LuckyWorld/SourceFiles/mujoco_menagerie-main/rethink_robotics_sawyer

Rethink Robotics Sawyer Description (MJCF)

Requires MuJoCo 2.3.3 or later.

Overview

This package contains a simplified robot description (MJCF) of the Sawyer developed by Rethink Robotics. It is derived from the publicly available URDF description.

URDF → MJCF derivation steps

1. Converted the DAE mesh files to OBJ format using Blender.
2. Processed .obj files with obj2mjcf.
3. Eliminated faulty head submeshes.
4. Added <mujoco> <compiler discardvisual="false"/> </mujoco> to the URDF's <robot> clause in order to preserve visual geometries.
5. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
6. Added a tracking light to the base.
7. Manually edited the MJCF to extract common properties into the <default> section.
8. Added <exclude> clauses to prevent collisions between base and right_l0.
9. Manually designed collision geometries.
10. Added position-controlled actuators for the arm.
11. Darkened the red color to more closely match the hardware.
12. Added home joint configuration as a keyframe.
13. Added scene.xml which includes the robot, with a textured groundplane, skybox, and haze.

License

This model is released under an Apache-2.0 License.