Behron
60aaea751f
More merge conflicts. Taking main changes then will integrate mine.
42 lines
2.1 KiB
Markdown
42 lines
2.1 KiB
Markdown
# ALOHA Description (MJCF)
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Requires MuJoCo 3.1.1 or later.
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## Overview
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This package contains a simplified robot description (MJCF) of the bimanual [ALOHA 2](https://aloha-2.github.io/) robot. It is derived from the publicly available [ViperX 300 6DOF](https://github.com/google-deepmind/mujoco_menagerie/tree/main/trossen_vx300s) MJCF model.
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<p float="left">
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<img src="aloha.png" width="400">
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<img src="aloha_wrist.png" width="400">
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</p>
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## URDF → MJCF derivation steps
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1. Branched XML from [ViperX 300](../trossen_vx300s/), duplicating robot kinematic tree twice, one for the left arm and one for the right arm.
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2. Replaced default ViperX gripper model with the updated ALOHA 2 design and modeled the actuation using a position controlled linear actuator with an equality constraint between the left and right gripper fingers.
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3. Performed system identification of actuator gain and torque limits and joint damping, armature and friction parameters as follows:
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1. Collected 11 trajectories in real using the leader arms consisting of sinusoidal motions targeting the control limits of the motors in the follower arms.
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2. Recorded joint positions and velocities on the follower arms.
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3. Solved a box-constrained nonlinear least squares problem that minimizes the residual between real and simulated data.
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4. Updated aforementioned parameters in the MJCF model.
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4. Added `scene.xml` which includes the robots mounted on an aluminum extrusion frame bolted to a wooden table.
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5. Added 4 cameras: overhead camera, worms-eye camera and left and right wrist cameras. The intrinsic parameters of the simulated cameras are matched with an [Intel RealSense D405](https://www.intelrealsense.com/depth-camera-d405/).
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## License
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This model is released under a [BSD-3-Clause License](LICENSE).
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## Publications
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If you use this model in your work, please use the following citation:
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```bibtex
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@misc{aloha2_2024,
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title = {ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation},
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url = {https://aloha-2.github.io/},
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author = {ALOHA 2 Team},
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year = {2024},
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}
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```
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