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Add Robotiq 2F-140 model assets and documentation
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‎robotiq_2f140/2f140.png‎

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‎robotiq_2f140/2f140.xml‎

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<mujoco model="robotiq_2f140">
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<compiler angle="radian" meshdir="assets" autolimits="true"/>
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<option cone="elliptic" impratio="10"/>
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<asset>
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<material name="metal" rgba="0.58 0.58 0.58 1"/>
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<material name="silicone" rgba="0.1882 0.1882 0.1882 1"/>
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<material name="gray" rgba="0.4627 0.4627 0.4627 1"/>
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<material name="black" rgba="0.149 0.149 0.149 1"/>
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<mesh class="2f140" scale="0.001 0.001 0.001" file="base_mount.stl"/>
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<mesh class="2f140" file="base.stl"/>
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<mesh class="2f140" file="driver.stl"/>
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<mesh class="2f140" file="follower.stl"/>
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<mesh class="2f140" file="coupler.stl"/>
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<mesh class="2f140" scale="0.001 0.001 0.001" file="pad.stl"/>
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<mesh class="2f140" file="spring_link.stl"/>
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</asset>
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<default>
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<default class="2f140">
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<general biastype="affine"/>
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<joint axis="1 0 0"/>
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<default class="driver">
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<joint range="-0.8 0" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
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</default>
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<default class="follower">
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<joint range="-0.8757 0.8757" armature="0.001" solimplimit="0.95 0.99 0.001" pos="0 0.005 -0.0175" solreflimit="0.005 1"/>
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</default>
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<default class="spring_link">
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<joint range="-0.8 0.29670597283" armature="0.001" stiffness="0.05" springref="-2.62" damping="0.00125"/>
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</default>
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<default class="coupler">
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<joint range="0 1.57" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
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</default>
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<default class="visual">
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<geom type="mesh" contype="0" conaffinity="0" group="2"/>
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</default>
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<default class="collision">
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<geom type="mesh" group="3"/>
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<default class="pad_box1">
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<geom mass="0" type="box" pos="0 0.0457554 -0.0272203" size="0.0135 0.0325 0.00375" friction="0.7"
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solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1"/>
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</default>
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</default>
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</default>
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</default>
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<worldbody>
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<body name="base_mount" pos="0 0 0.007" childclass="2f140">
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<geom class="visual" mesh="base_mount" material="black"/>
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<geom class="collision" mesh="base_mount"/>
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<body name="base" pos="0 0 0.0038" quat="1 0 0 -1">
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<inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0"
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diaginertia="0.000260285 0.000225381 0.000152708"/>
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<geom class="visual" mesh="base" material="black"/>
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<geom class="collision" mesh="base"/>
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<!-- Right-hand side 4-bar linkage -->
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<body name="right_driver" pos="0 0.030601 0.054905" quat="0 0 0.911903 0.410405">
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<inertial mass="0.0311462" pos="0.000163875 0.0458404 0.0117804" quat="0.881368 0.472423 -0.0024451 -0.000996122"
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diaginertia="2.96023e-05 2.79814e-05 4.39017e-06"/>
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<joint name="right_driver_joint" class="driver"/>
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<geom class="visual" mesh="driver" material="gray"/>
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<geom class="collision" mesh="driver"/>
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<body name="right_coupler" pos="0 0.01822 0.026001" quat="1 0 0 0">
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<inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636"
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diaginertia="4.16206e-06 3.52216e-06 8.88131e-07"/>
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<joint name="right_coupler_joint" class="coupler"/>
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<geom class="visual" mesh="coupler" material="black"/>
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<geom class="collision" mesh="coupler"/>
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</body>
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</body>
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<body name="right_spring_link" pos="0 0.0127 0.06142" quat="0 0 -0.9135455 -0.406736">
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<inertial mass="0.0271177" pos="0.000123012 0.0507851 0.00103969" quat="0.497203 0.502496 -0.507943 0.492221"
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diaginertia="2.83809e-05 2.61936e-05 2.81319e-06"/>
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<joint name="right_spring_link_joint" class="spring_link"/>
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<geom class="visual" mesh="spring_link" material="black"/>
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<geom class="collision" mesh="spring_link"/>
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<body name="right_follower" pos="0 0.107454 0.01451853" quat="0.935013 -0.354613 0 0">
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<inertial mass="0.0261503" pos="0.000119314 0.0339244 -0.021841" quat="0.545437 0.430197 -0.442938 0.566776"
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diaginertia="1.62408e-05 1.59131e-05 2.38936e-06"/>
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<joint name="right_follower_joint" class="follower"/>
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<geom class="visual" mesh="follower" material="black"/>
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<geom class="collision" mesh="follower"/>
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<body name="right_pad" pos="0 0.012 -0.0276" quat="0.707107 -0.707107 0 0">
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<inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107"
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diaginertia="4.73958e-07 3.64583e-07 1.23958e-07"/>
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<geom class="visual" mesh="pad"/>
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</body>
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<geom class="pad_box1" name="right_pad1"/>
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</body>
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</body>
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<!-- Left-hand side 4-bar linkage -->
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<body name="left_driver" pos="0 -0.0306011 0.054904" quat="0.410405 0.911903 0 0">
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<inertial mass="0.0311462" pos="0.000163875 0.0458404 0.0117804" quat="0.881368 0.472423 -0.0024451 -0.000996122"
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diaginertia="2.96023e-05 2.79814e-05 4.39017e-06"/>
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<joint name="left_driver_joint" class="driver"/>
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<geom class="visual" mesh="driver" material="gray"/>
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<geom class="collision" mesh="driver"/>
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<body name="left_coupler" pos="0 0.01822 0.026001" quat="1 0 0 0">
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<inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636"
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diaginertia="4.16206e-06 3.52216e-06 8.88131e-07"/>
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<joint name="left_coupler_joint" class="coupler"/>
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<geom class="visual" mesh="coupler" material="black"/>
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<geom class="collision" mesh="coupler"/>
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</body>
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</body>
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<body name="left_spring_link" pos="0 -0.0127 0.06142" quat="0.410405 0.911903 0 0">
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<inertial mass="0.0271177" pos="0.000123012 0.0507851 0.00103969" quat="0.497203 0.502496 -0.507943 0.492221"
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diaginertia="2.83809e-05 2.61936e-05 2.81319e-06"/>
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<joint name="left_spring_link_joint" class="spring_link"/>
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<geom class="visual" mesh="spring_link" material="black"/>
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<geom class="collision" mesh="spring_link"/>
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<body name="left_follower" pos="0 0.107454 0.01451853" quat="0.935013 -0.354613 0 0">
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<inertial mass="0.0261503" pos="0.000119314 0.0339244 -0.021841" quat="0.545437 0.430197 -0.442938 0.566776"
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diaginertia="1.62408e-05 1.59131e-05 2.38936e-06"/>
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<joint name="left_follower_joint" class="follower"/>
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<geom class="visual" mesh="follower" material="black"/>
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<geom class="collision" mesh="follower"/>
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<body name="left_pad" pos="0 0.012 -0.0276" quat="0.707107 -0.707107 0 0">
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<inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1"
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diaginertia="4.73958e-07 3.64583e-07 1.23958e-07"/>
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<geom class="visual" mesh="pad"/>
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</body>
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<geom class="pad_box1" name="left_pad1"/>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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<contact>
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<exclude body1="base" body2="left_driver"/>
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<exclude body1="base" body2="right_driver"/>
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<exclude body1="base" body2="left_spring_link"/>
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<exclude body1="base" body2="right_spring_link"/>
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<exclude body1="left_driver" body2="left_spring_link"/>
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<exclude body1="right_driver" body2="right_spring_link"/>
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<exclude body1="right_coupler" body2="right_follower"/>
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<exclude body1="left_coupler" body2="left_follower"/>
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</contact>
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<!--
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This adds stability to the model by having a tendon that distributes the forces between both
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joints, such that the equality constraint doesn't have to do that much work in order to equalize
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both joints. Since both joints share the same sign, we split the force between both equally by
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setting coef=0.5
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-->
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<tendon>
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<fixed name="split">
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<joint joint="right_driver_joint" coef="-0.5"/>
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<joint joint="left_driver_joint" coef="-0.5"/>
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</fixed>
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</tendon>
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<equality>
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<connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1"/>
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<connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1"/>
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<joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001"
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solref="0.005 1"/>
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</equality>
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<!--
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The general actuator below is a customized position actuator (with some damping) where
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gainprm[0] != kp (see http://mujoco.org/book/modeling.html#position).
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The reason why gainprm[0] != kp is because the control input range has to be re-scaled to
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[0, 255]. The joint range is currently set at [0, 0.8], the control range is [0, 255] and
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kp = 100. Tau = Kp * scale * control_input - Kp * error, max(Kp * scale * control_input) = 0.8,
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hence scale = 0.8 * 100 / 255
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-->
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<actuator>
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<general class="2f140" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255"
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gainprm="0.3137255 0 0" biasprm="0 -100 -10"/>
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</actuator>
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</mujoco>

‎robotiq_2f140/LICENSE‎

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Copyright (c) 2013, ROS-Industrial
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All rights reserved.
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Redistribution and use in source and binary forms, with or without modification,
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are permitted provided that the following conditions are met:
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Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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Redistributions in binary form must reproduce the above copyright notice, this
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list of conditions and the following disclaimer in the documentation and/or
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other materials provided with the distribution.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
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ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
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ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎robotiq_2f140/README.md‎

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# Robotiq 2F-140 Description (MJCF)
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Requires MuJoCo 2.2.2 or later.
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## Overview
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This package contains a simplified robot description (MJCF) of the [Robotiq 140mm
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2-Finger Adaptive
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Gripper](https://robotiq.com/products/2f85-140-adaptive-robot-gripper) developed
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by [Robotiq](https://robotiq.com/). It is derived from the [publicly available
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URDF
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description](https://github.com/ros-industrial/robotiq/tree/kinetic-devel/robotiq_2f_140_gripper_visualization).
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<p float="left">
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<img src="2f140.png" width="400">
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</p>
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## URDF → MJCF derivation steps
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1. Added `<mujoco> <compiler discardvisual="false"/> </mujoco>` to the URDF's
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`<robot>` clause in order to preserve visual geometries.
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2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
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3. Manually edited the MJCF to extract common properties into the `<default>` section.
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4. Added `<exclude>` clauses to prevent collisions between the linkage bodies.
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5. Broke up collision pads into two pads for more contacts.
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6. Increased pad friction and priority.
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7. Added `impratio=10` for better noslip.
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8. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
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9. Added hanging box to `scene.xml`.
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## License
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This model is released under a [BSD-2-Clause License](LICENSE).

‎robotiq_2f140/assets/base.stl‎

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‎robotiq_2f140/assets/base_mount.stl‎

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‎robotiq_2f140/assets/coupler.stl‎

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‎robotiq_2f140/assets/driver.stl‎

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‎robotiq_2f140/assets/follower.stl‎

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‎robotiq_2f140/assets/pad.stl‎

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