LuckyWorld/SourceFiles/mujoco_menagerie-main/trs_so_arm100

Standard Open Arm-100 5DOF - Version 1.3 (MJCF)

Important

Requires MuJoCo 3.1.6 or later.

Overview

This package contains a simplified robot description (MJCF) of the Standard Open Arm-100 developed by The Robot Studio. It is derived from the publicly available URDF description.

URDF → MJCF derivation steps

1. Added <mujoco><compiler discardvisual="false" strippath="false"/></mujoco> to the URDF’s <robot> element to preserve visual geometries.
2. Loaded the URDF into MuJoCo and saved it as a corresponding MJCF.
3. Manually edited the MJCF to extract shared properties into the <default> section.
4. Edited original meshes: extracted servos into separate files, manually created convex collision meshes for the gripper jaws.
5. Added extra box-shaped collision geoms to the gripper for additional contact points.
6. Added an exclude clause to prevent collisions between Base and Rotation_Pitch.
7. Added approximate joint limits.
8. Added position-controlled actuators.
9. Added impratio="10" and cone="elliptic" attributes for improved no-slip behavior.
10. Created scene.xml to include the robot, along with a textured ground plane, skybox, and haze.

License

This model is released under an Apache-2.0 License.