Merge updated main into benchmark.

assets/urdf/panda_isaac/robots/franka_panda_stick.urdf

@@ -0,0 +1,202 @@
+<?xml version="1.0" ?>
+<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <material name="purple">
+    <color rgba="0.5 0.1 0.7 1"/>
+  </material>
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="package://panda_isaac/meshes/visual/link0.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://panda_isaac/meshes/collision/link0.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="package://panda_isaac/meshes/visual/link1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://panda_isaac/meshes/collision/link1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="package://panda_isaac/meshes/visual/link2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://panda_isaac/meshes/collision/link2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="package://panda_isaac/meshes/visual/link3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://panda_isaac/meshes/collision/link3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="package://panda_isaac/meshes/visual/link4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://panda_isaac/meshes/collision/link4.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>    
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+    <!-- something is weird with this joint limit config
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/>  -->
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="package://panda_isaac/meshes/visual/link5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://panda_isaac/meshes/collision/link5.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="package://panda_isaac/meshes/visual/link6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://panda_isaac/meshes/collision/link6.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+    <!-- <dynamics damping="10.0"/>
+    <limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="package://panda_isaac/meshes/visual/link7.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://panda_isaac/meshes/collision/link7.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+
+  <link name="panda_ee_finger">
+    <visual>
+      <geometry>
+        <cylinder length="0.32" radius="0.01"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.16"/>
+      <material name="purple"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.32" radius="0.01"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.16"/>
+    </collision>
+  </link>
+  <joint name="panda_ee_finger" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <parent link="panda_link7"/>
+    <child link="panda_ee_finger"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <link name="panda_ee_tip">
+  </link>
+  <joint name="panda_ee_tip" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.32"/>
+    <parent link="panda_ee_finger"/>
+    <child link="panda_ee_tip"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+</robot>
+
+

conf/actors/boxer.yaml

@@ -0,0 +1,14 @@
+type: robot
+name: boxer
+urdf_file: "boxer/boxer.urdf"
+gravity: true
+mass: 100.00
+fixed: false
+flip_visual: false
+differential_drive: true
+wheel_radius: 0.08
+wheel_base: 0.494
+wheel_count: 2
+friction: 1.0
+collision: True
+caster_links: ['rotacastor_right_link', 'rotacastor_left_link']

conf/actors/heijn.yaml

@@ -0,0 +1,8 @@
+
+type: robot
+name: heijn
+urdf_file: "heijn/heijn.urdf"
+gravity: true
+fixed: true
+flip_visual: true
+collision: True

conf/actors/jackal.yaml

@@ -0,0 +1,13 @@
+type: robot
+name: jackal
+urdf_file: "jackal/jackal.urdf"
+fixed: False
+flip_visual: false
+gravity: true
+differential_drive: true
+mass: 40.00
+wheel_radius: 0.14
+wheel_base: 0.400
+wheel_count: 4
+friction: 0.8
+collision: True

conf/actors/panda.yaml

@@ -0,0 +1,7 @@
+type: robot
+name: panda
+fixed: True
+urdf_file: "panda_isaac/robots/franka_panda.urdf"
+ee_link: "panda_link7"
+flip_visual: true
+gravity: false

conf/actors/panda_stick.yaml

@@ -0,0 +1,7 @@
+type: robot
+name: panda
+urdf_file: "panda_isaac/robots/franka_panda_stick.urdf"
+ee_link: "panda_ee_tip"
+fixed: True
+flip_visual: true
+gravity: false

conf/actors/point_robot.yaml

@@ -0,0 +1,6 @@
+type: robot
+name: point_robot
+urdf_file: "point_robot.urdf"
+flip_visual: false
+fixed: true
+collision: True

conf/actors/xaxis.yaml

@@ -0,0 +1,8 @@
+type: box
+name: x
+handle: None
+fixed: True
+size: [0.5, 0.05, 0.01]
+init_pos: [0.25, 0.0, 0.01]
+color: [1, 0.0, 0.2]
+collision: False

conf/actors/yaxis.yaml

@@ -0,0 +1,8 @@
+type: box
+name: y
+handle: None
+fixed: True
+size: [0.05, 0.5, 0.01]
+init_pos: [0.0, 0.25, 0.01]
+color: [0.0, 1, 0.2]
+collision: False

conf/config_boxer_robot.yaml

@@ -5,11 +5,8 @@ defaults:
 goal: [2.0, 2.0]
 render: true
 n_steps: 1000
-urdf_file: "boxer/boxer.urdf"
-fix_base: false
-flip_visual: false
 nx: 4
-differential_drive: true
-wheel_radius: 0.08
-wheel_base: 0.314
-wheel_count: 2
+
+actors: ['boxer']
+initial_actor_positions: [[0.0, 0.0, 0.05]]
+

conf/config_heijn_robot.yaml

@@ -5,7 +5,8 @@ defaults:
 goal: [2.0, 2.0]
 render: true
 n_steps: 1000
-urdf_file: "heijn/heijn.urdf"
-fix_base: true
-flip_visual: true
 nx: 6
+
+actors: ['heijn']
+initial_actor_positions: [[0.0, 0.0, 0.05]]
+

conf/config_jackal_robot.yaml

@@ -5,11 +5,7 @@ defaults:
 goal: [2.0, 2.0]
 render: true
 n_steps: 1000
-urdf_file: "jackal/jackal.urdf"
-fix_base: false
-flip_visual: false
 nx: 4
-differential_drive: true
-wheel_radius: 0.14
-wheel_base: 0.400
-wheel_count: 4
+
+actors: ['jackal']
+initial_actor_positions: [[0.0, 0.0, 0.05]]

conf/config_multi_jackal.yaml

@@ -0,0 +1,11 @@
+defaults:
+  - mppi: multi-jackal
+  - isaacgym: normal
+
+goal: [2.0, 0.0, -2.0, 0.0]
+render: true
+n_steps: 1000
+nx: 8
+
+actors: ['jackal', 'jackal', 'xaxis', 'yaxis']
+initial_actor_positions: [[-2.0, 0.0, 0.05], [2.0, 0.0, 0.05]]

conf/config_multi_point_robot.yaml

@@ -0,0 +1,11 @@
+defaults:
+  - mppi: multi-pointbot
+  - isaacgym: normal
+
+goal: [1.0, 0.0, -1.0, 0.0]
+render: true
+n_steps: 1000
+nx: 12 
+
+actors: ['point_robot', 'point_robot']
+initial_actor_positions: [[-1.0, 0.0, 0.05], [2.0, 0.0, 0.05]]

conf/config_panda.yaml

@@ -1,13 +1,11 @@
 defaults:
   - mppi: panda
-  - isaacgym: slow
+  - isaacgym: normal
 
 goal: [0.5, 0.4, 0.7]
 render: true
 n_steps: 1000
-urdf_file: "panda_isaac/robots/franka_panda.urdf"
-ee_link: "panda_link7"
-fix_base: true
-flip_visual: true
-disable_gravity: true
+actors: ['panda', 'xaxis', 'yaxis']
+initial_actor_positions: [[0.0, 0.0, 0.0]]
+
 nx: 14

conf/config_panda_c_space_goal.yaml

@@ -1,12 +1,11 @@
 defaults:
   - mppi: panda
-  - isaacgym: slow
+  - isaacgym: normal
 
 goal: [0.6, 0.0, 0.0, -1.875, 0, 1.875, 0]
 render: true
 n_steps: 1000
-urdf_file: "panda_bullet/panda.urdf"
-fix_base: true
-flip_visual: false
-disable_gravity: true
+actors: ['panda', 'xaxis', 'yaxis']
+initial_actor_positions: [[0.0, 0.0, 0.0]]
+
 nx: 14

conf/config_panda_push.yaml

@@ -0,0 +1,11 @@
+defaults:
+  - mppi: panda_push
+  - isaacgym: push
+
+goal: [0.5, 0.4, 0.7]
+render: true
+n_steps: 1000
+actors: ['panda_stick']
+initial_actor_positions: [[0.0, 0.0, 0.0]]
+
+nx: 14