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Merge pull request google-deepmind#131 from s1lent4gnt:lilkm/collision-pads
PiperOrigin-RevId: 719391820 Change-Id: Icb0068bf3bb808dd82e0f71bdc6cb5d9aad24ae9
2 parents aaaeb28 + 3d45d12 commit 0620d7f

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‎ufactory_xarm7/README.md‎

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Requires MuJoCo 2.3.3 or later.
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## Changelog
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- **17/12/2024**: Improved object grasping (thanks to [@s1lent4gnt](https://github.com/s1lent4gnt)) by:
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- Adding two collision box meshes as pads for each finger.
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- Setting `armature=0.1` for the joints.
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## Overview
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This package contains a simplified robot description (MJCF) of the [xArm7

‎ufactory_xarm7/hand.xml‎

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<default>
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<default class="xarm7_hand">
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<geom type="mesh" material="black"/>
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<joint range="0 0.85" axis="1 0 0" frictionloss="1"/>
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<joint range="0 0.85" axis="1 0 0" armature="0.1" frictionloss="1"/>
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<site size="0.001" rgba="1 0 0 1" group="4"/>
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<general biastype="affine" forcerange="-50 50" ctrlrange="0 255" gainprm="0.333" biasprm="0 -100 -10"/>
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<default class="spring_link">
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<default class="follower">
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<joint solreflimit="0.005 1"/>
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</default>
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<default class="visual">
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<geom type="mesh" contype="0" conaffinity="0" group="2"/>
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</default>
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<default class="collision">
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<geom type="mesh" group="3"/>
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<default class="pad_box1">
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<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"/>
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</default>
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<default class="pad_box2">
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<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"/>
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</default>
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</default>
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</default>
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</default>
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<inertial pos="0 -0.016413 0.029258" quat="0.697634 0.115353 -0.115353 0.697634" mass="0.048304"
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diaginertia="1.88037e-05 1.7493e-05 3.56792e-06"/>
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<joint name="left_finger_joint" axis="-1 0 0" class="follower"/>
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<geom material="black" mesh="left_finger"/>
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<geom class="visual" material="black" mesh="left_finger"/>
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<geom class="pad_box1" name="left_finger_pad_1" pos="0 -0.024003 0.032"/>
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<geom class="pad_box2" name="left_finger_pad_2" pos="0 -0.024003 0.050"/>
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</body>
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</body>
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<body name="left_inner_knuckle" pos="0 0.02 0.074098">
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<inertial pos="0 0.016413 0.029258" quat="0.697634 -0.115356 0.115356 0.697634" mass="0.048304"
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diaginertia="1.88038e-05 1.7493e-05 3.56779e-06"/>
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<joint name="right_finger_joint" class="follower"/>
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<geom material="black" mesh="right_finger"/>
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<geom class="visual" material="black" mesh="right_finger"/>
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<geom class="pad_box1" name="right_finger_pad_1" pos="0 0.024003 0.032"/>
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<geom class="pad_box2" name="right_finger_pad_2" pos="0 0.024003 0.050"/>
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</body>
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</body>
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<body name="right_inner_knuckle" pos="0 -0.02 0.074098">

‎ufactory_xarm7/xarm7.xml‎

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<default>
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<default class="xarm7">
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<geom type="mesh" material="white"/>
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<joint axis="0 0 1" range="-6.28319 6.28319" frictionloss="1"/>
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<joint axis="0 0 1" armature="0.1" range="-6.28319 6.28319" frictionloss="1"/>
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<general biastype="affine" ctrlrange="-6.28319 6.28319"/>
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<default class="size1">
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<joint damping="10"/>
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<default class="follower">
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<joint range="0 0.85" solreflimit="0.005 1"/>
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</default>
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<default class="visual">
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<geom type="mesh" contype="0" conaffinity="0" group="2"/>
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</default>
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<default class="collision">
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<geom type="mesh" group="3"/>
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<default class="pad_box1">
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<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"/>
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</default>
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<default class="pad_box2">
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<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"/>
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</default>
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</default>
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<site size="0.001" rgba="1 0 0 1" group="4"/>
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</default>
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</default>
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<inertial pos="0 -0.016413 0.029258" quat="0.697634 0.115353 -0.115353 0.697634"
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mass="0.048304" diaginertia="1.88037e-05 1.7493e-05 3.56792e-06"/>
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<joint name="left_finger_joint" axis="-1 0 0" class="follower"/>
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<geom material="black" mesh="left_finger"/>
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<geom class="visual" material="black" mesh="left_finger"/>
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<geom class="pad_box1" name="left_finger_pad_1" pos="0 -0.024003 0.032"/>
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<geom class="pad_box2" name="left_finger_pad_2" pos="0 -0.024003 0.050"/>
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</body>
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</body>
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<body name="left_inner_knuckle" pos="0 0.02 0.074098">
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<inertial pos="0 0.016413 0.029258" quat="0.697634 -0.115356 0.115356 0.697634"
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mass="0.048304" diaginertia="1.88038e-05 1.7493e-05 3.56779e-06"/>
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<joint name="right_finger_joint" axis="1 0 0" class="follower"/>
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<geom material="black" mesh="right_finger"/>
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<geom class="visual" material="black" mesh="right_finger"/>
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<geom class="pad_box1" name="right_finger_pad_1" pos="0 0.024003 0.032"/>
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<geom class="pad_box2" name="right_finger_pad_2" pos="0 0.024003 0.050"/>
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</body>
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</body>
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<body name="right_inner_knuckle" pos="0 -0.02 0.074098">

‎ufactory_xarm7/xarm7_nohand.xml‎

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<default>
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<default class="xarm7">
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<geom type="mesh" material="white"/>
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<joint axis="0 0 1" range="-6.28319 6.28319" frictionloss="1"/>
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<joint axis="0 0 1" armature="0.1" range="-6.28319 6.28319" frictionloss="1"/>
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<general biastype="affine" ctrlrange="-6.28319 6.28319"/>
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<default class="size1">
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<joint damping="10"/>

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