File size: 2,673 Bytes
7399b6f | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 | # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""Configuration for the Universal Robots.
The following configuration parameters are available:
* :obj:`UR10_LEFT_CFG`: The UR10 arm without a gripper (left side).
* :obj:`UR10_RIGHT_CFG`: The UR10 arm without a gripper (right side).
Reference: https://github.com/ros-industrial/universal_robot
"""
import isaaclab.sim as sim_utils
from isaaclab.actuators import ImplicitActuatorCfg
from isaaclab.assets.articulation import ArticulationCfg
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
##
# Configuration
##
UR10_LEFT_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/UniversalRobots/UR10/ur10_instanceable.usd",
),
init_state=ArticulationCfg.InitialStateCfg(
pos=(0.28, 0.74, 0.827),
rot=(0.0, 0.0, 0.0, 1.0),
joint_pos={
"shoulder_pan_joint": 1.5707,
"shoulder_lift_joint": -1.5707,
"elbow_joint": 1.5707,
"wrist_1_joint": -1.5707,
"wrist_2_joint": -1.5707,
"wrist_3_joint": 0.0,
},
),
actuators={
"arm": ImplicitActuatorCfg(
joint_names_expr=[
"shoulder_pan_joint",
"shoulder_lift_joint",
"elbow_joint",
"wrist_1_joint",
"wrist_2_joint",
"wrist_3_joint",
],
effort_limit_sim=150.0,
stiffness=800.0,
damping=40.0,
),
},
)
UR10_RIGHT_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/UniversalRobots/UR10/ur10_instanceable.usd",
),
init_state=ArticulationCfg.InitialStateCfg(
pos=(1.00, 0.74, 0.827),
rot=(0.0, 0.0, 0.0, 1.0),
joint_pos={
"shoulder_pan_joint": -1.5707,
"shoulder_lift_joint": -1.5707,
"elbow_joint": -1.5707,
"wrist_1_joint": -1.5707,
"wrist_2_joint": 1.5707,
"wrist_3_joint": 0.0,
},
),
actuators={
"arm": ImplicitActuatorCfg(
joint_names_expr=[
"shoulder_pan_joint",
"shoulder_lift_joint",
"elbow_joint",
"wrist_1_joint",
"wrist_2_joint",
"wrist_3_joint",
],
effort_limit_sim=150.0,
stiffness=800.0,
damping=40.0,
),
},
)
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