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Merge pull request #155 from jonzamora/main
Add ARX L5 arm
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‎README.md‎

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@@ -172,6 +172,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
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| Name | Maker | DoFs | License | MJX |
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|------|-------|---------|---------|-----|
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| ARX L5 | ARX Robotics | 7 | [BSD-3-Clause](arx_l5/LICENSE) |✖️|
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| PiPER | AgileX | 7 | [MIT](agilex_piper/LICENSE) |✖️|
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| FR3 | Franka Robotics | 7 | [Apache-2.0](franka_fr3/LICENSE) |✖️|
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| iiwa14 | KUKA | 7 | [BSD-3-Clause](kuka_iiwa_14/LICENSE) |✖️|

‎arx_l5/LICENSE‎

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BSD 3-Clause License
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Copyright (c) 2023-2025, ARXrobotics
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎arx_l5/README.md‎

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## ARX L5 Description (MJCF)
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> Requires MuJoCo 3.1.3 or later.
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### Overview
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This package contains a simplified robot description (MJCF) of the [ARX L5](https://arx-x.com/). It is derived from [ARX's official model repository](https://github.com/ARXroboticsX/ARX_Model). The initial URDF can be found at the following [commit SHA](https://github.com/ARXroboticsX/ARX_Model/tree/af6fe43c873008a85bce6195c0f2160f1a1c14ce/X5/X5A).
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<p float="left">
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<img src="arx_l5.png" width="400">
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</p>
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### Derivation steps
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1. Added `<mujoco> <compiler balanceinertia="true" discardvisual="false"/> </mujoco>` to the URDF's
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`<robot>` clause in order to preserve visual geometries.
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2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
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3. Converted the .stls to .objs and replaced the original .stls with them (since each .obj in MuJoCo can have 1 color).
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4. Merged similar materials between the .objs.
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5. Created a `<default>` section to define common properties for joints, actuators, and geoms.
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6. Added an equality constraint so that the right finger mimics the position of the left finger.
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7. Manually designed box collision geoms for the gripper.
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8. Added `exclude` clause to prevent collisions between `base_link` and `link1`.
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9. Added position controlled actuators.
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10. Added `impratio=10` and `cone=elliptic` for better noslip.
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11. Added `scene.xml` which includes the robot with a textured groundplane, skybox, and haze.
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## License
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This model is released under a [BSD-3-Clause License](LICENSE).
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## Acknowledgement
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This model was graciously contributed by [Jonathan Zamora](https://jonzamora.dev/).

‎arx_l5/arx_l5.png‎

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‎arx_l5/arx_l5.xml‎

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<mujoco model="ARX L5">
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<compiler angle="radian" meshdir="assets"/>
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<option integrator="implicitfast" cone="elliptic" impratio="10"/>
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<default>
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<default class="arx_l5">
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<joint frictionloss="0.3" armature="0.005"/>
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<position inheritrange="1" forcerange="-100 100"/>
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<default class="finger">
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<joint frictionloss="0" type="slide"/>
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<position forcerange="-10 10"/>
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</default>
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<default class="visual">
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<geom group="2" type="mesh" contype="0" conaffinity="0" density="0"/>
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</default>
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<default class="collision">
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<geom group="3" type="capsule"/>
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</default>
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</default>
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</default>
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<asset>
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<material name="black_mat" rgba="0.1 0.1 0.1 1"/>
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<mesh name="base_link" file="base_link.obj"/>
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<mesh name="link1" file="link1.obj"/>
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<mesh name="link2" file="link2.obj"/>
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<mesh name="link3" file="link3.obj"/>
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<mesh name="link4" file="link4.obj"/>
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<mesh name="link5" file="link5.obj"/>
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<mesh name="link6" file="link6.obj"/>
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<mesh name="link7" file="link7.obj"/>
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<mesh name="link8" file="link8.obj"/>
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<mesh name="camera" file="camera.obj"/>
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</asset>
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<worldbody>
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<light mode="targetbodycom" target="link8" pos="1 0 1"/>
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<body name="base_link">
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<geom mesh="base_link" material="black_mat" class="visual"/>
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<geom mesh="base_link" class="collision"/>
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<body name="link1" pos="0 0 0.0565">
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<inertial pos="0.0050395 -0.0077407 0.020897" quat="0.632157 0.714526 -0.263733 0.142391" mass="0.096804"
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diaginertia="0.000118945 9.40205e-05 4.70346e-05"/>
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<joint name="joint1" axis="0 0 1" range="-3.14 3.14"/>
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<geom mesh="link1" material="black_mat" class="visual"/>
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<geom mesh="link1" class="collision"/>
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<body name="link2" pos="0.02 0 0.047">
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<inertial pos="-0.12992 -0.0011822 -2.6366e-05" quat="0.501263 0.501263 0.498734 0.498734" mass="1.1988"
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diaginertia="0.0164704 0.01646 0.000649595"/>
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<joint name="joint2" axis="0 1 0" range="0 3.14"/>
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<geom mesh="link2" material="black_mat" class="visual"/>
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<geom mesh="link2" class="collision"/>
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<body name="link3" pos="-0.264 0 0" quat="-3.67321e-06 -1 0 0">
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<inertial pos="0.16181 0.0011723 -0.05455" quat="0.518857 0.484372 0.465704 0.52848" mass="0.84082"
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diaginertia="0.0084909 0.00841207 0.000747034"/>
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<joint name="joint3" axis="0 1 0" range="0 3.14"/>
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<geom mesh="link3" material="black_mat" class="visual"/>
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<geom mesh="link3" class="collision"/>
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<geom type="box" size="0.062 0.001 0.01" pos="0.112 -0.025 -0.06" rgba="1 0 0 1" class="visual"/>
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<geom type="box" size="0.062 0.001 0.01" pos="0.112 0.023 -0.06" rgba="1 0 0 1" class="visual"/>
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<body name="link4" pos="0.245 -5e-05 -0.06">
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<inertial pos="0.041751 0.0054236 -0.03337" quat="0.919386 -0.0641253 0.311071 -0.23206" mass="0.12432"
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diaginertia="0.000303193 0.000235316 0.000101491"/>
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<joint name="joint4" axis="0 1 0" range="-1.7 1.7"/>
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<geom mesh="link4" material="black_mat" class="visual"/>
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<geom mesh="link4" class="collision"/>
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<body name="link5" pos="0.073914 5e-05 -0.083391">
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<inertial pos="-8.3435e-05 -1.5428e-05 0.052216" quat="0.998247 0 -0.0591776 0" mass="0.63601"
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diaginertia="0.000848329 0.00082 0.000251671"/>
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<joint name="joint5" axis="0 0 1" range="-1.7 1.7"/>
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<geom mesh="link5" material="black_mat" class="visual"/>
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<geom mesh="link5" class="collision"/>
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<body name="link6" pos="0.025286 0 0.083391" quat="-3.67321e-06 1 0 0">
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<inertial pos="0.041697 2.4368e-05 0.00014464" quat="0.5 0.5 -0.5 0.5" mass="0.44089"
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diaginertia="0.0005 0.00038 0.00028"/>
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<joint name="joint6" axis="1 0 0" range="-3.14 3.14"/>
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<geom mesh="link6" material="black_mat" class="visual"/>
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<geom mesh="link6" class="collision"/>
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<geom mesh="camera" pos="0.06 0 -0.01" quat="-1 0 0 1" material="black_mat" class="visual"/>
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<geom mesh="camera" pos="0.06 0 -0.01" quat="-1 0 0 1" class="collision"/>
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<camera name="wrist_cam" pos="0.0475 0 0.075" mode="fixed" euler="0 -1.1 -1.5708"
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focal="1.93e-3 1.93e-3" resolution="1280 720" sensorsize="3896e-6 2140e-6"/>
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<body name="link7" pos="0.08657 0.024896 -0.0002436" gravcomp="1">
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<inertial pos="-0.00035522 -0.007827 -0.0029883" quat="0.5 0.5 0.5 0.5" mass="0.064798"
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diaginertia="3e-05 3e-05 2e-05"/>
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<joint name="joint7" axis="0 1 0" class="finger" range="0 0.044"/>
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<geom mesh="link7" material="black_mat" class="visual"/>
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<geom type="box" size=".02 .002 .00525" pos="0.05 -0.023 0" rgba="1 0 0 1" class="collision"/>
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<geom type="box" size=".015 .002 .018" pos="0.015 -0.023 0" rgba="0 0 1 1" class="collision"/>
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</body>
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<body name="link8" pos="0.08657 -0.0249 -0.00024366" gravcomp="1">
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<inertial pos="-0.000355223 0.00782769 0.00242006" quat="0.5 0.5 0.5 0.5" mass="0.0647982"
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diaginertia="3e-05 3e-05 2e-05"/>
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<joint name="joint8" axis="0 1 0" class="finger" range="-0.044 0"/>
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<geom mesh="link8" material="black_mat" class="visual"/>
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<geom type="box" size=".02 .002 .00525" pos="0.05 0.023 0" rgba="1 0 0 1" class="collision"/>
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<geom type="box" size=".015 .002 .018" pos="0.015 0.023 0" rgba="0 0 1 1" class="collision"/>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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<contact>
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<exclude body1="base_link" body2="link1"/>
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</contact>
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<equality>
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<joint joint1="joint7" joint2="joint8" polycoef="0 -1 0 0 0"/>
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</equality>
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<actuator>
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<position name="joint1" joint="joint1" class="arx_l5" kp="80" kv="5"/>
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<position name="joint2" joint="joint2" class="arx_l5" kp="80" kv="5"/>
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<position name="joint3" joint="joint3" class="arx_l5" kp="80" kv="5"/>
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<position name="joint4" joint="joint4" class="arx_l5" kp="40" kv="5"/>
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<position name="joint5" joint="joint5" class="arx_l5" kp="10" kv="1.5"/>
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<position name="joint6" joint="joint6" class="arx_l5" kp="10" kv="1.5"/>
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<position name="gripper" joint="joint7" class="finger" kp="40" kv="5"/>
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</actuator>
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<keyframe>
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<key name="home" qpos="0 0.251 0.314 0 0 0 0.044 -0.044" ctrl="0 0.251 0.314 0 0 0 0.044"/>
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</keyframe>
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</mujoco>

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