Hi, exporting xrdf for cuMotion from isaac sim 4.2, first of all it doesnt add buffer distance which is required by cuMotion pipeline, second i keep getting the same message for what ever xrdf i upload to it.
i am following this guide: Lula Robot Description and XRDF Editor — Omniverse IsaacSim latest documentation ,
i believe i need to understand the nuances of exporting xrdf in order to create a correct one without some initial state collision. i will upload photo and xrdf, please help me understand what am i doing wrong.
format: “xrdf”
format_version: 1.0
default_joint_positions:
L_joint1: -0.0262
R_joint1: -0.0262
L_joint2: -1.9022
R_joint2: -1.9022
L_joint3: -0.9087
R_joint3: -0.9087
L_joint4: 0.0277
R_joint4: 0.0277
L_joint5: 1.2402
R_joint5: 1.2402
L_joint6: -0.0096
R_joint6: -0.0096
tool_frames: [“R_end_effector_link”]
cspace:
joint_names:
- “L_joint1”
- “R_joint1”
- “L_joint2”
- “R_joint2”
- “L_joint3”
- “R_joint3”
- “L_joint4”
- “R_joint4”
- “L_joint5”
- “R_joint5”
- “L_joint6”
- “R_joint6”
acceleration_limits: [10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10]
jerk_limits: [10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000]
collision:
geometry: “auto_generated_collision_sphere_group”
buffer_distance:
R_link1: 0.001
R_link2: 0.001
R_link3: 0.001
R_link4: 0.001
R_link5: 0.001
R_link6: 0.001
L_link1: 0.001
L_link2: 0.001
L_link3: 0.001
L_link4: 0.001
L_link5: 0.001
L_link6: 0.001
self_collision:
geometry: “auto_generated_collision_sphere_group”
buffer_distance:
R_link1: 0.001
R_link2: 0.001
R_link3: 0.001
R_link4: 0.001
R_link5: 0.001
R_link6: 0.001
L_link1: 0.001
L_link2: 0.001
L_link3: 0.001
L_link4: 0.001
L_link5: 0.001
L_link6: 0.001
ignore:
world:
- “L_link_base”
- “R_link_base”
- “world_metal_frame”
L_link_base:
- “L_link1”
- “R_link_base”
- “world_metal_frame”
- “Metal_frame”
L_link1:
- “L_link2”
L_link2:
- “L_link3”
L_link3:
- “L_link4”
L_link4:
- “L_link5”
L_link5:
- “L_link6”
L_link6:
- “L_link_eef”
L_link_eef:
- “L_xarm_daily_cutter_link”
L_xarm_daily_cutter_link:
- “L_link_tcp”
L_link_tcp:
- “L_end_effector_link”
L_end_effector_link:
- “L_strawberry_1”
- “L_strawberry_2”
- “L_strawberry_3”
- “L_strawberry_4”
- “L_strawberry_5”
- “L_strawberry_6”
- “L_strawberry_7”
- “L_strawberry_8”
- “L_strawberry_9”
R_link_base:
- “R_link1”
- “world_metal_frame”
- “Metal_frame”
R_link1:
- “R_link2”
R_link2:
- “R_link3”
R_link3:
- “R_link4”
R_link4:
- “R_link5”
R_link5:
- “R_link6”
R_link6:
- “R_link_eef”
R_link_eef:
- “R_xarm_daily_gripper_link”
R_xarm_daily_gripper_link:
- “R_link_tcp”
R_link_tcp:
- “R_end_effector_link”
R_end_effector_link:
- “R_zed_x_mini_link”
world_metal_frame:
- “Metal_frame”
- “zed_x_front”
- “zed_x_top”
L_strawberry_1:
- “L_strawberry_2”
- “L_strawberry_3”
- “L_strawberry_4”
- “L_strawberry_5”
- “L_strawberry_6”
- “L_strawberry_7”
- “L_strawberry_8”
- “L_strawberry_9”
L_strawberry_2:
- “L_strawberry_3”
- “L_strawberry_4”
- “L_strawberry_5”
- “L_strawberry_6”
- “L_strawberry_7”
- “L_strawberry_8”
- “L_strawberry_9”
L_strawberry_3:
- “L_strawberry_4”
- “L_strawberry_5”
- “L_strawberry_6”
- “L_strawberry_7”
- “L_strawberry_8”
- “L_strawberry_9”
L_strawberry_4:
- “L_strawberry_5”
- “L_strawberry_6”
- “L_strawberry_7”
- “L_strawberry_8”
- “L_strawberry_9”
L_strawberry_5:
- “L_strawberry_6”
- “L_strawberry_7”
- “L_strawberry_8”
- “L_strawberry_9”
L_strawberry_6:
- “L_strawberry_7”
- “L_strawberry_8”
- “L_strawberry_9”
L_strawberry_7:
- “L_strawberry_8”
- “L_strawberry_9”
L_strawberry_8:
- “L_strawberry_9”
Metal_frame:
- “zed_x_front”
- “zed_x_top”
- “R_link_base”
- “L_link_base”
zed_x_front:
- “zed_x_top”
geometry:
auto_generated_collision_sphere_group:
spheres:
L_link_base:
- center: [0.0, 0.0, 0.085]
radius: 0.075
- center: [0.0, 0.0, 0.09]
radius: 0.075
L_link1:
- center: [0.0, -0.0, -0.067]
radius: 0.075
- center: [0.0, 0.0, 0.0]
radius: 0.075
- center: [-0.0, 0.017, -0.0]
radius: 0.075
L_link2:
- center: [-0.005, -0.117, 0.079]
radius: 0.05
- center: [0.001, -0.002, 0.089]
radius: 0.05
- center: [-0.003, -0.078, 0.082]
radius: 0.05
- center: [-0.001, -0.04, 0.086]
radius: 0.05
- center: [-0.005, -0.108, -0.008]
radius: 0.05
- center: [-0.005, -0.114, 0.05]
radius: 0.05
- center: [-0.005, -0.111, 0.021]
radius: 0.05
- center: [0.002, -0.238, -0.018]
radius: 0.05
- center: [-0.0, -0.195, -0.003]
radius: 0.05
- center: [-0.002, -0.152, 0.0]
radius: 0.05
- center: [0.017, -0.281, -0.022]
radius: 0.05
- center: [0.052, -0.284, 0.052]
radius: 0.05
- center: [0.035, -0.301, -0.027]
radius: 0.05
- center: [0.044, -0.294, 0.027]
radius: 0.05
L_link3:
- center: [0.002, -0.001, 0.074]
radius: 0.05
- center: [0.081, 0.074, 0.072]
radius: 0.05
- center: [0.028, 0.024, 0.073]
radius: 0.05
- center: [0.055, 0.049, 0.073]
radius: 0.05
- center: [0.079, 0.078, 0.002]
radius: 0.05
- center: [0.08, 0.135, -0.001]
radius: 0.05
L_link4:
- center: [-0.001, 0.001, -0.151]
radius: 0.05
- center: [0.0, 0.054, 0.0]
radius: 0.05
- center: [-0.0, 0.029, -0.1]
radius: 0.05
- center: [-0.0, 0.049, -0.05]
radius: 0.05
- center: [0.0, 0.037, 0.0]
radius: 0.05
L_link5:
- center: [-0.0, 0.0, 0.014]
radius: 0.05
- center: [0.066, 0.0, 0.005]
radius: 0.05
- center: [0.072, 0.035, 0.001]
radius: 0.05
L_link6:
- center: [0.0, 0.0, -0.049]
radius: 0.05
L_xarm_daily_cutter_link:
- center: [-0.0, -0.0, 0.008]
radius: 0.05
- center: [0.154, 0.007, 0.029]
radius: 0.06
- center: [0.173, 0.0, 0.53]
radius: 0.07
- center: [0.028, -0.0, 0.528]
radius: 0.07
- center: [0.051, 0.002, 0.037]
radius: 0.06
- center: [0.103, 0.005, 0.031]
radius: 0.06
- center: [0.167, 0.002, 0.353]
radius: 0.07
- center: [0.161, 0.005, 0.177]
radius: 0.07
- center: [0.169, 0.001, 0.424]
radius: 0.07
- center: [0.165, 0.003, 0.318]
radius: 0.07
- center: [0.162, 0.004, 0.212]
radius: 0.07
- center: [0.158, 0.006, 0.106]
radius: 0.07
- center: [0.1, 0.0, 0.529]
radius: 0.07
