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Use cuRobo IK for GearAssembly reset grasp pose #3

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Use cuRobo IK for GearAssembly reset grasp pose #3

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12 changes: 12 additions & 0 deletions ..._tasks/manager_based/manipulation/deploy/gear_assembly/config/ur_10e/joint_pos_env_cfg.py
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Original file line number Diff line number Diff line change
Expand Up @@ -384,6 +384,12 @@ def __post_init__(self):
self.events.set_robot_to_grasp_pose.params["num_arm_joints"] = self.num_arm_joints
self.events.set_robot_to_grasp_pose.params["grasp_rot_offset"] = self.grasp_rot_offset
self.events.set_robot_to_grasp_pose.params["gripper_joint_setter_func"] = self.gripper_joint_setter_func
self.events.set_robot_to_grasp_pose.params["curobo_robot_cfg"] = "ur10e.yml"
self.events.set_robot_to_grasp_pose.params["curobo_num_seeds"] = 1
self.events.set_robot_to_grasp_pose.params["curobo_grad_iters"] = 3
self.events.set_robot_to_grasp_pose.params["curobo_newton_iters"] = 1
self.events.set_robot_to_grasp_pose.params["curobo_full_batch"] = True
self.events.set_robot_to_grasp_pose.params["curobo_use_cuda_graph"] = True

# Populate termination term parameters
self.terminations.gear_dropped.params["gear_offsets_grasp"] = self.gear_offsets_grasp
Expand Down Expand Up @@ -482,6 +488,12 @@ def __post_init__(self):
self.events.set_robot_to_grasp_pose.params["num_arm_joints"] = self.num_arm_joints
self.events.set_robot_to_grasp_pose.params["grasp_rot_offset"] = self.grasp_rot_offset
self.events.set_robot_to_grasp_pose.params["gripper_joint_setter_func"] = self.gripper_joint_setter_func
self.events.set_robot_to_grasp_pose.params["curobo_robot_cfg"] = "ur10e.yml"
self.events.set_robot_to_grasp_pose.params["curobo_num_seeds"] = 1
self.events.set_robot_to_grasp_pose.params["curobo_grad_iters"] = 3
self.events.set_robot_to_grasp_pose.params["curobo_newton_iters"] = 1
self.events.set_robot_to_grasp_pose.params["curobo_full_batch"] = True
self.events.set_robot_to_grasp_pose.params["curobo_use_cuda_graph"] = True

# Populate termination term parameters
self.terminations.gear_dropped.params["gear_offsets_grasp"] = self.gear_offsets_grasp
Expand Down
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