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gripper_isaac_info.json
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gripper_isaac_info.json
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{
"fetch_gripper": {
"EF_axis": 1,
"physics_frequency": 120,
"close_dir": [1,1],
"contact_names": ["l_gripper_finger_link_joint","r_gripper_finger_link_joint"],
"contact_th":1,
"transfer_close_dir": [2,2],
"transfer_contact_th": 2,
"opened_dofs": [-0.025,-0.025],
"transfer_reference_pose": [-0.135, 0, 0, 0.707106781186548, 0, -0.707106781186548, 0]
},
"franka_panda": {
"EF_axis": 3,
"physics_frequency": 120,
"close_dir": [-1, -1],
"contact_names": ["panda_hand", "panda_leftfinger", "panda_rightfinger"],
"contact_th":1,
"transfer_close_dir": [-2,-2],
"transfer_contact_th": 2,
"opened_dofs": [0.04, 0.04],
"transfer_reference_pose": [0, 0, -0.06, 1, 0, 0, 0]
},
"sawyer": {
"EF_axis": 3,
"physics_frequency": 120,
"close_dir": [1,1],
"contact_names": [ "leftfinger", "rightfinger"],
"contact_th":1,
"transfer_close_dir": [2,2],
"transfer_contact_th": 2,
"opened_dofs": [0, 0],
"transfer_reference_pose": [0, 0, -0.05, 1, 0, 0, 0]
},
"wsg_50": {
"EF_axis": 3,
"physics_frequency": 120,
"close_dir": [1,-1],
"contact_names": ["gripper_left", "gripper_right"],
"contact_th":1,
"transfer_close_dir": [2,-2],
"transfer_contact_th": 2,
"opened_dofs": [-0.055, 0.055],
"transfer_reference_pose": [ 0, 0, -0.072, 0.707106781186548, 0, 0, 0.707106781186548]
},
"Barrett": {
"EF_axis": 3,
"physics_frequency": 120,
"close_dir": [0, 0, 1, 1, 1, 0, 0, 0],
"contact_names": ["a_link2_joint","a_link3_joint","b_link2_joint","b_link3_joint","c_link2_joint_0","c_link3_joint"],
"contact_th":1,
"transfer_close_dir": [0, 0, 2, 2, 2, 0, 0, 0],
"transfer_contact_th": 2,
"opened_dofs": [0.523599,0.523599,0,0,0,0,0,0],
"transfer_reference_pose": [0, 0, 0, 1, 0, 0, 0]
},
"jaco_robot": {
"EF_axis": -1,
"physics_frequency": 120,
"close_dir": [1, 1, 1],
"contact_names": ["jaco_8_finger_index", "jaco_8_finger_thumb", "jaco_8_finger_pinkie"],
"contact_th":1,
"transfer_close_dir": [2, 2, 2],
"transfer_contact_th": 2,
"opened_dofs": [0, 0, 0],
"transfer_reference_pose": [0.102, 0, 0, 0.707106781186548, -0, 0.707106781186548, 0]
},
"robotiq_3finger": {
"EF_axis": 2,
"physics_frequency": 120,
"close_dir": [0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0],
"contact_names": ["RIQ_link_1_joint_a", "RIQ_link_1_joint_b", "RIQ_link_1_joint_c",
"RIQ_link_2_joint_a", "RIQ_link_2_joint_b", "RIQ_link_2_joint_c",
"RIQ_link_3_joint_a", "RIQ_link_3_joint_b", "RIQ_link_3_joint_c"],
"contact_th":1,
"transfer_close_dir": [0, 0, 2, 2, 2, 2, 2, 2, 0, 0, 0],
"transfer_contact_th": 2,
"opened_dofs": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
"transfer_reference_pose": [0, -0.05, 0, 0.5, 0.5, -0.5, -0.5]
},
"Allegro": {
"EF_axis": 1,
"physics_frequency": 120,
"close_dir": [0, 0.5, 0, 0, 1, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0],
"contact_names":[ "link_0_0", "link_2_0","link_3_0", "link_4_0", "link_5_0","link_6_0","link_7_0","link_8_0","link_9_0","link_10_0",
"link_11_0","link_12_0","link_13_0","link_14_0","link_15_0"],
"contact_th":1,
"transfer_close_dir": [0, 1.5, 0, 0, 2, 0, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0],
"transfer_contact_th": 2,
"opened_dofs": [0, 0, 0, 0, -0.191986, 1.16937, -0.191986, -0.191986, -0.174533, 0,
-0.15708, -0.174533, 0.174533, 0.174533, 0.174533, 0.174533],
"transfer_reference_pose": [0, 0, 0.03, 0.5, -0.5, -0.5, -0.5]
},
"HumanHand": {
"EF_axis": -2,
"physics_frequency": 120,
"close_dir": [0, 0, 0, 0, 0, 1, 1, 1, 1, 0.75, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
"contact_names":["index1_joint","index2_joint","index3_joint", "mid1_joint","mid2_joint","mid3_joint",
"pinky1_joint","pinky2_joint","pinky3_joint", "ring1_joint","ring2_joint","ring3_joint",
"thumb1_joint","thumb2_joint","thumb3_joint" ],
"contact_th":1,
"transfer_close_dir": [0, 0, 0, 0, 0, 2, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0 , 0, 0, 0 , 0],
"transfer_contact_th": 2,
"opened_dofs": [0.174533, 0, -0.261799, -0.0872665, -0.174533, -0.174533, -0.174533, -0.174533,
-0.174533, -0.872665, -0.174533, -0.174533, -0.174533, -0.174533, -0.174533,
0.349066, 0.349066, 0.349066, 0.349066, 0.349066],
"transfer_reference_pose": [0.1, 0.02, 0, 0.5, -0.5, 0.5, -0.5]
},
"shadow_hand": {
"EF_axis": -2,
"physics_frequency": 120,
"close_dir": [0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 1, 1, 1, 1, 0, 0, 1, 0, 0, 1, 0, 1],
"contact_names": [ "index_finger_proximal", "index_finger_middle", "index_finger_distal",
"little_finger_proximal", "little_finger_middle", "little_finger_distal",
"middle_finger_proximal", "middle_finger_middle", "middle_finger_distal",
"ring_finger_proximal", "ring_finger_middle", "ring_finger_distal",
"thumb_proximal", "thumb_middle", "thumb_distal"],
"contact_th":1,
"transfer_close_dir": [0 , 0, 0, 0, 2, 2, 0, 2, 2, 0, 2, 2, 2, 2, 0, 0, 2, 0, 0, 2, 0, 2],
"transfer_contact_th": 2,
"opened_dofs": [-0.174533, 0.261799, -0.0872665, 0, -0.785398, 0, -0.0872665, 0, 0, 1.20428,
0, 0, 0, 0, 0, 0.349066, 0, 0.349066, 0.349066, -0.349066, 0.349066, 0.349066],
"transfer_reference_pose": [0, 0, -0.05, 0.707106781186548, -0.707106781186548, 0, 0]
},
"h5_hand": {
"EF_axis": -3,
"physics_frequency": 120,
"close_dir": [1,-1,0,0],
"contact_names": ["left_tip_link", "right_tip_link"],
"contact_th":1,
"transfer_close_dir": [2,-2,0,0],
"transfer_contact_th": 2,
"opened_dofs": [-1.37881, 1.37881,1.37881,-1.37881],
"transfer_reference_pose": [0, 0, 0.07, 0 , -0, 1, 0]
}
}