Better grasping for xArm7 #131
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Thank you @s1lent4gnt! Can you add a little Changelog section in the README (see the unitree_g1 for an example) to describe succinctly the changes you made in this PR?
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Hey @kevinzakka, I’ve added references to both the Issue and this PR in the Changelog section. Does this look okay, or would you prefer not to include them? |
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| - Adding two collision box meshes as pads for each finger. | ||
| - Setting `armature=0.1` for the joints. | ||
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| These changes resolve [issue #83](https://github.com/google-deepmind/mujoco_menagerie/issues/83) and are implemented in [PR #131](https://github.com/google-deepmind/mujoco_menagerie/pull/131). |
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I'd prefer removing this part if possible (the issue/PR part).
BTW, feel free to add your name next to "Improved object grasping" --> (thanks to @s1lent4gnt)
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I've corrected it. Thanks!
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@yuvaltassa @saran-t ready to merge! |
Great! Probably after the holidays 😄 |
What this does
This PR addresses the Graspin issue discussed in #83. The resolution includes the following changes:
xarm7.xml,xarm7_nohand.xml, andhand.xmlfiles by addingarmature=0.1to the xArm7 joints.How it was tested
The changes were verified using the Mink Python library, with results documented in #83.