Behron
3e39a34a7a
More merge conflicts. Taking main changes then will integrate mine.
34 lines
1.2 KiB
Markdown
34 lines
1.2 KiB
Markdown
# Robotiq 2F-85 Description (MJCF)
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Requires MuJoCo 2.2.2 or later.
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## Overview
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This package contains a simplified robot description (MJCF) of the [Robotiq 85mm
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2-Finger Adaptive
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Gripper](https://robotiq.com/products/2f85-140-adaptive-robot-gripper) developed
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by [Robotiq](https://robotiq.com/). It is derived from the [publicly available
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URDF
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description](https://github.com/ros-industrial/robotiq/tree/kinetic-devel/robotiq_2f_85_gripper_visualization).
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<p float="left">
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<img src="2f85.png" width="400">
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</p>
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## URDF → MJCF derivation steps
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1. Added `<mujoco> <compiler 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. Manually edited the MJCF to extract common properties into the `<default>` section.
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4. Added `<exclude>` clauses to prevent collisions between the linkage bodies.
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5. Broke up collision pads into two pads for more contacts.
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6. Increased pad friction and priority.
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7. Added `impratio=10` for better noslip.
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8. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
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9. Added hanging box to `scene.xml`.
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## License
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This model is released under a [BSD-2-Clause License](LICENSE).
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