_collisions link1="box" link2="fl_link2" reason="Never"/>
127
+ <disable_collisions link1="box" link2="fl_link3" reason="Never"/>
128
+ <disable_collisions link1="box" link2="fl_link4" reason="Never"/>
129
+ <disable_collisions link1="box" link2="fl_link5" reason="Never"/>
130
+ <disable_collisions link1="box" link2="fl_link6" reason="Never"/>
131
+ <disable_collisions link1="box" link2="fl_link7" reason="Never"/>
132
+ <disable_collisions link1="box" link2="left_camera" reason="Never"/>
133
+ <disable_collisions link1="box" link2="fr_base_link" reason="Never"/>
134
+ <disable_collisions link1="box" link2="fr_link1" reason="Never"/>
135
+ <disable_collisions link1="box" link2="fr_link2" reason="Never"/>
136
+ <disable_collisions link1="box" link2="fr_link3" reason="Never"/>
137
+ <disable_collisions link1="box" link2="fr_link4" reason="Never"/>
138
+ <disable_collisions link1="box" link2="fr_link5" reason="Never"/>
139
+ <disable_collisions link1="box" link2="fr_link6" reason="Never"/>
140
+ <disable_collisions link1="box" link2="fr_link7" reason="Never"/>
141
+ <disable_collisions link1="box" link2="fr_link8" reason="Never"/>
142
+
143
+ <disable_collisions link1="box" link2="world" reason="Adjacent"/>
144
+ <disable_collisions link1="box1_Link" link2="box2_Link" reason="Adjacent"/>
145
+ <disable_collisions link1="box1_Link" link2="fl_base_link" reason="Never"/>
146
+ <disable_collisions link1="box1_Link" link2="fl_link1" reason="Never"/>
147
+ <disable_collisions link1="box1_Link" link2="fl_link2" reason="Never"/>
148
+ <disable_collisions link1="box1_Link" link2="fl_link3" reason="Never"/>
149
+ <disable_collisions link1="box1_Link" link2="fl_link4" reason="Never"/>
150
+ <disable_collisions link1="box1_Link" link2="fl_link5" reason="Never"/>
151
+ <disable_collisions link1="box1_Link" link2="fl_link6" reason="Never"/>
152
+ <disable_collisions link1="box1_Link" link2="fl_link7" reason="Never"/>
153
+ <disable_collisions link1="box1_Link" link2="left_camera" reason="Never"/>
154
+ <disable_collisions link1="box1_Link" link2="fl_link8" reason="Never"/>
155
+ <disable_collisions link1="box1_Link" link2="fr_base_link" reason="Never"/>
156
+ <disable_collisions link1="box1_Link" link2="fr_link1" reason="Never"/>
157
+ <disable_collisions link1="box1_Link" link2="fr_link2" reason="Never"/>
158
+ <disable_collisions link1="box1_Link" link2="fr_link3" reason="Never"/>
159
+ <disable_collisions link1="box1_Link" link2="fr_link4" reason="Never"/>
160
+ <disable_collisions link1="box1_Link" link2="fr_link5" reason="Never"/>
161
+ <disable_collisions link1="box1_Link" link2="fr_link6" reason="Never"/>
162
+ <disable_collisions link1="box1_Link" link2="fr_link7" reason="Never"/>
163
+ <disable_collisions link1="box1_Link" link2="fr_link8" reason="Never"/>
164
+
165
+ <disable_collisions link1="box1_Link" link2="world" reason="Adjacent"/>
166
+ <disable_collisions link1="box2_Link" link2="fl_base_link" reason="Never"/>
167
+ <disable_collisions link1="box2_Link" link2="fl_link1" reason="Never"/>
168
+ <disable_collisions link1="box2_Link" link2="fr_base_link" reason="Never"/>
169
+ <disable_collisions link1="box2_Link" link2="fr_link1" reason="Never"/>
170
+
171
+ <disable_collisions link1="box2_Link" link2="world" reason="Never"/>
172
+ <disable_collisions link1="fl_base_link" link2="fl_link1" reason="Adjacent"/>
173
+ <disable_collisions link1="fl_base_link" link2="fr_base_link" reason="Never"/>
174
+ <disable_collisions link1="fl_base_link" link2="fr_link1" reason="Never"/>
175
+ <disable_collisions link1="fl_base_link" link2="fr_link2" reason="Never"/>
176
+ <disable_collisions link1="fl_base_link" link2="fr_link3" reason="Never"/>
177
+
178
+ <disable_collisions link1="fl_base_link" link2="world" reason="Adjacent"/>
179
+ <disable_collisions link1="fl_link1" link2="fl_link2" reason="Adjacent"/>
180
+ <disable_collisions link1="fl_link1" link2="fr_base_link" reason="Never"/>
181
+ <disable_collisions link1="fl_link1" link2="fr_link1" reason="Never"/>
182
+ <disable_collisions link1="fl_link1" link2="fr_link2" reason="Never"/>
183
+ <disable_collisions link1="fl_link1" link2="fr_link3" reason="Never"/>
184
+ <disable_collisions link1="fl_link1" link2="fr_link6" reason="Never"/>
185
+
186
+ <disable_collisions link1="fl_link1" link2="world" reason="Never"/>
187
+ <disable_collisions link1="fl_link2" link2="fl_link3" reason="Adjacent"/>
188
+ <disable_collisions link1="fl_link2" link2="fr_base_link" reason="Never"/>
189
+ <disable_collisions link1="fl_link2" link2="fr_link1" reason="Never"/>
190
+ <disable_collisions link1="fl_link2" link2="fr_link2" reason="Never"/>
191
+
192
+ <disable_collisions link1="fl_link2" link2="world" reason="Never"/>
193
+ <disable_collisions link1="fl_link3" link2="fl_link4" reason="Adjacent"/>
194
+ <disable_collisions link1="fl_link3" link2="fr_base_link" reason="Never"/>
195
+ <disable_collisions link1="fl_link3" link2="fr_link1" reason="Never"/>
196
+ <!-- <disable_collisions link1="fl_link3" link2="rr_base_link" reason="Never"/>
197
+ <disable_collisions link1="fl_link3" link2="rr_link1" reason="Never"/>
198
+ <disable_collisions link1="fl_link3" link2="rr_link2" reason="Never"/>
199
+ <disable_collisions link1="fl_link3" link2="rr_link7" reason="Never"/>
200
+ <disable_collisions link1="fl_link3" link2="rr_link8" reason="Never"/> -->
201
+ <disable_collisions link1="fl_link3" link2="world" reason="Never"/>
202
+ <disable_collisions link1="fl_link4" link2="fl_link5" reason="Adjacent"/>
203
+ <disable_collisions link1="fl_link4" link2="fl_link7" reason="Never"/>
204
+ <disable_collisions link1="fl_link4" link2="left_camera" reason="Never"/>
205
+ <disable_collisions link1="fl_link4" link2="fl_link8" reason="Never"/>
206
+ <!-- <disable_collisions link1="fl_link4" link2="rr_base_link" reason="Never"/>
207
+ <disable_collisions link1="fl_link4" link2="rr_link1" reason="Never"/>
208
+ <disable_collisions link1="fl_link4" link2="rr_link2" reason="Never"/>
209
+ <disable_collisions link1="fl_link4" link2="rr_link6" reason="Never"/>
210
+ <disable_collisions link1="fl_link4" link2="rr_link7" reason="Never"/>
211
+ <disable_collisions link1="fl_link4" link2="rr_link8" reason="Never"/> -->
212
+ <disable_collisions link1="fl_link4" link2="world" reason="Never"/>
213
+ <disable_collisions link1="fl_link5" link2="fl_link6" reason="Adjacent"/>
214
+ <disable_collisions link1="fl_link5" link2="fl_link7" reason="Never"/>
215
+ <disable_collisions link1="fl_link5" link2="left_camera" reason="Never"/>
216
+ <disable_collisions link1="fl_link5" link2="fl_link8" reason="Never"/>
217
+ <!-- <disable_collisions link1="fl_link5" link2="rr_base_link" reason="Never"/>
218
+ <disable_collisions link1="fl_link5" link2="rr_link1" reason="Never"/>
219
+ <disable_collisions link1="fl_link5" link2="rr_link2" reason="Never"/>
220
+ <disable_collisions link1="fl_link5" link2="rr_link4" reason="Never"/>
221
+ <disable_collisions link1="fl_link5" link2="rr_link7" reason="Never"/> -->
222
+ <disable_collisions link1="fl_link5" link2="world" reason="Never"/>
223
+ <disable_collisions link1="fl_link6" link2="fl_link7" reason="Adjacent"/>
224
+ <disable_collisions link1="fl_link6" link2="left_camera" reason="Adjacent"/>
225
+ <disable_collisions link1="fl_link6" link2="fl_link8" reason="Adjacent"/>
226
+ <disable_collisions link1="fl_link6" link2="left_camera" reason="Adjacent"/>
227
+ <!-- <disable_collisions link1="fl_link6" link2="rr_base_link" reason="Never"/>
228
+ <disable_collisions link1="fl_link6" link2="rr_link1" reason="Never"/>
229
+ <disable_collisions link1="fl_link6" link2="rr_link2" reason="Never"/>
230
+ <disable_collisions link1="fl_link6" link2="rr_link4" reason="Never"/>
231
+ <disable_collisions link1="fl_link6" link2="rr_link5" reason="Never"/>
232
+ <disable_collisions link1="fl_link6" link2="rr_link6" reason="Never"/>
233
+ <disable_collisions link1="fl_link6" link2="rr_link7" reason="Never"/> -->
234
+ <disable_collisions link1="fl_link6" link2="world" reason="Never"/>
235
+ <disable_collisions link1="fl_link7" link2="fl_link8" reason="Never"/>
236
+ <disable_collisions link1="fl_link7" link2="lef_camera" reason="Never"/>
237
+ <!-- <disable_collisions link1="fl_link7" link2="rr_base_link" reason="Never"/>
238
+ <disable_collisions link1="fl_link7" link2="rr_link1" reason="Never"/>
239
+ <disable_collisions link1="fl_link7" link2="rr_link2" reason="Never"/>
240
+ <disable_collisions link1="fl_link7" link2="rr_link4" reason="Never"/>
241
+ <disable_collisions link1="fl_link7" link2="rr_link5" reason="Never"/>
242
+ <disable_collisions link1="fl_link7" link2="rr_link6" reason="Never"/> -->
243
+ <disable_collisions link1="fl_link7" link2="world" reason="Never"/>
244
+ <disable_collisions link1="fl_link8" link2="fr_link8" reason="Never"/>
245
+ <!-- <disable_collisions link1="fl_link8" link2="rr_base_link" reason="Never"/>
246
+ <disable_collisions link1="fl_link8" link2="rr_link1" reason="Never"/>
247
+ <disable_collisions link1="fl_link8" link2="rr_link2" reason="Never"/>
248
+ <disable_collisions link1="fl_link8" link2="rr_link3" reason="Never"/>
249
+ <disable_collisions link1="fl_link8" link2="rr_link4" reason="Never"/>
250
+ <disable_collisions link1="fl_link8" link2="rr_link5" reason="Never"/>
251
+ <disable_collisions link1="fl_link8" link2="rr_link6" reason="Never"/>
252
+ <disable_collisions link1="fl_link8" link2="rr_link7" reason="Never"/>
253
+ <disable_collisions link1="fl_link8" link2="rr_link8" reason="Never"/> -->
254
+ <disable_collisions link1="fl_link8" link2="world" reason="Never"/>
255
+ <disable_collisions link1="fr_base_link" link2="fr_link1" reason="Adjacent"/>
256
+ <!-- <disable_collisions link1="fr_base_link" link2="lr_base_link" reason="Never"/>
257
+ <disable_collisions link1="fr_base_link" link2="lr_link1" reason="Never"/>
258
+ <disable_collisions link1="fr_base_link" link2="lr_link2" reason="Never"/>
259
+ <disable_collisions link1="fr_base_link" link2="lr_link3" reason="Never"/>
260
+ <disable_collisions link1="fr_base_link" link2="lr_link4" reason="Never"/>
261
+ <disable_collisions link1="fr_base_link" link2="lr_link5" reason="Never"/>
262
+ <disable_collisions link1="fr_base_link" link2="lr_link6" reason="Never"/>
263
+ <disable_collisions link1="fr_base_link" link2="lr_link7" reason="Never"/>
264
+ <disable_collisions link1="fr_base_link" link2="lr_link8" reason="Never"/> -->
265
+ <!-- <disable_collisions link1="fr_base_link" link2="rr_base_link" reason="Never"/>
266
+ <disable_collisions link1="fr_base_link" link2="rr_link1" reason="Never"/>
267
+ <disable_collisions link1="fr_base_link" link2="rr_link2" reason="Never"/>
268
+ <disable_collisions link1="fr_base_link" link2="rr_link3" reason="Never"/> -->
269
+ <disable_collisions link1="fr_base_link" link2="world" reason="Adjacent"/>
270
+ <disable_collisions link1="fr_link1" link2="fr_link2" reason="Adjacent"/>
271
+ <!-- <disable_collisions link1="fr_link1" link2="lr_base_link" reason="Never"/>
272
+ <disable_collisions link1="fr_link1" link2="lr_link1" reason="Never"/>
273
+ <disable_collisions link1="fr_link1" link2="lr_link2" reason="Never"/>
274
+ <disable_collisions link1="fr_link1" link2="lr_link3" reason="Never"/>
275
+ <disable_collisions link1="fr_link1" link2="lr_link4" reason="Never"/>
276
+ <disable_collisions link1="fr_link1" link2="lr_link5" reason="Never"/>
277
+ <disable_collisions link1="fr_link1" link2="lr_link6" reason="Never"/>
278
+ <disable_collisions link1="fr_link1" link2="lr_link7" reason="Never"/>
279
+ <disable_collisions link1="fr_link1" link2="lr_link8" reason="Never"/> -->
280
+ <disable_collisions link1="fr_link1" link2="rr_base_link" reason="Never"/>
281
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