Orangewood Labs OWL65 Integration

.gitattributes

@@ -80,3 +80,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Other binary files
 *.pdf filter=lfs diff=lfs merge=lfs -text
 *.PDF filter=lfs diff=lfs merge=lfs -text
+robots/owl65/urdf/meshes/collision/owl_robot/* filter=lfs diff=lfs merge=lfs -text

robots/owl65/config/owl65.yaml

@@ -0,0 +1,11 @@
+kinematics:
+  urdf_path: "../urdf/owl65.urdf"
+  base_link: "base_link"
+  ee_link: "tcp"
+  collision_spheres_path: null
+  collision_spheres: null
+  self_collision_ignore:
+    - ["base_link", "link_1"]
+    - ["link_5", "link_6"]
+robot_params:
+  robot_description_path: null

robots/owl65/config/owl65_cfg.py

@@ -0,0 +1,48 @@
+from __future__ import annotations
+from metasim.utils import configclass
+from .base_robot_cfg import BaseActuatorCfg, BaseRobotCfg
+
+
+@configclass
+class Owl65Cfg(BaseRobotCfg):
+    name: str = "owl65"
+    num_joints: int = 6
+    urdf_path: str = "roboverse_data/robots/owl65/urdf/owl65.urdf"
+    base_link_name: str = "base_link"  # Match the base link name in your URDF
+    enabled_gravity: bool = False
+    enabled_self_collisions: bool = True
+    dof_names: list[str] = ["BJ", "SJ", "EJ", "W1J", "W2J", "W3J"]
+
+    actuators: dict[str, BaseActuatorCfg] = {
+        "BJ": BaseActuatorCfg(velocity_limit=50),
+        "SJ": BaseActuatorCfg(velocity_limit=50),
+        "EJ": BaseActuatorCfg(velocity_limit=50),
+        "W1J": BaseActuatorCfg(velocity_limit=50),
+        "W2J": BaseActuatorCfg(velocity_limit=50),
+        "W3J": BaseActuatorCfg(velocity_limit=50),
+    }
+
+    joint_limits: dict[str, tuple[float, float]] = {
+        "BJ": (-3.14, 3.14),
+        "SJ": (-1.6, 1.6),
+        "EJ": (-2.8, 3.14),
+        "W1J": (-2.84489, 2.84489),
+        "W2J": (-1.6, 0.78),
+        "W3J": (-3.1, 3.1),
+    }
+
+    ee_body_name: str = "tcp"
+
+    # Initialize these as empty arrays if you don't have a gripper
+    gripper_open_q = []
+    gripper_close_q = []
+
+    # CuRobo configuration
+    curobo_ref_cfg_name: str = "owl65.yml"
+    curobo_tcp_rel_pos: tuple[float, float, float] = [0.0, 0.0, 0.1225]
+    curobo_tcp_rel_rot: tuple[float, float, float] = [0.0, 0.0, -1.5708]
+
+    # Add default values for any missing properties
+    default_ee_offset: tuple[float, float, float] = (0, 0, 0)
+    default_ee_orientation: tuple[float, float, float, float] = (1, 0, 0, 0)
+

robots/owl65/urdf/meshes/collision/owl_robot/base_link.stl

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+size 648084

robots/owl65/urdf/meshes/collision/owl_robot/elbow_link.stl

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robots/owl65/urdf/meshes/collision/owl_robot/end_effector_link.stl

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robots/owl65/urdf/meshes/collision/owl_robot/link1.stl

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robots/owl65/urdf/meshes/collision/owl_robot/link2.stl

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robots/owl65/urdf/meshes/collision/owl_robot/shoulder_link.stl

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robots/owl65/urdf/meshes/collision/owl_robot/w2w3_link.stl

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robots/owl65/urdf/meshes/visual/owl_robot/base_link.stl

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robots/owl65/urdf/meshes/visual/owl_robot/elbow_link.stl

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robots/owl65/urdf/meshes/visual/owl_robot/end_effector_link.stl

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robots/owl65/urdf/meshes/visual/owl_robot/link1.stl

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robots/owl65/urdf/meshes/visual/owl_robot/link2.stl

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robots/owl65/urdf/meshes/visual/owl_robot/shoulder_link.stl

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robots/owl65/urdf/meshes/visual/owl_robot/w2w3_link.stl

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robots/owl65/urdf/owl65.urdf

@@ -0,0 +1,198 @@
+<?xml version="1.0"?>
+<robot name="owl65">
+
+  <!-- Base Link -->
+  <link name="base_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="2.39"/>
+      <inertia ixx="0.0060063" ixy="0" ixz="0" iyy="0.0095451" iyz="0" izz="0.006006"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/owl_robot/base_link.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/owl_robot/base_link.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Shoulder Link -->
+  <link name="shoulder_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="4.613"/>
+      <inertia ixx="0.0035279" ixy="0" ixz="0" iyy="0.0046955" iyz="0" izz="0.0048177"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/owl_robot/shoulder_link.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/owl_robot/shoulder_link.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="BJ" type="revolute">
+    <origin xyz="0 0 0" rpy="-3.1416 0 0"/>
+    <parent link="base_link"/>
+    <child link="shoulder_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.14" upper="3.14" effort="500" velocity="50"/>
+  </joint>
+
+  <!-- Link1 -->
+  <link name="link1">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="9.431"/>
+      <inertia ixx="0.0052455" ixy="0" ixz="0" iyy="0.028778" iyz="0" izz="0.032177"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/owl_robot/link1.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/owl_robot/link1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="SJ" type="revolute">
+    <origin xyz="0.00018339 0.066603 -0.1405" rpy="0.58944 1.5675 -0.983"/>
+    <parent link="shoulder_link"/>
+    <child link="link1"/>
+    <axis xyz="0.0027142 -0.0011243 1"/>
+    <limit lower="-1.6" upper="1.6" effort="500" velocity="50"/>
+  </joint>
+  <!-- Elbow Link -->
+  <link name="elbow_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="4.613"/>
+      <inertia ixx="0.0023499" ixy="0" ixz="0" iyy="0.0030181" iyz="0" izz="0.0035661"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/owl_robot/elbow_link.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/owl_robot/elbow_link.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="EJ" type="revolute">
+    <origin xyz="0.35575 0 -0.00096557" rpy="3.1389 -0.0018334 -1.5781"/>
+    <parent link="link1"/>
+    <child link="elbow_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.8" upper="3.14" effort="500" velocity="50"/>
+  </joint>
+
+  <!-- Link2 -->
+  <link name="link2">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="2.4407"/>
+      <inertia ixx="0.009134" ixy="0" ixz="0" iyy="0.010823" iyz="0" izz="0.0041094"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/owl_robot/link2.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/owl_robot/link2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="W1J" type="revolute">
+    <origin xyz="0.00019567 -0.079361 -0.066603" rpy="1.5708 -0.0023608 0"/>
+    <parent link="elbow_link"/>
+    <child link="link2"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="-2.84489" upper="2.84489" effort="500" velocity="50"/>
+  </joint>
+
+  <!-- W2W3 Link -->
+  <link name="w2w3_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="3.118"/>
+      <inertia ixx="0.0014884" ixy="0" ixz="0" iyy="0.0016882" iyz="0" izz="0.0019291"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/owl_robot/w2w3_link.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/owl_robot/w2w3_link.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="W2J" type="revolute">
+    <origin xyz="0 0 0.27639" rpy="2.745 -1.5667 -1.1726"/>
+    <parent link="link2"/>
+    <child link="w2w3_link"/>
+    <axis xyz="0.0037507 -0.00083382 0.99999"/>
+    <limit lower="-1.6" upper="0.78" effort="500" velocity="50"/>
+  </joint>
+  <!-- End Effector Link -->
+  <link name="end_effector_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0.188"/>
+      <inertia ixx="0.00017935" ixy="0" ixz="0" iyy="0.00017907" iyz="0" izz="0.00025742"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/owl_robot/end_effector_link.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/owl_robot/end_effector_link.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="W3J" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.2578 -1.5668 -0.31786"/>
+    <parent link="w2w3_link"/>
+    <child link="end_effector_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.1" upper="3.1" effort="500" velocity="50"/>
+  </joint>
+
+  <!-- TCP Link -->
+  <link name="tcp">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="1e-9"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+
+  <joint name="tcp_frame" type="fixed">
+    <origin xyz="4.33681e-19 0 0.1225" rpy="5.94633e-15 -1.33504e-14 -1.5708"/>
+    <parent link="end_effector_link"/>
+    <child link="tcp"/>
+  </joint>
+
+</robot>