Add kinova gen3 lite #200
Add kinova gen3 lite #200
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louislelay
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louislelay
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Nice work @anashoussaini, I've written some comments and you should also add an entry in the repository readme file.
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| <mujoco model="gen3_lite"> | |||
| <compiler angle="radian" meshdir="assets/"/> | |||
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| <compiler angle="radian" meshdir="assets/"/> | |
| <compiler angle="radian" meshdir="assets"/> |
| <default> | ||
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| <default class="visual"> | ||
| <geom type="mesh" contype="0" conaffinity="0" group="2" rgba="0.803 0.824 0.82 1"/> | ||
| </default> | ||
| <default class="collision"> | ||
| <geom type="mesh" group="3" condim="4" solref="0.005 1" solimp="0.9 0.95 0.001"/> | ||
| </default> | ||
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| <joint damping="0.02" armature="0.001" limited="true"/> | ||
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| <default class="large_actuator"> | ||
| <position kp="1200" kv="80" forcerange="-105 105" ctrllimited="true"/> | ||
| </default> | ||
| <default class="medium_actuator"> | ||
| <position kp="650" kv="60" forcerange="-72 72" ctrllimited="true"/> | ||
| </default> | ||
| <default class="small_actuator"> | ||
| <position kp="400" kv="40" forcerange="-52 52" ctrllimited="true"/> | ||
| </default> | ||
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| <default class="grip_joint"> | ||
| <joint damping="0.05" armature="0.002"/> | ||
| </default> | ||
| </default> |
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Nit: remove the extra blank lines inside the <default> block.
| <mesh name="left_finger_dist_link" file="left_finger_dist_link.stl"/> | ||
| </asset> | ||
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| <worldbody> |
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Nit: remove the extra blank lines inside the <worldbody> block and also for the following ones.
| <body name="shoulder_link" pos="0 0 0.12825"> | ||
| <inertial pos="2.477e-05 0.0221353 0.0993769" quat="0.972429 0.233194 -0.000430944 0.00108761" mass="0.959744" | ||
| diaginertia="0.00165947 0.00158128 0.000717195"/> | ||
| <joint name="joint_1" pos="0 0 0" axis="0 0 1" range="-2.68 2.68" actuatorfrcrange="-10 10"/> |
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pos="0 0 0" and axis="0 0 1" are default values and can be omitted. Consider removing them (and other attributes where the default is already implied) to keep the XML minimal.
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| <p float="left"> | ||
| <img src="assets/gen3_lite.png" width="400"> |
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Don't put the image in the assets folder but at the same level as this readme.
2 participants
Description
Added Kinova Gen3 lite robot.
Fixes:
Checklist
Please check off each item (
[x]) once complete, or mark it as[N/A]if it doesn't apply:CONTRIBUTORS.md(alphabetically by first name)CHANGELOG.md:pytest test/locally and ensured all tests passRefer to the contributing guide if you're unsure about any of the steps.