Merge pull request #149 from omarrayyann:main

PiperOrigin-RevId: 730169126
Change-Id: I07da84c67d3ff2eacc0f90acbee47882e13297e9

Author: copybara-github

LICENSE

@@ -1,3 +1,30 @@
+================================================================================
+License for contents in the directory 'agilex_piper/'
+================================================================================
+
+MIT License
+
+Copyright (c) 2024 RosenYin
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
 ================================================================================
 License for contents in the directory 'agility_cassie/'
 ================================================================================

README.md

@@ -172,6 +172,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 
 | Name | Maker | DoFs    | License | MJX |
 |------|-------|---------|---------|-----|
+| PiPER | AgileX | 7 | [MIT](agilex_piper/LICENSE) |✖️|
 | FR3 | Franka Robotics | 7 | [Apache-2.0](franka_fr3/LICENSE) |✖️|
 | iiwa14 | KUKA | 7 | [BSD-3-Clause](kuka_iiwa_14/LICENSE) |✖️|
 | Lite6 | UFACTORY | 6 | [BSD-3-Clause](ufactory_lite6/LICENSE) |✖️|

agilex_piper/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 RosenYin
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

agilex_piper/README.md

@@ -0,0 +1,34 @@
+## AgileX PiPER Description (MJCF)
+
+> Requires MuJoCo 2.3.4 or later.
+
+### Overview
+
+This package contains a simplified robot description (MJCF) of the [AgileX PiPER](https://global.agilex.ai/products/piper). It is derived from the publicly available [model](https://github.com/agilexrobotics/Piper_ros/tree/ros-noetic-no-aloha/src/piper_description/urdf).
+
+<p float="left">
+  <img src="piper.png" width="400">
+</p>
+
+### Derivation steps
+
+1.  Added `<mujoco> <compiler balanceinertia="true" discardvisual="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. Converted the the .objs to .xmls using [obj2mjcf](https://github.com/kevinzakka/obj2mjcf) and replaced the original stls with them (since each obj in mujoco can have 1 color).
+4. Merged similar materials between the .objs
+5. Created a `<default>` section to define common properties for joints, actuators, and geoms.
+6. Added an equality constraint so that the right finger mimics the position of the left finger.
+7. Manually designed box collision geoms for the gripper.
+8. Added `exclude` clause to prevent collisions between `base_link` and `link1`.
+9. Added position controlled actuators.
+10. Added `impratio=10` and `cone=elliptic` for better noslip.
+11. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+## License
+
+This model is released under an [MIT License](LICENSE).
+
+## Acknowledgement
+
+This model was graciously contributed by [Omar Rayyan](https://orayyan.com/).