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]