Add support for sns dual arm robot #1
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Add support for sns dual arm robot
Update curobo to v0.7.6
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| world_cfg = WorldConfig() |
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Change to empty WorldConfig, as the world will be get from planning scene.
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| collision_checker_type=CollisionCheckerType.VOXEL, | ||
| collision_checker_type=CollisionCheckerType.MESH, |
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Change CollisionCheckerType to mesh
Fix issue no urdf file after build
Copy urdf folder with xrdf folder
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I think this file had the same information as sns_description provided, can sns_description used here. Does this file need to be changed when description file changed? If yes, I think it's not easy to maintain at all.
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I think this urdf needs to be "pure" urdf. The one with have in sns_description is actually a xacro.
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Similar issue, shall we keep acceleration the same as joint_limits.yaml file in sns_moveit_config?
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Good point, probably should. But we don't have jerk limit available, and I think the ur's acceleration limits are not really publicly available. The numbers we have are copied from shadow.
Merge with :