Behron
60aaea751f
More merge conflicts. Taking main changes then will integrate mine.
35 lines
1.5 KiB
Markdown
35 lines
1.5 KiB
Markdown
## AgileX PiPER Description (MJCF)
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> Requires MuJoCo 2.3.4 or later.
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### Overview
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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).
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<p float="left">
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<img src="piper.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 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).
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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 an [MIT License](LICENSE).
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## Acknowledgement
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This model was graciously contributed by [Omar Rayyan](https://orayyan.com/).
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