From 52aae0995cb4c97cdaf70e09d9f4e0c25df04bce Mon Sep 17 00:00:00 2001 From: lilkm Date: Tue, 17 Dec 2024 17:01:00 +0100 Subject: [PATCH 1/4] add armature to the joints --- ufactory_xarm7/hand.xml | 2 +- ufactory_xarm7/xarm7.xml | 2 +- ufactory_xarm7/xarm7_nohand.xml | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/ufactory_xarm7/hand.xml b/ufactory_xarm7/hand.xml index 1c5a75e5..c39c74dc 100644 --- a/ufactory_xarm7/hand.xml +++ b/ufactory_xarm7/hand.xml @@ -19,7 +19,7 @@ - + diff --git a/ufactory_xarm7/xarm7.xml b/ufactory_xarm7/xarm7.xml index a9290f9d..d7506dea 100644 --- a/ufactory_xarm7/xarm7.xml +++ b/ufactory_xarm7/xarm7.xml @@ -29,7 +29,7 @@ - + diff --git a/ufactory_xarm7/xarm7_nohand.xml b/ufactory_xarm7/xarm7_nohand.xml index 67768f1e..a24c1cb2 100644 --- a/ufactory_xarm7/xarm7_nohand.xml +++ b/ufactory_xarm7/xarm7_nohand.xml @@ -21,7 +21,7 @@ - + From caf99651c20037f99b1a6a887543065d2c815fc3 Mon Sep 17 00:00:00 2001 From: lilkm Date: Tue, 17 Dec 2024 17:13:28 +0100 Subject: [PATCH 2/4] add two collision pads for each finger, make the fingers visual --- ufactory_xarm7/hand.xml | 20 ++++++++++++++++++-- ufactory_xarm7/xarm7.xml | 20 ++++++++++++++++++-- 2 files changed, 36 insertions(+), 4 deletions(-) diff --git a/ufactory_xarm7/hand.xml b/ufactory_xarm7/hand.xml index c39c74dc..5877c817 100644 --- a/ufactory_xarm7/hand.xml +++ b/ufactory_xarm7/hand.xml @@ -31,6 +31,18 @@ + + + + + + + + + + + + @@ -48,7 +60,9 @@ - + + + @@ -66,7 +80,9 @@ - + + + diff --git a/ufactory_xarm7/xarm7.xml b/ufactory_xarm7/xarm7.xml index d7506dea..1d211c24 100644 --- a/ufactory_xarm7/xarm7.xml +++ b/ufactory_xarm7/xarm7.xml @@ -52,6 +52,18 @@ + + + + + + + + + + + + @@ -109,7 +121,9 @@ - + + + @@ -127,7 +141,9 @@ - + + + From b5a72f92f0630bc3b90711ed41ff640e93b1f90b Mon Sep 17 00:00:00 2001 From: lilkm Date: Tue, 17 Dec 2024 23:04:08 +0100 Subject: [PATCH 3/4] update README with changelog --- ufactory_xarm7/README.md | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/ufactory_xarm7/README.md b/ufactory_xarm7/README.md index 37094d93..3bfbb075 100644 --- a/ufactory_xarm7/README.md +++ b/ufactory_xarm7/README.md @@ -2,6 +2,14 @@ Requires MuJoCo 2.3.3 or later. +## Changelog + +- **17/12/2024**: Improved object grasping by: + - Adding two collision box meshes as pads for each finger. + - Setting `armature=0.1` for the joints. + + 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). + ## Overview This package contains a simplified robot description (MJCF) of the [xArm7 From ffdf57667476eca8e550c33704a5e9fa90c45ce4 Mon Sep 17 00:00:00 2001 From: lilkm Date: Wed, 18 Dec 2024 23:31:12 +0100 Subject: [PATCH 4/4] update README --- ufactory_xarm7/README.md | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/ufactory_xarm7/README.md b/ufactory_xarm7/README.md index 3bfbb075..54c3c462 100644 --- a/ufactory_xarm7/README.md +++ b/ufactory_xarm7/README.md @@ -4,12 +4,10 @@ Requires MuJoCo 2.3.3 or later. ## Changelog -- **17/12/2024**: Improved object grasping by: +- **17/12/2024**: Improved object grasping (thanks to [@s1lent4gnt](https://github.com/s1lent4gnt)) by: - Adding two collision box meshes as pads for each finger. - Setting `armature=0.1` for the joints. - 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). - ## Overview This package contains a simplified robot description (MJCF) of the [xArm7