Add Torobo and Torobo Hand #115
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Our company's agreement about CLA has been approved, so please review this PR. |
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Hi @mamoruoka, will get to this next week, a bit busy with finals this week. |
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I found mistakes in the models and have corrected it. |
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@kevinzakka |
kevinzakka
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kevinzakka
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Hi @mamoruoka, thanks so much for your contribution and I apologize for the huge delay. I left some review comments. One they are addressed, can you add an entry in the main README linking to this model?
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| Requires MuJoCo 3.1.0 or later. | ||
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| ## Overview |
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Can you add the steps you took to derive the XML? Was this XML generated from a CAD model or from a URDF? In general, we strive to have a detailed reproduction paragraph, e.g. see here
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@kevinzakka
This XML is generated from URDF model, but the URDF model is not open-sourced yet.
What should I do in this case?
torobo/torobo.xml
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| <default> | ||
| <default class="torobo"> | ||
| <joint armature="0.1" stiffness="0" damping="0"/> |
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Can you remove attributes that are defaults already in MuJoCo? e.g. stiffness and damping are 0 so feel free to remove.
| </default> | ||
| </default> | ||
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| <asset> |
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- Could you use more descriptive names for the materials instead of numeric values?
- Please round the numeric values to at most 2 or 3 decimal places.
- Feel free to remove the
specularandshininessattributes, I've found that they don't have a significant effect in our scenes.
torobo/torobo.xml
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| </asset> | ||
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| <worldbody> | ||
| <body name="base_link_trans_x" pos="0 0 0"> |
| <joint joint1="left_hand/third_finger_base_joint" joint2="left_hand/second_finger_base_joint" polycoef="0 1.0 0 0 0"/> | ||
| </equality> | ||
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| <contact> |
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This exclude list is quite bulky. What's the rationale? Do all these collisions occur upon loading the model?
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@kevinzakka
These excludes are copied from ones generated by moveit_setup_assistant.
They include non-collision links and adjacent links, which are unneeded for mujoco contact exclusions.
So, I fixed to remove these unneeded contact exclusions.
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| # Torobo Hand Description (MJCF) | |||
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Same comments apply for the hand.
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Thank you for the review, @kevinzakka .
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2 participants
This PR adds the Torobo and Torobo Hand model (issue #113).
Please feel free to suggest any suggestions to improve the quality of this PR.