About the collision of the dexterous hand case

[ProNeverFake]

I'm currently using a robot arm with a dexterous hand as the end effector.

To simplify the problem and avoid unstable finger motions of the planned path, I only include the 7Dof of the arm to the CSpace and ignore the finger joints. I add collision spheres to the arm and finger links.

I find out that in the curobo config yaml I cannot add any finger related links into the collision_link_names field. I checked the error message and found out the reason is that the finger joints connecting them into the kinematic tree are not in the cspace - joint_names field.

For robots with fixed parallel end-effectors we can approximate the collision mesh by adding spheres to the end link that is in the kinematic tree. But dexterous hands could not be well approximated in this way since the dexterous hand fingers have a large movement space and diverse configuration scenarios.

Could anyone provide any suggestion for this case?

[balakumar-s]

We made it easier to crate the robot configuration file given a urdf. See: https://nvlabs.github.io/curobo/latest/getting-started/build_robot_model.html

This should support having finger links. See unitree G1 for reference: https://github.com/NVlabs/curobo/blob/main/curobo/content/configs/robot/unitree_g1.yml

[ProNeverFake]

Nice, will try!