Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add contribution acknowledgment for kinova gen3 model. #80

Merged
merged 1 commit into from
Jul 29, 2024
Merged

Add contribution acknowledgment for kinova gen3 model. #80

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 9 additions & 5 deletions kinova_gen3/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ available URDF description](https://github.com/Kinovarobotics/ros_kortex/blob/no

Note `fusestatic="false"` is needed so that base_link is preserved.

3. Convert to MJCF:
3. Converted to MJCF:

```python
import mujoco
Expand All @@ -36,16 +36,16 @@ mujoco.mj_saveLastXML('gen3.xml', model)

4. Cleaned up the MJCF file as follows:
- Added option: `<option integrator="implicitfast"/>`.
- Replaced `type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1"` with `class="visual"` and add the class to defaults.
- Replaced `type="mesh" rgba="0.75294 0.75294 0.75294 1"` with `class="collision"` and add the class to defaults.
- Deleted `<body name="end_effector_link">` entirely and replace with `<site name="tool" pos="0 0 -0.061525" quat="0 1 0 0"/>`.
- Replaced `type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1"` with `class="visual"` and added the class to defaults.
- Replaced `type="mesh" rgba="0.75294 0.75294 0.75294 1"` with `class="collision"` and added the class to defaults.
- Deleted `<body name="end_effector_link">` entirely and replaced with `<site name="pinch_site" pos="0 0 -0.061525" quat="0 1 0 0"/>`.
5. Added the following to the MJCF:
- Added wrist camera: `<camera name="wrist" pos="0 -0.05639 -0.058475" quat="0 0 0 1" fovy="41.83792730009236" resolution="640 480"/>`.
- Added position actuators with joint limits on joints 2, 4, and 6.
- Added keyframes for "home" and "retract".
6. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.

## Robotiq 2F85
## Robotiq 2F-85

Do not include the Robotiq mechanical coupling used in arms such as the UR and Franka since for the Kinova Gen3, it is built into the end effector interface. Specifically, if using Menagerie's `robotiq_2f85`, the "base_mount" link (mechanical coupling) should be excluded. Instead, the "base" link should be directly mounted at pose `pos="0 0 -0.06149039" quat="0 -1 1 0"` like so:

Expand All @@ -64,3 +64,7 @@ The end effector site should also be shifted by an additional `0.12` to match th
## License

This model is released under a [BSD-3-Clause License](LICENSE).

## Acknowledgement

This model was graciously contributed by [Jimmy Wu](https://jimmyyhwu.github.io/).
8 changes: 4 additions & 4 deletions kinova_gen3/gen3.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@
diaginertia="0.00462407 0.00449437 0.00207755"/>
<geom class="visual" mesh="base_link"/>
<geom class="collision" mesh="base_link"/>
<body name="shoulder_link" pos="0 0 0.15643" quat="-3.67321e-06 1 0 0">
<body name="shoulder_link" pos="0 0 0.15643" quat="0 1 0 0">
<inertial pos="-2.3e-05 -0.010364 -0.07336" quat="0.707051 0.0451246 -0.0453544 0.704263" mass="1.3773"
diaginertia="0.00488868 0.00457 0.00135132"/>
<joint name="joint_1"/>
Expand All @@ -48,7 +48,7 @@
<joint name="joint_2" range="-2.24 2.24"/>
<geom class="visual" mesh="half_arm_1_link"/>
<geom class="collision" mesh="half_arm_1_link"/>
<body name="half_arm_2_link" pos="0 -0.21038 -0.006375" quat="0.707105 -0.707108 0 0">
<body name="half_arm_2_link" pos="0 -0.21038 -0.006375" quat="1 -1 0 0">
<inertial pos="-4.4e-05 -0.006641 -0.117892" quat="0.706144 0.0213722 -0.0209128 0.707437" mass="1.1636"
diaginertia="0.0111633 0.010932 0.00100671"/>
<joint name="joint_3"/>
Expand All @@ -60,7 +60,7 @@
<joint name="joint_4" range="-2.57 2.57"/>
<geom class="visual" mesh="forearm_link"/>
<geom class="collision" mesh="forearm_link"/>
<body name="spherical_wrist_1_link" pos="0 -0.20843 -0.006375" quat="0.707105 -0.707108 0 0">
<body name="spherical_wrist_1_link" pos="0 -0.20843 -0.006375" quat="1 -1 0 0">
<inertial pos="1e-06 -0.009432 -0.063883" quat="0.703558 0.0707492 -0.0707492 0.703558" mass="0.6781"
diaginertia="0.00165901 0.001596 0.000346988"/>
<joint name="joint_5"/>
Expand All @@ -72,7 +72,7 @@
<joint name="joint_6" range="-2.09 2.09"/>
<geom class="visual" mesh="spherical_wrist_2_link"/>
<geom class="collision" mesh="spherical_wrist_2_link"/>
<body name="bracelet_link" pos="0 -0.10593 -0.00017505" quat="0.707105 -0.707108 0 0">
<body name="bracelet_link" pos="0 -0.10593 -0.00017505" quat="1 -1 0 0">
<inertial pos="0.000281 0.011402 -0.029798" quat="0.394358 0.596779 -0.577293 0.393789" mass="0.5"
diaginertia="0.000657336 0.000587019 0.000320645"/>
<joint name="joint_7"/>
Expand Down
Loading