Source code for metasim.cfg.robots.sawyer_mujoco_metacfg
from __future__ import annotations
from metasim.utils import configclass
from .base_robot_metacfg import BaseActuatorMetaCfg, BaseRobotMetaCfg
[docs]
@configclass
class SawyerMujocoMetaCfg(BaseRobotMetaCfg):
name: str = "sawyer"
num_joints: int = 9
usd_path: str = "roboverse_data/robots/sawyer/usd/sawyer_mujoco_v1.usd"
mjcf_path: str = "roboverse_data/robots/sawyer/mjcf/sawyer.xml"
freejoint: bool = False
enabled_gravity: bool = False
enabled_self_collisions: bool = False
actuators: dict[str, BaseActuatorMetaCfg] = {
"right_j0": BaseActuatorMetaCfg(),
"right_j1": BaseActuatorMetaCfg(),
"right_j2": BaseActuatorMetaCfg(),
"right_j3": BaseActuatorMetaCfg(),
"right_j4": BaseActuatorMetaCfg(),
"right_j5": BaseActuatorMetaCfg(),
"right_j6": BaseActuatorMetaCfg(),
"r_close": BaseActuatorMetaCfg(is_ee=True),
"l_close": BaseActuatorMetaCfg(is_ee=True),
}
joint_limits: dict[str, tuple[float, float]] = {
"right_j0": (-3.0503, 3.0503),
"right_j1": (-3.8, -0.5),
"right_j2": (-3.0426, 3.0426),
"right_j3": (-3.0439, 3.0439),
"right_j4": (-2.9761, 2.9761),
"right_j5": (-2.9761, 2.9761),
"right_j6": (-4.7124, 4.7124),
"r_close": (0.0, 0.04),
"l_close": (-0.03, 0),
}
# ee_prim_path: str = "sawyer_right_hand"
# gripper_release_q = [0.020833, -0.020833]
# gripper_actuate_q = [0.0, 0.0]
# curobo_ref_cfg_name: str = "sawyer.yml"
# curobo_tcp_rel_pos: tuple[float, float, float] = [0.0, 0.0, 0.105]
# curobo_tcp_rel_rot: tuple[float, float, float] = [0.0, 0.0, 0.0]