LuckyWorld/SourceFiles/mujoco_menagerie-main/trossen_wx250s

WidowX 250 6DOF Description (MJCF)

Important

Requires MuJoCo 3.1.6 or later.

Overview

This package contains a simplified robot description (MJCF) of the WidowX 250 6DOF developed by Trossen Robotics. It is derived from the publicly available URDF description.

URDF → MJCF derivation steps

1. Added <mujoco> <compiler discardvisual="false" strippath="false" fusestatic="false"/> </mujoco> to the URDF's <robot> clause in order to preserve visual geometries.
2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
3. Manually edited the MJCF to extract common properties into the <default> section.
4. Used interbotix_black.png to texture the visual geoms.
5. Added a light to track gripper_link.
6. Removed gripper joint.
7. Added an equality constraint so that the right finger mimics the position of the left finger.
8. Added extra sphere collision geoms to the gripper for additional contact points.
9. Added exclude clause to prevent collisions between base_link and shoulder_link.
10. Added position controlled actuators.
    • Removed all actuatorfrcrange as they were extremely low and affecting the actuation.
11. Added impratio=10 and cone=elliptic for better noslip.
12. Added scene.xml which includes the robot, with a textured groundplane, skybox, and haze.

License

This model is released under a BSD-3-Clause License.