hand robot configuration

[Spphire]

To configure a hand robot, should I create configs for each finger?

[balakumar-s]

You can use a single file for the full robot hand.

Here is an example: https://github.com/NVlabs/curobo/blob/main/src/curobo/content/configs/robot/iiwa_allegro.yml

[Spphire]

https://github.com/NVlabs/curobo/blob/main/src/curobo/content/configs/robot/iiwa_allegro.yml#L35

I noticed that ee_link only set one target, does that mean it can be only controlled one finger?

[balakumar-s]

You can add any additional targets to link_names in the configuration file. Then you can pass in targets for the additional link names like here:

curobo/examples/isaac_sim/multi_arm_reacher.py

Line 301 in 4aabfa0

link_poses = {}

You can try out the iiwa_allegro.yml file in the multi-arm example by running omni_python examples/isaac_sim/multi_arm_reacher.py --robot iiwa_allegro.yml

[Spphire]

Todesk.2023.11.28.-.23.24.38.02.mp4

Is it normal that "Plan did not converge to a solution" appeared frequently?

[balakumar-s]

We haven't tested on tracking more than two end-effectors. The weights for this cost might need to tuned (lowered) for tracking 5 targets:

curobo/src/curobo/content/configs/task/gradient_trajopt.yml

Line 35 in d85ae41

weight: [2000,20000.0,30,30] #[150.0, 2000.0, 30, 40]

[Spphire]

what are the means of these 4 values?

[balakumar-s]

They refer to the relative weighting between orientation and position.

We re-tuned the weights and it should work better for tracking multiple end-effectors. Try our latest release and let us know if you still have issues in tracking multiple end-effectors.