Question on "configurating a New robot"

[zhangsanfeng86]

Hi,

I follow the Tutorial with a UR5e robot.
When run "omni_python curobo/examples/isaac_sim/convert_urdf_to_usd.py --robot ur5e.yml --save_usd",
But no window popup with isaac sim.

[balakumar-s]

That script will run headless and only convert the urdf to usd. It should have created a .usd file.

[zhangsanfeng86]

OK. I understand

[zhangsanfeng86]

Could you give some discription on this items or how get the docment ?

[zhangsanfeng86]

I get confuse: how to get the value:

[balakumar-s]

Joint names: They come from the robot urdf
retract_cfg: They are a home configuration for the robot
weights can be 1 for all joints.
The max_jerk and max_acceleration comes from the robot specifications.

Is there a specific robot that you are trying to build the configuration for? We have made configurations for some robots here: https://curobo.org/source/notes/01_robot_list.html

[zhangsanfeng86]

Thank you very much for your helpful answer!