Add objects and embodiments folders

.gitattributes

@@ -66,3 +66,15 @@ objects/004_bell/visual/base0.glb filter=lfs diff=lfs merge=lfs -text
 objects/005_check_bell/collision/base0.glb filter=lfs diff=lfs merge=lfs -text
 objects/005_check_bell/visual/base0.glb filter=lfs diff=lfs merge=lfs -text
 objects/vis_box/gripper.glb filter=lfs diff=lfs merge=lfs -text
+embodiments/franka-panda/franka_description/meshes/visual/camera_base.stl filter=lfs diff=lfs merge=lfs -text
+embodiments/franka-panda/franka_description/meshes/visual/d435.dae filter=lfs diff=lfs merge=lfs -text
+embodiments/franka-panda/franka_description/meshes/visual/hand.SLDPRT filter=lfs diff=lfs merge=lfs -text
+embodiments/franka-panda/franka_description/meshes/visual/hand.glb filter=lfs diff=lfs merge=lfs -text
+embodiments/franka-panda/franka_description/meshes/visual/link0.glb filter=lfs diff=lfs merge=lfs -text
+embodiments/franka-panda/franka_description/meshes/visual/link1.glb filter=lfs diff=lfs merge=lfs -text
+embodiments/franka-panda/franka_description/meshes/visual/link2.glb filter=lfs diff=lfs merge=lfs -text
+embodiments/franka-panda/franka_description/meshes/visual/link3.glb filter=lfs diff=lfs merge=lfs -text
+embodiments/franka-panda/franka_description/meshes/visual/link4.glb filter=lfs diff=lfs merge=lfs -text
+embodiments/franka-panda/franka_description/meshes/visual/link5.glb filter=lfs diff=lfs merge=lfs -text
+embodiments/franka-panda/franka_description/meshes/visual/link6.glb filter=lfs diff=lfs merge=lfs -text
+embodiments/franka-panda/franka_description/meshes/visual/link7.glb filter=lfs diff=lfs merge=lfs -text

embodiments/.gitattributes

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+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bin.* filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.mat filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.hdf5 filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
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+*.tfevents* filter=lfs diff=lfs merge=lfs -text
+*.db* filter=lfs diff=lfs merge=lfs -text
+*.ark* filter=lfs diff=lfs merge=lfs -text
+**/*ckpt*data* filter=lfs diff=lfs merge=lfs -text
+**/*ckpt*.meta filter=lfs diff=lfs merge=lfs -text
+**/*ckpt*.index filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.jpg filter=lfs diff=lfs merge=lfs -text
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+*.audio filter=lfs diff=lfs merge=lfs -text
+*.avi filter=lfs diff=lfs merge=lfs -text
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+*.mpeg filter=lfs diff=lfs merge=lfs -text
+*.3gp filter=lfs diff=lfs merge=lfs -text
+*.wmv filter=lfs diff=lfs merge=lfs -text
+*.rmvb filter=lfs diff=lfs merge=lfs -text
+*.rm filter=lfs diff=lfs merge=lfs -text
+*.ts filter=lfs diff=lfs merge=lfs -text
+*.mkv filter=lfs diff=lfs merge=lfs -text
+*.flash filter=lfs diff=lfs merge=lfs -text
+*.vob filter=lfs diff=lfs merge=lfs -text
+*.pdf filter=lfs diff=lfs merge=lfs -text
+*.ost filter=lfs diff=lfs merge=lfs -text
+*.pst filter=lfs diff=lfs merge=lfs -text
+*.doc filter=lfs diff=lfs merge=lfs -text
+*.docx filter=lfs diff=lfs merge=lfs -text
+*.txt filter=lfs diff=lfs merge=lfs -text
+*.ppt filter=lfs diff=lfs merge=lfs -text
+*.pptx filter=lfs diff=lfs merge=lfs -text
+*.xls filter=lfs diff=lfs merge=lfs -text
+*.xlsx filter=lfs diff=lfs merge=lfs -text
+*.vsd filter=lfs diff=lfs merge=lfs -text
+*.vsdx filter=lfs diff=lfs merge=lfs -text
+*.jsonl filter=lfs diff=lfs merge=lfs -text
+*.json filter=lfs diff=lfs merge=lfs -text
+dataset_infos.json ignore
+*.csv filter=lfs diff=lfs merge=lfs -text
+*.tsv filter=lfs diff=lfs merge=lfs -text
+# embodiments
+*.yml filter=lfs diff=lfs merge=lfs -text
+*.glb filter=lfs diff=lfs merge=lfs -text
+*.STL filter=lfs diff=lfs merge=lfs -text
+*.stl filter=lfs diff=lfs merge=lfs -text
+*.urdf filter=lfs diff=lfs merge=lfs -text
+*.srdf filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.xml filter=lfs diff=lfs merge=lfs -text
+*.launch filter=lfs diff=lfs merge=lfs -text
+*.xacro filter=lfs diff=lfs merge=lfs -text
+*.dae filter=lfs diff=lfs merge=lfs -text
+

embodiments/.gitignore

@@ -0,0 +1,3 @@
+curobo_left.yml
+curobo_right.yml
+curobo.yml

embodiments/README.md

@@ -0,0 +1,10 @@
+---
+license: MIT License
+---
+数据集文件元信息以及数据文件，请浏览“数据集文件”页面获取。
+
+当前数据集卡片使用的是默认模版，数据集的贡献者未提供更加详细的数据集介绍，但是您可以通过如下GIT Clone命令，或者ModelScope SDK来下载数据集
+
+#### 下载方法 
+:modelscope-code[]{type="sdk"}
+:modelscope-code[]{type="git"}

embodiments/franka-panda/collision_franka.yml

@@ -0,0 +1,144 @@
+##
+## 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.
+##
+collision_spheres:
+    panda_link0:
+        - "center": [0.0, 0.0, 0.085]
+          "radius": 0.03 #0.07
+        - "center": [-0.1, -0.0, 0.085]
+          "radius": 0.03 #0.07
+    panda_link1:
+        - "center": [0.0, -0.08, 0.0]
+          "radius": 0.055
+        - "center": [0.0, -0.03, 0.0]
+          "radius": 0.06
+        - "center": [0.0, 0.0, -0.12]
+          "radius": 0.06
+        - "center": [0.0, 0.0, -0.17]
+          "radius": 0.06
+    panda_link2:
+        - "center": [0.0, 0.0, 0.03]
+          "radius": 0.055
+        - "center": [0.0, 0.0, 0.08]
+          "radius": 0.055
+        - "center": [0.0, -0.12, 0.0]
+          "radius": 0.055
+        - "center": [0.0, -0.17, 0.0]
+          "radius": 0.055
+    panda_link3:
+        - "center": [0.0, 0.0, -0.06]
+          "radius": 0.05
+        - "center": [0.0, 0.0, -0.1]
+          "radius": 0.06
+        - "center": [0.08, 0.06, 0.0]
+          "radius": 0.052
+        - "center": [0.08, 0.02, 0.0]
+          "radius": 0.052
+    panda_link4:
+        - "center": [0.0, 0.0, 0.02]
+          "radius": 0.052
+        - "center": [0.0, 0.0, 0.06]
+          "radius": 0.052
+        - "center": [-0.08, 0.095, 0.0]
+          "radius": 0.055
+        - "center": [-0.08, 0.06, 0.0]
+          "radius": 0.052
+    panda_link5:
+        - "center": [0.0, 0.03, 0.0]
+          "radius": 0.05
+        - "center": [0.0, 0.082, 0.0]
+          "radius": 0.05
+        - "center": [0.0, 0.000, -0.22]
+          "radius": 0.05
+        - "center": [0.0, 0.052, -0.18]
+          "radius": 0.04
+        - "center": [0.01, 0.08, -0.14]
+          "radius": 0.022
+        - "center": [0.01, 0.085, -0.11]
+          "radius": 0.022
+        - "center": [0.01, 0.09, -0.08]
+          "radius": 0.022
+        - "center": [0.01, 0.095, -0.05]
+          "radius": 0.022
+        - "center": [-0.01, 0.08, -0.14]
+          "radius": 0.022
+        - "center": [-0.01, 0.085, -0.11]
+          "radius": 0.022
+        - "center": [-0.01, 0.09, -0.08]
+          "radius": 0.022
+        - "center": [-0.01, 0.095, -0.05]
+          "radius": 0.022
+        - "center": [0.0, -0.009, 0.0]
+          "radius": 0.05
+    panda_link6:
+        - "center": [0.085, 0.035, 0.0]
+          "radius": 0.045 
+        - "center": [0.085, 0.0, 0.0]
+          "radius": 0.045 
+        - "center": [0.085, -0.015, 0.0]
+          "radius": 0.045 
+    panda_link7:
+        - "center": [0.0, 0.0, 0.07]
+          "radius": 0.045
+        - "center": [0.02, 0.04, 0.08]
+          "radius": 0.024
+        - "center": [0.04, 0.02, 0.08]
+          "radius": 0.024
+        - "center": [0.04, 0.06, 0.085]
+          "radius": 0.02
+        - "center": [0.06, 0.04, 0.085]
+          "radius": 0.02
+    panda_hand:
+        - "center": [0.0, -0.075, 0.01]
+          "radius": 0.023
+        - "center": [0.0, -0.045, 0.01]
+          "radius": 0.023
+        - "center": [0.0, -0.015, 0.01]
+          "radius": 0.023
+        - "center": [0.0, 0.015, 0.01]
+          "radius": 0.023
+        - "center": [0.0, 0.045, 0.01]
+          "radius": 0.023
+        - "center": [0.0, 0.075, 0.01]
+          "radius": 0.023
+        - "center": [0.0, -0.08, 0.03]
+          "radius": 0.022
+        - "center": [0.0, -0.045, 0.03]
+          "radius": 0.022
+        - "center": [0.0, -0.015, 0.03]
+          "radius": 0.022
+        - "center": [0.0, 0.015, 0.03]
+          "radius": 0.022
+        - "center": [0.0, 0.045, 0.03]
+          "radius": 0.022
+        - "center": [0.0, 0.08, 0.03]
+          "radius": 0.022
+        - "center": [0.0, -0.08, 0.045]
+          "radius": 0.022
+        - "center": [0.0, -0.045, 0.045]
+          "radius": 0.022
+        - "center": [0.0, -0.015, 0.045]
+          "radius": 0.022
+        - "center": [0.0, 0.015, 0.045]
+          "radius": 0.022
+        - "center": [0.0, 0.045, 0.045]
+          "radius": 0.022
+        - "center": [0.0, 0.08, 0.045]
+          "radius": 0.022
+    panda_leftfinger:
+        - "center": [0.0, 0.01, 0.043]
+          "radius": 0.011 
+        - "center": [0.0, 0.02, 0.015]
+          "radius": 0.011 
+    panda_rightfinger:
+        - "center": [0.0, -0.01, 0.043]
+          "radius": 0.011 
+        - "center": [0.0, -0.02, 0.015]
+          "radius": 0.011 

embodiments/franka-panda/config.yml

@@ -0,0 +1,60 @@
+urdf_path: "./panda.urdf"
+srdf_path: "./panda.srdf"
+joint_stiffness: 1000
+joint_damping: 200
+gripper_stiffnes: 1000
+gripper_damping: 200
+move_group: ["panda_hand","panda_hand"]
+ee_joints: ["panda_hand_joint","panda_hand_joint"]
+arm_joints_name: [['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'],
+                  ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7']]
+# gripper_name: [["panda_finger_joint1", "panda_finger_joint2"],
+#                ["panda_finger_joint1", "panda_finger_joint2"]]
+gripper_name:
+  - base: "panda_finger_joint1"
+    mimic: [["panda_finger_joint2", 1., 0.]]
+  - base: "panda_finger_joint1"
+    mimic: [["panda_finger_joint2", 1., 0.]]
+gripper_bias: 0.08
+gripper_scale: [-0.01, 0.05]
+homestate: [[0, 0.19634954084936207, 0.0, -2.617993877991494, 0.0, 2.941592653589793, 0.7853981633974483],
+            [0, 0.19634954084936207, 0.0, -2.617993877991494, 0.0, 2.941592653589793, 0.7853981633974483]]
+# homestate: [[6.661495e-07, 0.332, -1.868001e-06, -1.629, -5.300593e-06, 2.103, 0.7854044, 0.04, 0.04],
+#             [6.661495e-07, 0.332, -1.868001e-06, -1.629, -5.300593e-06, 2.103, 0.7854044, 0.04, 0.04]]
+delta_matrix: [[0,0,1],[0,-1,0],[1,0,0]]
+global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
+robot_pose: [[0, -0.65, 0.75, 0.707, 0, 0, 0.707],
+             [0, -0.65, 0.75, 0.707, 0, 0, 0.707]]   # modify
+# planner: "mplib_screw" # mplib_screw
+planner: "curobo"
+dual_arm: False
+rotate_lim: [0.1, 0.8]
+grasp_perfect_direction: ['right', 'left']
+static_camera_list: 
+- name: head_camera
+  position:
+  - -0.032
+  - -0.45
+  - 1.35
+  forward:
+  - 0
+  - 0.6
+  - -0.8
+  left:
+  - -1
+  - 0
+  - 0
+# - name: front_camera
+#   type: D435
+#   position:
+#   - 0
+#   - -0.45
+#   - 0.85
+#   forward:
+#   - 0
+#   - 1
+#   - -0.1
+#   left:
+#   - -1
+#   - 0
+#   - 0

embodiments/franka-panda/curobo.yml

@@ -0,0 +1,117 @@
+##
+## 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: "/Isaac/Robots/Franka/franka.usd"
+    # usd_path: "robot/non_shipping/franka/franka_panda_meters.usda"
+    # usd_robot_root: "/panda"
+    # usd_flip_joints: ["panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5",
+    #   "panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"]
+    # usd_flip_joints: {
+    # "panda_joint1": "Z",
+    # "panda_joint2": "Z",
+    # "panda_joint3": "Z",
+    # "panda_joint4": "Z",
+    #  "panda_joint5": "Z",
+    # "panda_joint6": "Z",
+    # "panda_joint7": "Z",
+    # "panda_finger_joint1": "Y",
+    #  "panda_finger_joint2":  "Y",
+    # }
+
+    # usd_flip_joint_limits: ["panda_finger_joint2"]
+    urdf_path: /data/MARS-Challenge/RoboTwin/assets/embodiments/franka-panda/panda.urdf
+    asset_root_path: null #"robot/franka_description"
+    base_link: "panda_link0"
+    ee_link: "panda_hand"
+    collision_link_names:
+      [
+        "panda_link0",
+        "panda_link1",
+        "panda_link2",
+        "panda_link3",
+        "panda_link4",
+        "panda_link5",
+        "panda_link6",
+        "panda_link7",
+        "panda_hand",
+        "panda_leftfinger",
+        "panda_rightfinger",
+        "attached_object",
+      ]
+    collision_spheres: /data/MARS-Challenge/RoboTwin/assets/embodiments/franka-panda/collision_franka.yml
+    collision_sphere_buffer: 0.004 # 0.0025
+    extra_collision_spheres: {"attached_object": 4}
+    use_global_cumul: True
+    self_collision_ignore:
+      {
+        "panda_link0": ["panda_link1", "panda_link2"],
+        "panda_link1": ["panda_link2", "panda_link3", "panda_link4"],
+        "panda_link2": ["panda_link3", "panda_link4"],
+        "panda_link3": ["panda_link4", "panda_link6"],
+        "panda_link4":
+          ["panda_link5", "panda_link6", "panda_link7", "panda_link8"],
+        "panda_link5": ["panda_link6", "panda_link7", "panda_hand","panda_leftfinger", "panda_rightfinger"],
+        "panda_link6": ["panda_link7", "panda_hand", "attached_object", "panda_leftfinger", "panda_rightfinger"],
+        "panda_link7": ["panda_hand", "attached_object", "panda_leftfinger", "panda_rightfinger"],
+        "panda_hand": ["panda_leftfinger", "panda_rightfinger","attached_object"],
+        "panda_leftfinger": ["panda_rightfinger", "attached_object"],
+        "panda_rightfinger": ["attached_object"],
+
+      }
+
+    self_collision_buffer:
+      {
+        "panda_link0": 0.1,
+        "panda_link1": 0.05,
+        "panda_link2": 0.0,
+        "panda_link3": 0.0,
+        "panda_link4": 0.0,
+        "panda_link5": 0.0,
+        "panda_link6": 0.0,
+        "panda_link7": 0.0,
+        "panda_hand": 0.02,
+        "panda_leftfinger": 0.01,
+        "panda_rightfinger": 0.01,
+        "attached_object": 0.0,
+      }
+    #link_names: ["panda_link4"]
+    mesh_link_names:
+      [
+        "panda_link0",
+        "panda_link1",
+        "panda_link2",
+        "panda_link3",
+        "panda_link4",
+        "panda_link5",
+        "panda_link6",
+        "panda_link7",
+        "panda_hand",
+        "panda_leftfinger",
+        "panda_rightfinger",
+      ]
+    lock_joints: {"panda_finger_joint1": 0.04, "panda_finger_joint2": 0.04}
+    extra_links: {"attached_object":{"parent_link_name": "panda_hand" ,
+    "link_name": "attached_object", "fixed_transform": [0,0,0,1,0,0,0], "joint_type":"FIXED",
+    "joint_name": "attach_joint" }}
+    cspace:
+      joint_names: ["panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5",
+      "panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"]
+      #  0.2200, -1.4012, -0.0406, -1.4901,  0.3050,  0.4521,  0.2099
+      retract_config: [0.2200, -1.4012, -0.0406, -1.4901,  0.3050,  0.4521,  0.2099, 0.04, 0.04]
+      null_space_weight: [1,1,1,1,1,1,1,1,1]
+      cspace_distance_weight: [1,1,1,1,1,1,1,1,1]
+      max_acceleration: 15.0
+      max_jerk: 500.0
+planner:
+  frame_bias: [0., 0., 0.]

embodiments/franka-panda/curobo_tmp.yml

@@ -0,0 +1,117 @@
+##
+## 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: "/Isaac/Robots/Franka/franka.usd"
+    # usd_path: "robot/non_shipping/franka/franka_panda_meters.usda"
+    # usd_robot_root: "/panda"
+    # usd_flip_joints: ["panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5",
+    #   "panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"]
+    # usd_flip_joints: {
+    # "panda_joint1": "Z",
+    # "panda_joint2": "Z",
+    # "panda_joint3": "Z",
+    # "panda_joint4": "Z",
+    #  "panda_joint5": "Z",
+    # "panda_joint6": "Z",
+    # "panda_joint7": "Z",
+    # "panda_finger_joint1": "Y",
+    #  "panda_finger_joint2":  "Y",
+    # }
+
+    # usd_flip_joint_limits: ["panda_finger_joint2"]
+    urdf_path: ${ASSETS_PATH}/assets/embodiments/franka-panda/panda.urdf
+    asset_root_path: null #"robot/franka_description"
+    base_link: "panda_link0"
+    ee_link: "panda_hand"
+    collision_link_names:
+      [
+        "panda_link0",
+        "panda_link1",
+        "panda_link2",
+        "panda_link3",
+        "panda_link4",
+        "panda_link5",
+        "panda_link6",
+        "panda_link7",
+        "panda_hand",
+        "panda_leftfinger",
+        "panda_rightfinger",
+        "attached_object",
+      ]
+    collision_spheres: ${ASSETS_PATH}/assets/embodiments/franka-panda/collision_franka.yml
+    collision_sphere_buffer: 0.004 # 0.0025
+    extra_collision_spheres: {"attached_object": 4}
+    use_global_cumul: True
+    self_collision_ignore:
+      {
+        "panda_link0": ["panda_link1", "panda_link2"],
+        "panda_link1": ["panda_link2", "panda_link3", "panda_link4"],
+        "panda_link2": ["panda_link3", "panda_link4"],
+        "panda_link3": ["panda_link4", "panda_link6"],
+        "panda_link4":
+          ["panda_link5", "panda_link6", "panda_link7", "panda_link8"],
+        "panda_link5": ["panda_link6", "panda_link7", "panda_hand","panda_leftfinger", "panda_rightfinger"],
+        "panda_link6": ["panda_link7", "panda_hand", "attached_object", "panda_leftfinger", "panda_rightfinger"],
+        "panda_link7": ["panda_hand", "attached_object", "panda_leftfinger", "panda_rightfinger"],
+        "panda_hand": ["panda_leftfinger", "panda_rightfinger","attached_object"],
+        "panda_leftfinger": ["panda_rightfinger", "attached_object"],
+        "panda_rightfinger": ["attached_object"],
+
+      }
+
+    self_collision_buffer:
+      {
+        "panda_link0": 0.1,
+        "panda_link1": 0.05,
+        "panda_link2": 0.0,
+        "panda_link3": 0.0,
+        "panda_link4": 0.0,
+        "panda_link5": 0.0,
+        "panda_link6": 0.0,
+        "panda_link7": 0.0,
+        "panda_hand": 0.02,
+        "panda_leftfinger": 0.01,
+        "panda_rightfinger": 0.01,
+        "attached_object": 0.0,
+      }
+    #link_names: ["panda_link4"]
+    mesh_link_names:
+      [
+        "panda_link0",
+        "panda_link1",
+        "panda_link2",
+        "panda_link3",
+        "panda_link4",
+        "panda_link5",
+        "panda_link6",
+        "panda_link7",
+        "panda_hand",
+        "panda_leftfinger",
+        "panda_rightfinger",
+      ]
+    lock_joints: {"panda_finger_joint1": 0.04, "panda_finger_joint2": 0.04}
+    extra_links: {"attached_object":{"parent_link_name": "panda_hand" ,
+    "link_name": "attached_object", "fixed_transform": [0,0,0,1,0,0,0], "joint_type":"FIXED",
+    "joint_name": "attach_joint" }}
+    cspace:
+      joint_names: ["panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5",
+      "panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"]
+      #  0.2200, -1.4012, -0.0406, -1.4901,  0.3050,  0.4521,  0.2099
+      retract_config: [0.2200, -1.4012, -0.0406, -1.4901,  0.3050,  0.4521,  0.2099, 0.04, 0.04]
+      null_space_weight: [1,1,1,1,1,1,1,1,1]
+      cspace_distance_weight: [1,1,1,1,1,1,1,1,1]
+      max_acceleration: 15.0
+      max_jerk: 500.0
+planner:
+  frame_bias: [0., 0., 0.]

embodiments/franka-panda/franka_description/meshes/visual/camera_base.stl

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+oid sha256:ae114b7804ba5d1e8d115f794634864ce0e273781682eee760c82baf1f47f0fd
+size 507284

embodiments/franka-panda/franka_description/meshes/visual/d435.dae

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+size 21433515

embodiments/franka-panda/franka_description/meshes/visual/hand.SLDPRT

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embodiments/franka-panda/franka_description/meshes/visual/hand.glb

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+size 590608

embodiments/franka-panda/franka_description/meshes/visual/link0.glb

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+size 1519800

embodiments/franka-panda/franka_description/meshes/visual/link1.glb

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embodiments/franka-panda/franka_description/meshes/visual/link2.glb

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+size 983620

embodiments/franka-panda/franka_description/meshes/visual/link3.glb

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+size 1105564

embodiments/franka-panda/franka_description/meshes/visual/link4.glb

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+size 1131436

embodiments/franka-panda/franka_description/meshes/visual/link5.glb

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embodiments/franka-panda/franka_description/meshes/visual/link6.glb

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+size 1666640

embodiments/franka-panda/franka_description/meshes/visual/link7.glb

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embodiments/franka-panda/panda.srdf

@@ -0,0 +1,80 @@
+<?xml version="1.0" ?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="panda">
+  <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+  <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+  <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+  <!--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-->
+  <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+  <group name="panda_arm">
+    <joint name="virtual_joint"/>
+    <joint name="panda_joint1"/>
+    <joint name="panda_joint2"/>
+    <joint name="panda_joint3"/>
+    <joint name="panda_joint4"/>
+    <joint name="panda_joint5"/>
+    <joint name="panda_joint6"/>
+    <joint name="panda_joint7"/>
+    <joint name="panda_joint8"/>
+    <joint name="panda_hand_joint"/>
+  </group>
+  <group name="hand">
+    <link name="panda_hand"/>
+    <link name="panda_leftfinger"/>
+    <link name="panda_rightfinger"/>
+  </group>
+  <!--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'-->
+  <group_state name="home" group="panda_arm">
+    <joint name="panda_joint1" value="0"/>
+    <joint name="panda_joint2" value="0"/>
+    <joint name="panda_joint3" value="0"/>
+    <joint name="panda_joint4" value="0"/>
+    <joint name="panda_joint5" value="0"/>
+    <joint name="panda_joint6" value="3.1416"/>
+    <joint name="panda_joint7" value="1.5708"/>
+  </group_state>
+  <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+  <end_effector name="eef" parent_link="panda_link8" group="hand"/>
+  <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
+  <virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="panda_link0"/>
+  <!--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. -->
+  <disable_collisions link1="panda_hand" link2="panda_leftfinger" reason="Adjacent"/>
+  <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never"/>
+  <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never"/>
+  <disable_collisions link1="panda_hand" link2="panda_link5" reason="Default"/>
+  <disable_collisions link1="panda_hand" link2="panda_link6" reason="Never"/>
+  <disable_collisions link1="panda_hand" link2="panda_link7" reason="Default"/>
+  <disable_collisions link1="panda_hand" link2="panda_rightfinger" reason="Adjacent"/>
+  <disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never"/>
+  <disable_collisions link1="panda_leftfinger" link2="panda_link4" reason="Never"/>
+  <disable_collisions link1="panda_leftfinger" link2="panda_link6" reason="Never"/>
+  <disable_collisions link1="panda_leftfinger" link2="panda_link7" reason="Never"/>
+  <disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Default"/>
+  <disable_collisions link1="panda_link0" link2="panda_link1" reason="Adjacent"/>
+  <disable_collisions link1="panda_link0" link2="panda_link2" reason="Never"/>
+  <disable_collisions link1="panda_link0" link2="panda_link3" reason="Never"/>
+  <disable_collisions link1="panda_link0" link2="panda_link4" reason="Never"/>
+  <disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent"/>
+  <disable_collisions link1="panda_link1" link2="panda_link3" reason="Never"/>
+  <disable_collisions link1="panda_link1" link2="panda_link4" reason="Never"/>
+  <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent"/>
+  <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never"/>
+  <disable_collisions link1="panda_link2" link2="panda_link6" reason="Never"/>
+  <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent"/>
+  <disable_collisions link1="panda_link3" link2="panda_link5" reason="Never"/>
+  <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never"/>
+  <disable_collisions link1="panda_link3" link2="panda_link7" reason="Never"/>
+  <disable_collisions link1="panda_link3" link2="panda_rightfinger" reason="Never"/>
+  <disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent"/>
+  <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never"/>
+  <disable_collisions link1="panda_link4" link2="panda_link7" reason="Never"/>
+  <disable_collisions link1="panda_link4" link2="panda_rightfinger" reason="Never"/>
+  <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent"/>
+  <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default"/>
+  <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent"/>
+  <disable_collisions link1="panda_link6" link2="panda_rightfinger" reason="Never"/>
+  <disable_collisions link1="panda_link7" link2="panda_rightfinger" reason="Never"/>
+</robot>

embodiments/franka-panda/panda.urdf

@@ -0,0 +1,256 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from panda_arm_hand.urdf.xacro      | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link0.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link1.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link2.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link3.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link4.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link5.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link6.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link6.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link7.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link7.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link8"/>
+  <joint name="panda_joint8" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <parent link="panda_link7"/>
+    <child link="panda_link8"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link8"/>
+    <child link="panda_hand"/>
+    <origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
+  </joint>
+  <link name="panda_hand">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/hand.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/hand.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="camera_base">
+    <visual>
+      <origin rpy="-1.57079632679 -1.57079632679 -1.57079632679" xyz="0.008 -0.019 0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/camera_base.glb" />
+      </geometry>
+    </visual>
+  </link>
+  <joint name="hand_to_camera_mount" type="fixed">
+    <parent link="panda_hand"/>
+    <child link="camera_base"/>
+    <origin rpy="3.14159265359 -1.57079632679 -1.57079632679" xyz="0 0 0"/>
+    <!-- <axis xyz="0 -1 0"/> -->
+  </joint>
+
+  <link name="camera">
+    <visual>
+      <origin rpy="1.57079632679 -0 1.57079632679" xyz="0.0 -0.033 -0.0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/d435.dae" />
+      </geometry>
+    </visual>
+  </link>
+  <joint name="camera_joint" type="fixed">
+    <parent link="camera_base"/>
+    <child link="camera"/>
+    <origin rpy="1.57079632679 0 -0" xyz="0.042 -0.045 0.0"/>
+    <!-- <axis xyz="0 -1 0"/> -->
+  </joint>
+  <link name="panda_leftfinger">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_rightfinger">
+    <visual>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_finger_joint1" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_leftfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
+  </joint>
+  <joint name="panda_finger_joint2" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_rightfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 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>
+</robot>
+