Skip to content

Commit 5c7ddec

Browse files
btabacopybara-github
btaba
authored and
copybara-github
committed
Add robotiq_2f85_v4.
PiperOrigin-RevId: 701995260 Change-Id: I20508e0da1b3b9ccfec498c1bc8cb7e2b4b77f87
1 parent a88bc45 commit 5c7ddec

19 files changed

+308
-0
lines changed

‎LICENSE‎

Lines changed: 29 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -2784,6 +2784,35 @@ ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
27842784
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
27852785

27862786

2787+
================================================================================
2788+
License for contents in the directory 'robotiq_2f85_v4/'
2789+
================================================================================
2790+
2791+
Copyright (c) 2013, ROS-Industrial
2792+
All rights reserved.
2793+
2794+
Redistribution and use in source and binary forms, with or without modification,
2795+
are permitted provided that the following conditions are met:
2796+
2797+
Redistributions of source code must retain the above copyright notice, this
2798+
list of conditions and the following disclaimer.
2799+
2800+
Redistributions in binary form must reproduce the above copyright notice, this
2801+
list of conditions and the following disclaimer in the documentation and/or
2802+
other materials provided with the distribution.
2803+
2804+
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
2805+
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
2806+
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
2807+
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
2808+
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
2809+
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
2810+
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
2811+
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
2812+
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
2813+
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
2814+
2815+
27872816
================================================================================
27882817
License for contents in the directory 'robotis_op3/'
27892818
================================================================================

‎robotiq_2f85_v4/2f85.png‎

1.65 MB
Loading

‎robotiq_2f85_v4/2f85.xml‎

Lines changed: 181 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,181 @@
1+
<mujoco model="Dual_wrist_camera">
2+
<compiler angle="radian" meshdir="assets" autolimits="true"/>
3+
4+
<option cone="elliptic" impratio="10"/>
5+
6+
<asset>
7+
8+
<material name="metal" rgba="0.58 0.58 0.58 1"/>
9+
<material name="silicone" rgba="0.1882 0.1882 0.1882 1"/>
10+
<material name="black" rgba="0.149 0.149 0.149 1"/>
11+
12+
<mesh file="base.stl"/>
13+
<mesh file="base_coupling.stl"/>
14+
<mesh file="c-a01-85-open.stl"/>
15+
<mesh file="driver.stl"/>
16+
<mesh file="coupler.stl"/>
17+
<mesh file="spring_link.stl"/>
18+
<mesh file="follower.stl"/>
19+
<mesh file="tongue.stl"/>
20+
</asset>
21+
22+
23+
<default>
24+
<default class="2f85">
25+
<mesh scale="0.001 0.001 0.001"/>
26+
<general biastype="affine"/>
27+
28+
<joint axis="0 0 1"/>
29+
<default class="driver">
30+
<joint range="0 0.9" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
31+
</default>
32+
<default class="follower">
33+
<joint range="-0.872664 0.9" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
34+
</default>
35+
<default class="spring_link">
36+
<joint range="-0.29670597283 0.9" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125"/>
37+
</default>
38+
<default class="coupler">
39+
<joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
40+
</default>
41+
42+
<default class="visual">
43+
<geom type="mesh" contype="0" conaffinity="0" group="2" material="black"/>
44+
</default>
45+
<default class="collision">
46+
<geom type="mesh" group="3"/>
47+
<default class="pad_box1">
48+
<geom mass="1e-6" type="box" pos="0.043258 0 0.12" size="0.002 0.011 0.009375" friction="0.7"
49+
solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1"/>
50+
</default>
51+
<default class="pad_box2">
52+
<geom mass="1e-6" type="box" pos="0.043258 0 0.13875" size="0.002 0.011 0.009375" friction="0.6"
53+
solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1"/>
54+
</default>
55+
</default>
56+
</default>
57+
</default>
58+
59+
60+
<worldbody>
61+
<body name="base" childclass="2f85">
62+
<inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0"
63+
diaginertia="0.000260285 0.000225381 0.000152708"/>
64+
<geom class="visual" pos="0 0 0.0108" quat="0 0 0 1" mesh="base"/>
65+
<geom class="visual" pos="0 0 0.004" quat="1 -1 0 0" mesh="base_coupling"/>
66+
<geom class="visual" pos="0 0 0.0108" quat="1 0 0 0" material="metal" mesh="c-a01-85-open"/>
67+
<geom class="collision" mesh="base"/>
68+
<!-- Left-hand side 4-bar linkage -->
69+
<body name="left_driver" pos="-0.0306011 0.00475 0.0657045" quat="1 -1 0 0">
70+
<inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0"
71+
diaginertia="1.72352e-06 1.60906e-06 3.22006e-07"/>
72+
<joint name="left_driver_joint" class="driver"/>
73+
<geom class="visual" pos="0.0306011 0.0549045 -0.0047" quat="1 1 0 0" material="metal" mesh="driver"/>
74+
<geom class="collision" pos="0.0306011 0.0549045 -0.0047" quat="1 1 0 0" mesh="driver"/>
75+
<body name="left_coupler" pos="-0.0314249 0.00453223 -0.0102" quat="0 0 0 1">
76+
<inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636"
77+
diaginertia="4.16206e-06 3.52216e-06 8.88131e-07"/>
78+
<geom class="visual" pos="-0.062026 -0.0503723 0.0055" quat="1 -1 0 0" mesh="coupler"/>
79+
<geom class="collision" pos="-0.062026 -0.0503723 0.0055" quat="1 -1 0 0" mesh="coupler"/>
80+
</body>
81+
</body>
82+
<body name="left_spring_link" pos="-0.0127 -0.012 0.07222" quat="1 -1 0 0">
83+
<inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403"
84+
diaginertia="8.96853e-06 6.71733e-06 2.63931e-06"/>
85+
<joint name="left_spring_link_joint" class="spring_link"/>
86+
<geom class="visual" pos="0.0127 0.06142 0.01205" quat="1 1 0 0" type="mesh" mesh="spring_link"/>
87+
<geom class="collision" pos="0.0127 0.06142 0.01205" quat="1 1 0 0" type="mesh" mesh="spring_link"/>
88+
<body name="left_follower" pos="-0.0382079 -0.0425003 0.00295" quat="0 -1 -1.90231e-05 0">
89+
<inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0"
90+
diaginertia="2.67415e-06 2.4559e-06 6.02031e-07"/>
91+
<joint name="left_follower" class="follower"/>
92+
<geom class="visual" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" type="mesh" mesh="follower"/>
93+
<geom class="visual" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" type="mesh" material="metal" mesh="tongue"/>
94+
<geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" type="mesh" mesh="follower"/>
95+
<geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" type="mesh" mesh="tongue"/>
96+
<body name="left_pad" pos="-0.0377897 -0.103916 -0.0091" quat="1 -1 0 0" >
97+
<geom class="pad_box1" name="left_pad1"/>
98+
<geom class="pad_box2" name="left_pad2"/>
99+
</body>
100+
</body>
101+
</body>
102+
<!-- Right-hand side 4-bar linkage -->
103+
<body name="right_driver" pos="0.0306011 -0.00475 0.0657045" quat="0 0 -1 1">
104+
<inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0"
105+
diaginertia="1.72352e-06 1.60906e-06 3.22006e-07"/>
106+
<joint name="right_driver_joint" class="driver"/>
107+
<geom class="visual" pos="0.0306011 0.0549045 -0.0047" quat="1 1 0 0" material="metal" mesh="driver"/>
108+
<geom class="collision" pos="0.0306011 0.0549045 -0.0047" quat="1 1 0 0" mesh="driver"/>
109+
<body name="right_coupler" pos="-0.0314249 0.00453223 -0.0102" quat="0 0 0 1">
110+
<inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636"
111+
diaginertia="4.16206e-06 3.52216e-06 8.88131e-07"/>
112+
<geom class="visual" pos="-0.062026 -0.0503723 0.0055" quat="1 -1 0 0" mesh="coupler"/>
113+
<geom class="collision" pos="-0.062026 -0.0503723 0.0055" quat="1 -1 0 0" mesh="coupler"/>
114+
</body>
115+
</body>
116+
<body name="right_spring_link" pos="0.0127 0.012 0.07222" quat="0 0 -1 1">
117+
<inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403"
118+
diaginertia="8.96853e-06 6.71733e-06 2.63931e-06"/>
119+
<joint name="right_spring_link_joint" class="spring_link"/>
120+
<geom class="visual" pos="0.0127 0.06142 0.01205" quat="1 1 0 0" mesh="spring_link"/>
121+
<geom class="collision" pos="0.0127 0.06142 0.01205" quat="1 1 0 0" mesh="spring_link"/>
122+
<body name="right_follower" pos="-0.0382079 -0.0425003 0.00295" quat="0 -1 0 0">
123+
<inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0"
124+
diaginertia="2.67415e-06 2.4559e-06 6.02031e-07"/>
125+
<joint name="right_follower_joint" class="follower"/>
126+
<geom class="visual" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" material="metal" mesh="tongue"/>
127+
<geom class="visual" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" mesh="follower"/>
128+
<geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" mesh="tongue"/>
129+
<geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" mesh="follower"/>
130+
<body name="right_pad" pos="-0.0377897 -0.103916 -0.0091" quat="1 -1 0 0" >
131+
<geom class="pad_box1" name="right_pad1"/>
132+
<geom class="pad_box2" name="right_pad2"/>
133+
</body>
134+
</body>
135+
</body>
136+
</body>
137+
</worldbody>
138+
139+
<contact>
140+
<exclude body1="base" body2="left_driver"/>
141+
<exclude body1="base" body2="right_driver"/>
142+
<exclude body1="base" body2="left_spring_link"/>
143+
<exclude body1="base" body2="right_spring_link"/>
144+
<exclude body1="right_coupler" body2="right_follower"/>
145+
<exclude body1="left_coupler" body2="left_follower"/>
146+
</contact>
147+
148+
<!--
149+
This adds stability to the model by having a tendon that distributes the forces between both
150+
joints, such that the equality constraint doesn't have to do that much work in order to equalize
151+
both joints. Since both joints share the same sign, we split the force between both equally by
152+
setting coef=0.485
153+
-->
154+
<tendon>
155+
<fixed name="split">
156+
<joint joint="right_driver_joint" coef="0.485"/>
157+
<joint joint="left_driver_joint" coef="0.485"/>
158+
</fixed>
159+
</tendon>
160+
161+
<equality>
162+
<connect anchor="-0.0179014 -0.00651468 0.0044" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1"/>
163+
<connect anchor="-0.0179014 -0.00651468 0.0044" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1"/>
164+
<joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001"
165+
solref="0.005 1"/>
166+
</equality>
167+
168+
<!--
169+
The general actuator below is a customized position actuator (with some damping) where
170+
gainprm[0] != kp (see http://mujoco.org/book/modeling.html#position).
171+
The reason why gainprm[0] != kp is because the control input range has to be re-scaled to
172+
[0, 255]. The joint range is currently set at [0, 0.8], the control range is [0, 255] and
173+
kp = 100. Tau = Kp * scale * control_input - Kp * error, max(Kp * scale * control_input) = 0.8,
174+
hence scale = 0.8 * 100 / 255
175+
-->
176+
<actuator>
177+
<general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255"
178+
gainprm="0.3137255 0 0" biasprm="0 -100 -10"/>
179+
</actuator>
180+
181+
</mujoco>

‎robotiq_2f85_v4/LICENSE‎

Lines changed: 23 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,23 @@
1+
Copyright (c) 2013, ROS-Industrial
2+
All rights reserved.
3+
4+
Redistribution and use in source and binary forms, with or without modification,
5+
are permitted provided that the following conditions are met:
6+
7+
Redistributions of source code must retain the above copyright notice, this
8+
list of conditions and the following disclaimer.
9+
10+
Redistributions in binary form must reproduce the above copyright notice, this
11+
list of conditions and the following disclaimer in the documentation and/or
12+
other materials provided with the distribution.
13+
14+
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
15+
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
16+
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
17+
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
18+
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
19+
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
20+
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
21+
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
22+
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
23+
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎robotiq_2f85_v4/README.md‎

Lines changed: 35 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,35 @@
1+
# Robotiq 2F-85 Description (MJCF)
2+
3+
Requires MuJoCo 2.2.2 or later.
4+
5+
## Overview
6+
7+
This package contains a simplified robot description (MJCF) of the [Robotiq 85mm
8+
2-Finger Adaptive
9+
Gripper](https://robotiq.com/products/2f85-140-adaptive-robot-gripper) developed
10+
by [Robotiq](https://robotiq.com/). It is derived from the [publicly available
11+
URDF
12+
description](https://github.com/ros-industrial/robotiq/tree/kinetic-devel/robotiq_2f_85_gripper_visualization).
13+
14+
<p float="left">
15+
<img src="2f85.png" width="400">
16+
</p>
17+
18+
## URDF → MJCF derivation steps
19+
20+
1. Downloaded gripper step file containing CAD information: https://blog.robotiq.com/hubfs/support-files/2F85_Opened_20190924-Sep-06-2024-02-25-46-4707-PM.step
21+
2. Downloaded fingertips step file: https://blog.robotiq.com/hubfs/support-files/C-083-PAD_SURMOULE_85_defeature_20191025-Sep-06-2024-02-26-08-4297-PM.step
22+
3. Created assembly file using onshape and joint limits from robotiq_2f85 XML model.
23+
4. Used onshape-to-robot to export assembly file to URDF : https://github.com/Rhoban/onshape-to-robot
24+
5. Converted URDF to MJCF by loading the model in simulate and saved the XML.
25+
7. Used robotiq_2f85 XML as inspiration. Kept new XML very similar to the robotiq_2f85.
26+
8. Changed value of tendon coef from 0.5 to 0.485 to make sure that fingertips touch.
27+
7. Used inertia and mass from robotiq_2f85 model.
28+
9. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
29+
10. Added hanging box to `scene.xml`.
30+
31+
## License
32+
Here is the term and condition link:
33+
https://robotiq.com/fr/termes
34+
Have no idea don't speak the language
35+

‎robotiq_2f85_v4/assets/base.stl‎

2.2 MB
Binary file not shown.

‎robotiq_2f85_v4/assets/base_coupling.stl‎

528 KB
Binary file not shown.

‎robotiq_2f85_v4/assets/c-a01-85-open.stl‎

277 KB
Binary file not shown.

‎robotiq_2f85_v4/assets/coupler.stl‎

627 KB
Binary file not shown.

‎robotiq_2f85_v4/assets/driver.stl‎

428 KB
Binary file not shown.

0 commit comments

Comments
 (0)