LuckyWorld/SourceFiles/mujoco_menagerie-main/ufactory_xarm7

xArm7 Description (MJCF)

Requires MuJoCo 2.3.3 or later.

Changelog

• 17/12/2024: Improved object grasping (thanks to @s1lent4gnt) by:
  • Adding two collision box meshes as pads for each finger.
  • Setting armature=0.1 for the joints.

Overview

This package contains a simplified robot description (MJCF) of the xArm7 arm developed by UFACTORY. It is derived from the publicly available URDF description.

URDF → MJCF derivation steps

1. Added <mujoco> <compiler discardvisual="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. Added actuators for the arm and hand.
5. 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.