Source code for metasim.cfg.robots.ur5e_2f85_metacfg
from __future__ import annotations
from metasim.utils import configclass
from .base_robot_metacfg import BaseActuatorMetaCfg, BaseRobotMetaCfg
[docs]
@configclass
class Ur5E2F85MetaCfg(BaseRobotMetaCfg):
name: str = "ur5e_2f85"
num_joints: int = 12
usd_path: str = "data_isaaclab/robots/UniversalRobots/ur5e/ur5e_2f85_fix.usd"
enabled_gravity: bool = False
enabled_self_collisions: bool = False
actuators: dict[str, BaseActuatorMetaCfg] = {
"shoulder_pan_joint": BaseActuatorMetaCfg(velocity_limit=2.175),
"shoulder_lift_joint": BaseActuatorMetaCfg(velocity_limit=2.175),
"elbow_joint": BaseActuatorMetaCfg(velocity_limit=2.175),
"wrist_1_joint": BaseActuatorMetaCfg(velocity_limit=2.175),
"wrist_2_joint": BaseActuatorMetaCfg(velocity_limit=2.61),
"wrist_3_joint": BaseActuatorMetaCfg(velocity_limit=2.61),
# "finger_joint": BaseActuatorMetaCfg(velocity_limit=2.61, is_ee=True),
# "left_inner_finger_joint": BaseActuatorMetaCfg(velocity_limit=2.61, is_ee=True),
# "left_inner_knuckle_joint": BaseActuatorMetaCfg(velocity_limit=2.61, is_ee=True),
# "right_inner_finger_joint": BaseActuatorMetaCfg(velocity_limit=2.61, is_ee=True),
# "right_inner_knuckle_joint": BaseActuatorMetaCfg(velocity_limit=2.61, is_ee=True),
# "right_outer_knuckle_joint": BaseActuatorMetaCfg(velocity_limit=2.61, is_ee=True),
}
joint_limits: dict[str, tuple[float, float]] = {
"shoulder_pan_joint": (-6.28319, 6.28319),
"shoulder_lift_joint": (-6.28319, 6.28319),
"elbow_joint": (-3.14159, 3.14159),
"wrist_1_joint": (-6.28319, 6.28319),
"wrist_2_joint": (-6.28319, 6.28319),
"wrist_3_joint": (-6.28319, 6.28319),
# "finger_joint": (0.0, 0.785398),
# "left_inner_finger_joint": (0.0, 0.785398),
# "left_inner_knuckle_joint": (0.0, 0.785398),
# "right_inner_finger_joint": (0.0, 0.785398),
# "right_inner_knuckle_joint": (0.0, 0.785398),
# "right_outer_knuckle_joint": (0.0, 0.785398),
}
ee_prim_path: str = "wrist_3_link"
gripper_release_q = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
gripper_actuate_q = [0.785398, 0.785398, 0.785398, 0.785398, 0.785398, 0.785398]
curobo_ref_cfg_name: str = "ur5e_robotiq_2f_140.yml"
curobo_tcp_rel_pos: tuple[float, float, float] = [0.0, 0.0, -0.0635]
curobo_tcp_rel_rot: tuple[float, float, float] = [0.0, 0.0, 0.0]