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workflows/simbox/core/configs/robots/fr3.yaml

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+# FR3 robot configuration
+# Single-arm 7-DOF robot
+
+# Robot info
+target_class: FR3
+path: "franka/robot.usd"
+
+# CuRobo file
+robot_file:
+  - workflows/simbox/curobo/src/curobo/content/configs/robot/fr3_left_arm.yml
+
+# Gripper parameters
+gripper_max_width: 0.08
+gripper_min_width: 0.0
+tcp_offset: 0.1043
+
+# Solver parameters
+solver_position_iteration_count: 128
+solver_velocity_iteration_count: 4
+stabilization_threshold: 0.005
+
+# Joint indices
+left_joint_indices: [0, 1, 2, 3, 4, 5, 6]
+left_gripper_indices: [7]
+
+# Paths (relative to robot_prim_path)
+fl_ee_path: "fr3/panda_hand"
+fl_base_path: "fr3/panda_link0"
+
+# Gripper keypoints
+fl_gripper_keypoints:
+  tool_head: [0.0, 0.0, 0.1034, 1]
+  tool_tail: [0.0, 0.0, 0.0584, 1]
+  tool_side: [0.0, 0.04, 0.1034, 1]
+
+# Collision paths
+fl_filter_paths:
+  - "fr3/panda_leftfinger"
+  - "fr3/panda_rightfinger"
+fl_forbid_collision_paths:
+  - "fr3/panda_link2"
+  - "fr3/panda_link3"
+  - "fr3/panda_link4"
+  - "fr3/panda_link5"
+  - "fr3/panda_link6"
+  - "fr3/panda_link7"
+  - "fr3/panda_link8"
+  - "fr3/panda_hand"
+
+# Pose processing (Z-axis gripper)
+R_ee_graspnet: [[0.0, 0.0, -1.0], [0.0, 1.0, 0.0], [1.0, 0.0, 0.0]]
+ee_axis: "z"
+
+# Default joint home positions
+left_joint_home: [0, -0.785, 0, -2.356, 0, 1.571, 0.785]
+left_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+left_gripper_home: [0.04]

workflows/simbox/core/configs/robots/franka_robotiq85.yaml

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+# FrankaRobotiq85 robot configuration
+# Single-arm 7-DOF robot with Robotiq 2F-85 gripper
+
+# Robot info
+target_class: FrankaRobotiq85
+path: "frankarobotiq/robot.usd"
+
+# CuRobo file
+robot_file:
+  - workflows/simbox/curobo/src/curobo/content/configs/robot/frankarobotiq_left_arm.yml
+
+# Gripper parameters
+gripper_max_width: 0.085
+gripper_min_width: 0.0
+tcp_offset: 0.165
+
+# Solver parameters
+solver_position_iteration_count: 128
+solver_velocity_iteration_count: 4
+stabilization_threshold: 0.005
+
+# Joint indices
+left_joint_indices: [0, 1, 2, 3, 4, 5, 6]
+left_gripper_indices: [7, 8]
+
+# Paths
+fl_ee_path: "arm/panda_link8"
+fl_base_path: "arm/panda_link0"
+
+# Gripper keypoints
+fl_gripper_keypoints:
+  tool_head: [0.0, 0.0, 0.155, 1]
+  tool_tail: [0.0, 0.0, 0.025, 1]
+  tool_side: [0.0, 0.045, 0.155, 1]
+
+# Collision paths
+fl_filter_paths:
+  - "arm/Robotiq_2F_85/left_inner_finger_pad"
+  - "arm/Robotiq_2F_85/right_inner_finger_pad"
+fl_forbid_collision_paths:
+  - "arm/panda_link2"
+  - "arm/panda_link3"
+  - "arm/panda_link4"
+  - "arm/panda_link5"
+  - "arm/panda_link6"
+  - "arm/panda_link7"
+  - "arm/panda_link8"
+
+# Pose processing (Z-axis gripper)
+R_ee_graspnet: [[0.0, 0.0, -1.0], [0.0, 1.0, 0.0], [1.0, 0.0, 0.0]]
+ee_axis: "z"
+
+# Extra depth file
+extra_depth_file: "tcp2base_offset.json"
+
+# Default joint home positions
+left_joint_home: [0, -0.785, 0, -2.356, 0, 1.571, 0.0]
+left_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+left_gripper_home: [0.0, 0.0]

workflows/simbox/core/configs/robots/genie1.yaml

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+# Genie1 robot configuration
+# Dual-arm 7-DOF robot with body and head joints
+
+# Robot info
+target_class: Genie1
+path: "G1_120s/robot.usd"
+
+# CuRobo file
+robot_file:
+  - workflows/simbox/curobo/src/curobo/content/configs/robot/G1_120s_left_arm_parallel_gripper.yml
+  - workflows/simbox/curobo/src/curobo/content/configs/robot/G1_120s_right_arm_parallel_gripper.yml
+
+# Gripper parameters
+gripper_max_width: 0.1
+gripper_min_width: 0.0
+tcp_offset: 0.217
+
+# Solver parameters
+solver_position_iteration_count: 128
+solver_velocity_iteration_count: 4
+stabilization_threshold: 0.005
+
+# Joint indices
+left_joint_indices: [4, 6, 8, 10, 12, 14, 16]
+right_joint_indices: [5, 7, 9, 11, 13, 15, 17]
+left_gripper_indices: [19]
+right_gripper_indices: [21]
+body_indices: [0, 1]
+head_indices: [2, 3]
+
+# Paths
+fl_ee_path: "arm_l_end_link"
+fr_ee_path: "arm_r_end_link"
+fl_base_path: "arm_base_link"
+fr_base_path: "arm_base_link"
+
+# Gripper keypoints
+fl_gripper_keypoints:
+  tool_head: [0.0, 0.0, 0.217, 1]
+  tool_tail: [0.0, 0.0, 0.03, 1]
+  tool_side: [0.05, 0.0, 0.217, 1]
+fr_gripper_keypoints:
+  tool_head: [0.0, 0.0, 0.217, 1]
+  tool_tail: [0.0, 0.0, 0.03, 1]
+  tool_side: [0.05, 0.0, 0.217, 1]
+
+# Collision paths
+fl_filter_paths:
+  - "gripper_l_outer_link5"
+  - "gripper_l_inner_link5"
+fr_filter_paths:
+  - "gripper_r_outer_link5"
+  - "gripper_r_inner_link5"
+fl_forbid_collision_paths:
+  - "arm_l_link2"
+  - "arm_l_link3"
+  - "arm_l_link4"
+  - "arm_l_link5"
+fr_forbid_collision_paths:
+  - "arm_r_link2"
+  - "arm_r_link3"
+  - "arm_r_link4"
+  - "arm_r_link5"
+
+# Pose processing (Z-axis gripper)
+R_ee_graspnet: [[0.0, 1.0, 0.0], [0.0, 0.0, 1.0], [1.0, 0.0, 0.0]]
+ee_axis: "z"
+
+# Extra depth file
+extra_depth_file: "tcp2base_offset.json"
+
+# Default joint home positions
+left_joint_home: [-1.069, 0.608, 0.279, -1.278, 0.727, 1.489, -0.186]
+right_joint_home: [1.074, -0.611, -0.280, 1.284, -0.730, -1.495, 0.188]
+left_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+right_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+left_gripper_home: [1.0]
+right_gripper_home: [1.0]
+body_home: [0.32, 0.63]
+head_home: [0.0, 0.349]

workflows/simbox/core/configs/robots/lift2.yaml

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+# Lift2 robot configuration
+# Dual-arm 6-DOF robot with lift joint
+
+# Robot info
+target_class: Lift2
+path: "lift2/robot_invisible.usd"
+
+# CuRobo file
+robot_file:
+  - workflows/simbox/curobo/src/curobo/content/configs/robot/r5a_left_arm.yml
+  - workflows/simbox/curobo/src/curobo/content/configs/robot/r5a_right_arm.yml
+
+# Gripper parameters
+gripper_max_width: 0.088
+gripper_min_width: 0.0
+tcp_offset: 0.125
+
+# Solver parameters
+solver_position_iteration_count: 128
+solver_velocity_iteration_count: 4
+stabilization_threshold: 0.005
+
+# Joint indices
+left_joint_indices: [10, 12, 14, 16, 18, 20]
+right_joint_indices: [9, 11, 13, 15, 17, 19]
+left_gripper_indices: [23]
+right_gripper_indices: [21]
+lift_indices: [6]
+
+# Paths
+fl_ee_path: "lift2/lift2/fl/link6"
+fr_ee_path: "lift2/lift2/fr/link6"
+fl_base_path: "lift2/lift2/fl/base_link"
+fr_base_path: "lift2/lift2/fr/base_link"
+
+# Gripper keypoints
+fl_gripper_keypoints:
+  tool_head: [0.135, 0.0, 0.0, 1]
+  tool_tail: [0.085, 0.0, 0.0, 1]
+  tool_side: [0.135, -0.044, 0.0, 1]
+fr_gripper_keypoints:
+  tool_head: [0.135, 0.0, 0.0, 1]
+  tool_tail: [0.085, 0.0, 0.0, 1]
+  tool_side: [0.135, -0.044, 0.0, 1]
+
+# Collision paths
+fl_filter_paths:
+  - "lift2/lift2/fl/link7"
+  - "lift2/lift2/fl/link8"
+fr_filter_paths:
+  - "lift2/lift2/fr/link7"
+  - "lift2/lift2/fr/link8"
+fl_forbid_collision_paths:
+  - "lift2/lift2/fl/link2"
+  - "lift2/lift2/fl/link3"
+  - "lift2/lift2/fl/link4"
+  - "lift2/lift2/fl/link5"
+fr_forbid_collision_paths:
+  - "lift2/lift2/fr/link2"
+  - "lift2/lift2/fr/link3"
+  - "lift2/lift2/fr/link4"
+  - "lift2/lift2/fr/link5"
+
+# Pose processing (X-axis gripper)
+R_ee_graspnet: [[1.0, 0.0, 0.0], [0.0, -1.0, 0.0], [0.0, 0.0, -1.0]]
+ee_axis: "x"
+
+# Default joint home positions
+left_joint_home: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+right_joint_home: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+left_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+right_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+left_gripper_home: [0.044]
+right_gripper_home: [0.044]
+lift_home: [0.46]

workflows/simbox/core/configs/robots/split_aloha.yaml

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+# SplitAloha robot configuration
+# Dual-arm 6-DOF robot
+
+# Robot info
+target_class: SplitAloha
+path: "split_aloha_mid_360/robot.usd"
+
+# CuRobo file
+robot_file:
+  - workflows/simbox/curobo/src/curobo/content/configs/robot/piper100_left_arm.yml
+  - workflows/simbox/curobo/src/curobo/content/configs/robot/piper100_right_arm.yml
+
+# Gripper parameters
+gripper_max_width: 0.10
+gripper_min_width: 0.0
+tcp_offset: 0.12
+
+# Solver parameters
+solver_position_iteration_count: 128
+solver_velocity_iteration_count: 4
+stabilization_threshold: 0.005
+
+# Joint indices
+left_joint_indices: [12, 14, 16, 18, 20, 22]
+right_joint_indices: [13, 15, 17, 19, 21, 23]
+left_gripper_indices: [24]
+right_gripper_indices: [26]
+
+# Paths
+fl_ee_path: "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"
+fr_ee_path: "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"
+fl_base_path: "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/arm_base"
+fr_base_path: "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/arm_base"
+
+# Gripper keypoints
+fl_gripper_keypoints:
+  tool_head: [0.0, 0.0, 0.12, 1]
+  tool_tail: [0.0, 0.0, 0.06, 1]
+  tool_side: [-0.05, 0.0, 0.12, 1]
+fr_gripper_keypoints:
+  tool_head: [0.0, 0.0, 0.12, 1]
+  tool_tail: [0.0, 0.0, 0.06, 1]
+  tool_side: [-0.05, 0.0, 0.12, 1]
+
+# Collision paths
+fl_filter_paths:
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link7"
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link8"
+fr_filter_paths:
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link7"
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link8"
+fl_forbid_collision_paths:
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link2"
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link3"
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link4"
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link5"
+fr_forbid_collision_paths:
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link2"
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link3"
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link4"
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link5"
+
+# Pose processing (Z-axis gripper)
+R_ee_graspnet: [[0.0, -1.0, 0.0], [0.0, 0.0, -1.0], [1.0, 0.0, 0.0]]
+ee_axis: "z"
+
+# Default joint home positions
+left_joint_home: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+right_joint_home: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+left_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+right_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+left_gripper_home: [0.05]
+right_gripper_home: [0.05]