Merge pull request #80 from kevinzakka:kinova/update

PiperOrigin-RevId: 657272363 Change-Id: If48cf0c52c1e37fbd1b12d473bc62e3cc3ade16f
google-deepmind · Jul 29, 2024 · 3966424 · 3966424
2 parents 441860e + 530f70a
commit 3966424
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diff --git a/kinova_gen3/README.md b/kinova_gen3/README.md
@@ -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
@@ -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:
 
@@ -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/).
diff --git a/kinova_gen3/gen3.xml b/kinova_gen3/gen3.xml
@@ -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"/>
@@ -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"/>
@@ -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"/>
@@ -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"/>