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Better grasping for xArm7 #131

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Better grasping for xArm7 #131

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52aae09
add armature to the joints
Dec 17, 2024
caf9965
add two collision pads for each finger, make the fingers visual
Dec 17, 2024
b5a72f9
update README with changelog
Dec 17, 2024
ffdf576
update README
Dec 18, 2024
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8 changes: 8 additions & 0 deletions ufactory_xarm7/README.md
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Expand Up @@ -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).
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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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@s1lent4gnt s1lent4gnt Dec 18, 2024 •
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I've corrected it. Thanks!


## Overview

This package contains a simplified robot description (MJCF) of the [xArm7
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22 changes: 19 additions & 3 deletions ufactory_xarm7/hand.xml
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Expand Up @@ -19,7 +19,7 @@
<default>
<default class="xarm7_hand">
<geom type="mesh" material="black"/>
<joint range="0 0.85" axis="1 0 0" frictionloss="1"/>
<joint range="0 0.85" axis="1 0 0" armature="0.1" frictionloss="1"/>
<site size="0.001" rgba="1 0 0 1" group="4"/>
<general biastype="affine" forcerange="-50 50" ctrlrange="0 255" gainprm="0.333" biasprm="0 -100 -10"/>
<default class="spring_link">
Expand All @@ -31,6 +31,18 @@
<default class="follower">
<joint solreflimit="0.005 1"/>
</default>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2"/>
</default>
<default class="collision">
<geom type="mesh" group="3"/>
<default class="pad_box1">
<geom type="box" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" mass="0" priority="1" size="0.015 0.002 0.0095" rgba="0.0 0.1 0.7 1"/>
</default>
<default class="pad_box2">
<geom type="box" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" mass="0" priority="1" size="0.015 0.002 0.0095" rgba="0.0 0.5 0.5 1"/>
</default>
</default>
</default>
</default>

Expand All @@ -48,7 +60,9 @@
<inertial pos="0 -0.016413 0.029258" quat="0.697634 0.115353 -0.115353 0.697634" mass="0.048304"
diaginertia="1.88037e-05 1.7493e-05 3.56792e-06"/>
<joint name="left_finger_joint" axis="-1 0 0" class="follower"/>
<geom material="black" mesh="left_finger"/>
<geom class="visual" material="black" mesh="left_finger"/>
<geom class="pad_box1" name="left_finger_pad_1" pos="0 -0.024003 0.032"/>
<geom class="pad_box2" name="left_finger_pad_2" pos="0 -0.024003 0.050"/>
</body>
</body>
<body name="left_inner_knuckle" pos="0 0.02 0.074098">
Expand All @@ -66,7 +80,9 @@
<inertial pos="0 0.016413 0.029258" quat="0.697634 -0.115356 0.115356 0.697634" mass="0.048304"
diaginertia="1.88038e-05 1.7493e-05 3.56779e-06"/>
<joint name="right_finger_joint" class="follower"/>
<geom material="black" mesh="right_finger"/>
<geom class="visual" material="black" mesh="right_finger"/>
<geom class="pad_box1" name="right_finger_pad_1" pos="0 0.024003 0.032"/>
<geom class="pad_box2" name="right_finger_pad_2" pos="0 0.024003 0.050"/>
</body>
</body>
<body name="right_inner_knuckle" pos="0 -0.02 0.074098">
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22 changes: 19 additions & 3 deletions ufactory_xarm7/xarm7.xml
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Expand Up @@ -29,7 +29,7 @@
<default>
<default class="xarm7">
<geom type="mesh" material="white"/>
<joint axis="0 0 1" range="-6.28319 6.28319" frictionloss="1"/>
<joint axis="0 0 1" armature="0.1" range="-6.28319 6.28319" frictionloss="1"/>
<general biastype="affine" ctrlrange="-6.28319 6.28319"/>
<default class="size1">
<joint damping="10"/>
Expand All @@ -52,6 +52,18 @@
<default class="follower">
<joint range="0 0.85" solreflimit="0.005 1"/>
</default>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2"/>
</default>
<default class="collision">
<geom type="mesh" group="3"/>
<default class="pad_box1">
<geom type="box" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" mass="0" priority="1" size="0.015 0.002 0.0095" rgba="0.0 0.1 0.7 1"/>
</default>
<default class="pad_box2">
<geom type="box" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" mass="0" priority="1" size="0.015 0.002 0.0095" rgba="0.0 0.5 0.5 1"/>
</default>
</default>
<site size="0.001" rgba="1 0 0 1" group="4"/>
</default>
</default>
Expand Down Expand Up @@ -109,7 +121,9 @@
<inertial pos="0 -0.016413 0.029258" quat="0.697634 0.115353 -0.115353 0.697634"
mass="0.048304" diaginertia="1.88037e-05 1.7493e-05 3.56792e-06"/>
<joint name="left_finger_joint" axis="-1 0 0" class="follower"/>
<geom material="black" mesh="left_finger"/>
<geom class="visual" material="black" mesh="left_finger"/>
<geom class="pad_box1" name="left_finger_pad_1" pos="0 -0.024003 0.032"/>
<geom class="pad_box2" name="left_finger_pad_2" pos="0 -0.024003 0.050"/>
</body>
</body>
<body name="left_inner_knuckle" pos="0 0.02 0.074098">
Expand All @@ -127,7 +141,9 @@
<inertial pos="0 0.016413 0.029258" quat="0.697634 -0.115356 0.115356 0.697634"
mass="0.048304" diaginertia="1.88038e-05 1.7493e-05 3.56779e-06"/>
<joint name="right_finger_joint" axis="1 0 0" class="follower"/>
<geom material="black" mesh="right_finger"/>
<geom class="visual" material="black" mesh="right_finger"/>
<geom class="pad_box1" name="right_finger_pad_1" pos="0 0.024003 0.032"/>
<geom class="pad_box2" name="right_finger_pad_2" pos="0 0.024003 0.050"/>
</body>
</body>
<body name="right_inner_knuckle" pos="0 -0.02 0.074098">
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2 changes: 1 addition & 1 deletion ufactory_xarm7/xarm7_nohand.xml
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Expand Up @@ -21,7 +21,7 @@
<default>
<default class="xarm7">
<geom type="mesh" material="white"/>
<joint axis="0 0 1" range="-6.28319 6.28319" frictionloss="1"/>
<joint axis="0 0 1" armature="0.1" range="-6.28319 6.28319" frictionloss="1"/>
<general biastype="affine" ctrlrange="-6.28319 6.28319"/>
<default class="size1">
<joint damping="10"/>
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