URDF is missing joint information for the prismatic joint controlling the gripper?

[StoneT2000]

Hi all,

Thanks for open sourcing the URDF for this robot! I am currently looking into adding this to the ManiSkill simulator which uses URDF, but found that the URDF does not define anything about the gripper joint, is there a version of the URDF with the complete information?

Thanks

[i2rt-software]

The original propose of the urdf is just for gravity compensation.

https://x.com/kevin_zakka/status/1995609144645353762?s=20
it looks like some people from the open sourced community have already did some work.

We will add the gripper prismatic joint on the next release.

[StoneT2000]

I actually ended up modelling a URDF manually myself based on the MJCF haha, it seems mostly close, doing some sim2real and system ID on it in the future. Happy to share some results if we get around to it.

https://github.com/StoneT2000/i2rt-yam-maniskill

The one linked above has some improved convex decomposed collision models + some manually tuned box collisions for some parts and a srdf file to disable some impossible collisions of links that sometimes can get very close.

[sumedh7]

Thanks Stone! This is just what I needed!

[i2rt-software]

the latest upgrade including an controllable gripper.
Prs are welcome