Replies: 3 comments
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Hi, I'm trying a similar thing as you describe in your case, I set the robot config as: UR5_ROBOTIQ_CFG = ArticulationCfg(
spawn=sim_utils.UsdFileCfg(
# usd_path= get_assets_root_path() + "/Isaac/Robots/UniversalRobots/ur5/ur5.usd",
usd_path = "/home/hri-david/Omniverse/Orbit/Santi_tests/assets/ur5_robotiq_2f_140.usd",
rigid_props=sim_utils.RigidBodyPropertiesCfg(
disable_gravity=False,
max_depenetration_velocity=5.0,
),
activate_contact_sensors=False,
),
init_state=ArticulationCfg.InitialStateCfg(
joint_pos={
"shoulder_pan_joint": 0.0,
"shoulder_lift_joint": -1.712,
"elbow_joint": 1.712,
"wrist_1_joint": 0.0,
"wrist_2_joint": 0.0,
"wrist_3_joint": 0.0,
"body_f1_.*": 0.0,
"f1_f2_.*": 0.0,
},
),
actuators={
"shoulder": ImplicitActuatorCfg(
joint_names_expr=["shoulder_.*"],
velocity_limit=100.0,
effort_limit=87.0,
stiffness=800.0,
damping=40.0,
),
"elbow": ImplicitActuatorCfg(
joint_names_expr=["elbow_joint"],
velocity_limit=100.0,
effort_limit=87.0,
stiffness=800.0,
damping=40.0,
),
"wrist": ImplicitActuatorCfg(
joint_names_expr=["wrist_.*"],
velocity_limit=100.0,
effort_limit=87.0,
stiffness=800.0,
damping=40.0,
),
"gripper_out": ImplicitActuatorCfg(
joint_names_expr=["body_f1_.*"],
velocity_limit=100.0,
effort_limit=87.0,
stiffness=800.0,
damping=40.0,
),
"gripper_in": ImplicitActuatorCfg(
joint_names_expr=["f1_f2_.*"],
velocity_limit=100.0,
effort_limit=87.0,
stiffness=800.0,
damping=40.0,
),
},
) and my usd file hierarchy is: However, I have a similar error as you:
I wonder if you find a solution to make it work, Thank you in advance! |
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I'm wondering how we can combine UR/Panda and Robotiq Gripper. Any updates about this issue? |
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Hi all, |
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Hi everyone, recently I've built a simple manipulator with robotiq 2f 85 mounted on the end effector of ur10e and tried to load it into the ArticulationCfg class and instantiate a scene with it as a robot. But it seems like only one articulation root is able to be replaced into the scene (As I have two seperate articulation roots as gripper and robot arm).
The following is my usd hierarchy (ManipulatorMounted.usd):
My configuration code is:
Notice that the data are adapted from the UR10 tutorials and the joints in the gripper were not set up due to the current failure of running my code.
And configured through:
Following is my RL environment configuration:
It shows the following error if both the robotiq gripper and robot arm are articulation roots:
It shows the following error if I remove the seperate articulation roots while set the
Root
path as the articulation root:Does anyone have idea how to mount such a gripper on the robot properly so that it can be parsed by the InteractiveSceneCfg class properly?
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