Fix png link.

PiperOrigin-RevId: 853740891

Author: btaba

LICENSE

@@ -14,15 +14,15 @@ This package contains a **tendon-driven** robotic hand model for MuJoCo manipula
 
 
 ## URDF → MJCF derivation steps
-- Use `mjcf.from_path` to load the URDF file, and export the initial MJCF model with `mjcf.export_with_assets`.  
-- Manually define simplified collision geometries.  
-- Exclude unwanted collisions between specific geometries.  
-- Design pulley elements to represent the cable routing in the hand.  
-- Define tendons that follow the cable paths and wrap around the pulleys.  
-- Add springs with the same specifications as those used in the *Aero Hand Open*.  
-- Implement position actuators for the tendons and the hand’s abduction joint, setting parameters (e.g., armature) to match the motors from the *Aero Hand Open*.  
-- Adjust stiffness, damping, and actuator gains to reproduce dynamics similar to the *Aero Hand Open*.  
+- Use `mjcf.from_path` to load the URDF file, and export the initial MJCF model with `mjcf.export_with_assets`.
+- Manually define simplified collision geometries.
+- Exclude unwanted collisions between specific geometries.
+- Design pulley elements to represent the cable routing in the hand.
+- Define tendons that follow the cable paths and wrap around the pulleys.
+- Add springs with the same specifications as those used in the *Aero Hand Open*.
+- Implement position actuators for the tendons and the hand’s abduction joint, setting parameters (e.g., armature) to match the motors from the *Aero Hand Open*.
+- Adjust stiffness, damping, and actuator gains to reproduce dynamics similar to the *Aero Hand Open*.
 
 ## License
 
-These models are released under an [Apache-2.0 License](LICENSE).
+These models are released under an [Apache-2.0 License](LICENSE).

tetheria_aero_hand_open/README.md

@@ -590,4 +590,4 @@
     <joint joint1="left_pinky_pip" joint2="left_pinky_dip" />
     <joint joint1="left_thumb_mcp" joint2="left_thumb_ip" />
   </equality>
-</mujoco>
+</mujoco>

tetheria_aero_hand_open/left_hand.xml

@@ -747,4 +747,4 @@
     <joint joint1="right_thumb_mcp" joint2="right_thumb_ip"/>
   </equality>
 
-</mujoco>
+</mujoco>

tetheria_aero_hand_open/right_hand.xml

@@ -21,16 +21,16 @@
     </worldbody>
 
     <keyframe>
-        <key name="home" qpos="1.57335 0.347305 0.352258 
-    1.57303 0.400789 0.406 
-    1.57335 0.365219 0.370336 
-    1.57336 0.515229 0.520112 
+        <key name="home" qpos="1.57335 0.347305 0.352258
+    1.57303 0.400789 0.406
+    1.57335 0.365219 0.370336
+    1.57336 0.515229 0.520112
     0.746438 0.260182 -0.00155382 1.0748 " ctrl="
-    0.09 
-    0.09 
-    0.09 
-    0.09 
+    0.09
+    0.09
+    0.09
+    0.09
     0.75 0.035 0.1"/>
     </keyframe>
 
-</mujoco>
+</mujoco>

tetheria_aero_hand_open/scene_right.xml

@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2025, Trossen Robotics
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

trossen_wxai/LICENSE

@@ -0,0 +1,36 @@
+# Trossen WXAI (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 2.2.2 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [Trossen WXAI](https://www.trossenrobotics.com/viperx-300-robot-arm-6dof.aspx) developed by [Trossen Robotics](https://www.trossenrobotics.com/). It is derived from the [publicly available URDF description](https://docs.trossenrobotics.com/trossen_arm/main/tutorials/trossen_arm_mujoco.html).
+
+<p float="left">
+  <img src="trossen_wxai.png" width="400">
+</p>
+
+## URDF → MJCF derivation steps
+
+1. Added `<mujoco> <compiler discardvisual="false" strippath="false" fusestatic="false"/> </mujoco>` to the URDF's
+   `<robot>` clause in order to preserve visual geometries.
+2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+3. Manually edited the MJCF to extract common properties into the `<default>` section.
+4. Used [`interbotix_black.png`](https://github.com/Interbotix/interbotix_ros_manipulators/blob/main/interbotix_ros_xsarms/interbotix_xsarm_descriptions/meshes/interbotix_black.png) to texture the visual geoms.
+5. Added a light to track `gripper_link`.
+6. Removed `gripper` joint.
+7. Added an equality constraint so that the right finger mimics the position of the left finger.
+8. Manually designed box collision geoms for the gripper.
+9. Added `exclude` clause to prevent collisions between `base_link` and `shoulder_link`.
+10. Added position controlled actuators.
+11. Added `impratio=10` and `cone=elliptic` for better noslip.
+12. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).