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Kashu7100 commited on
Commit
fbe1420
·
1 Parent(s): c22daa1

add arx

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Files changed (12) hide show
  1. README.md +26 -2
  2. manipulators/arx_l5/arx_l5.xml +133 -0
  3. manipulators/arx_l5/assets/base_link.obj +3 -0
  4. manipulators/arx_l5/assets/camera.obj +3 -0
  5. manipulators/arx_l5/assets/link1.obj +3 -0
  6. manipulators/arx_l5/assets/link2.obj +3 -0
  7. manipulators/arx_l5/assets/link3.obj +3 -0
  8. manipulators/arx_l5/assets/link4.obj +3 -0
  9. manipulators/arx_l5/assets/link5.obj +3 -0
  10. manipulators/arx_l5/assets/link6.obj +3 -0
  11. manipulators/arx_l5/assets/link7.obj +3 -0
  12. manipulators/arx_l5/assets/link8.obj +3 -0
README.md CHANGED
@@ -1,8 +1,9 @@
1
- # 🍎 Eden Assets
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  Our Top-1 Principle: We must make it SUPER EASY to use.
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  - clean and sim ready assets
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  - verify visual/collision meshes
 
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  ## Robots
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@@ -67,4 +68,27 @@ Our Top-1 Principle: We must make it SUPER EASY to use.
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  # Pull the actual STL files
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  git lfs pull
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  ```
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- - check if the error is resolved.
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ # 🍎 Eden Sim Ready Assets
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  Our Top-1 Principle: We must make it SUPER EASY to use.
4
  - clean and sim ready assets
5
  - verify visual/collision meshes
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+ - modified the collision mesh for better sim
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8
  ## Robots
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68
  # Pull the actual STL files
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  git lfs pull
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  ```
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+ - check if the error is resolved.
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+
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+
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+ ## Citation
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+
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+ ```bibtex
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+ @misc{Eden,
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+ author = {Eden Authors},
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+ title = {Eden: Embodied Development Environment Nexus for Generative Robot Learning},
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+ month = {January},
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+ year = {2025},
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+ url = {https://github.com/Genesis-Embodied-AI/Genesis}
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+ }
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+ ```
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+
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+ ```bibtex
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+ @misc{Genesis,
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+ author = {Genesis Authors},
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+ title = {Genesis: A Generative and Universal Physics Engine for Robotics and Beyond},
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+ month = {December},
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+ year = {2024},
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+ url = {https://github.com/Genesis-Embodied-AI/Genesis}
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+ }
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+ ```
manipulators/arx_l5/arx_l5.xml ADDED
@@ -0,0 +1,133 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ <mujoco model="ARX L5">
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+ <compiler angle="radian" meshdir="assets"/>
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+
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+ <option integrator="implicitfast" cone="elliptic" impratio="10"/>
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+
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+ <default>
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+ <default class="arx_l5">
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+ <joint frictionloss="0.3" armature="0.005"/>
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+ <position inheritrange="1" forcerange="-100 100"/>
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+ <default class="finger">
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+ <joint frictionloss="0" type="slide"/>
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+ <position forcerange="-10 10"/>
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+ </default>
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+ <default class="visual">
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+ <geom group="2" type="mesh" contype="0" conaffinity="0" density="0"/>
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+ </default>
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+ <default class="collision">
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+ <geom group="3" type="capsule"/>
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+ </default>
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+ </default>
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+ </default>
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+
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+ <asset>
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+ <material name="black_mat" rgba="0.1 0.1 0.1 1"/>
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+
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+ <mesh name="base_link" file="base_link.obj"/>
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+ <mesh name="link1" file="link1.obj"/>
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+ <mesh name="link2" file="link2.obj"/>
29
+ <mesh name="link3" file="link3.obj"/>
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+ <mesh name="link4" file="link4.obj"/>
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+ <mesh name="link5" file="link5.obj"/>
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+ <mesh name="link6" file="link6.obj"/>
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+ <mesh name="link7" file="link7.obj"/>
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+ <mesh name="link8" file="link8.obj"/>
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+ <mesh name="camera" file="camera.obj"/>
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+ </asset>
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+
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+ <worldbody>
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+ <light mode="targetbodycom" target="link8" pos="1 0 1"/>
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+ <body name="base_link">
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+ <geom mesh="base_link" material="black_mat" class="visual"/>
42
+ <geom mesh="base_link" class="collision"/>
43
+ <body name="link1" pos="0 0 0.0565">
44
+ <inertial pos="0.0050395 -0.0077407 0.020897" quat="0.632157 0.714526 -0.263733 0.142391" mass="0.096804"
45
+ diaginertia="0.000118945 9.40205e-05 4.70346e-05"/>
46
+ <joint name="joint1" axis="0 0 1" range="-3.14 3.14"/>
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+ <geom mesh="link1" material="black_mat" class="visual"/>
48
+ <geom mesh="link1" class="collision"/>
49
+ <body name="link2" pos="0.02 0 0.047">
50
+ <inertial pos="-0.12992 -0.0011822 -2.6366e-05" quat="0.501263 0.501263 0.498734 0.498734" mass="1.1988"
51
+ diaginertia="0.0164704 0.01646 0.000649595"/>
52
+ <joint name="joint2" axis="0 1 0" range="0 3.14"/>
53
+ <geom mesh="link2" material="black_mat" class="visual"/>
54
+ <geom mesh="link2" class="collision"/>
55
+ <body name="link3" pos="-0.264 0 0" quat="-3.67321e-06 -1 0 0">
56
+ <inertial pos="0.16181 0.0011723 -0.05455" quat="0.518857 0.484372 0.465704 0.52848" mass="0.84082"
57
+ diaginertia="0.0084909 0.00841207 0.000747034"/>
58
+ <joint name="joint3" axis="0 1 0" range="0 3.14"/>
59
+ <geom mesh="link3" material="black_mat" class="visual"/>
60
+ <geom mesh="link3" class="collision"/>
61
+ <geom type="box" size="0.062 0.001 0.01" pos="0.112 -0.025 -0.06" rgba="1 0 0 1" class="visual"/>
62
+ <geom type="box" size="0.062 0.001 0.01" pos="0.112 0.023 -0.06" rgba="1 0 0 1" class="visual"/>
63
+ <body name="link4" pos="0.245 -5e-05 -0.06">
64
+ <inertial pos="0.041751 0.0054236 -0.03337" quat="0.919386 -0.0641253 0.311071 -0.23206" mass="0.12432"
65
+ diaginertia="0.000303193 0.000235316 0.000101491"/>
66
+ <joint name="joint4" axis="0 1 0" range="-1.7 1.7"/>
67
+ <geom mesh="link4" material="black_mat" class="visual"/>
68
+ <geom mesh="link4" class="collision"/>
69
+ <body name="link5" pos="0.073914 5e-05 -0.083391">
70
+ <inertial pos="-8.3435e-05 -1.5428e-05 0.052216" quat="0.998247 0 -0.0591776 0" mass="0.63601"
71
+ diaginertia="0.000848329 0.00082 0.000251671"/>
72
+ <joint name="joint5" axis="0 0 1" range="-1.7 1.7"/>
73
+ <geom mesh="link5" material="black_mat" class="visual"/>
74
+ <geom mesh="link5" class="collision"/>
75
+ <body name="link6" pos="0.025286 0 0.083391" quat="-3.67321e-06 1 0 0">
76
+ <inertial pos="0.041697 2.4368e-05 0.00014464" quat="0.5 0.5 -0.5 0.5" mass="0.44089"
77
+ diaginertia="0.0005 0.00038 0.00028"/>
78
+ <joint name="joint6" axis="1 0 0" range="-3.14 3.14"/>
79
+ <geom mesh="link6" material="black_mat" class="visual"/>
80
+ <geom mesh="link6" class="collision"/>
81
+ <geom mesh="camera" pos="0.06 0 -0.01" quat="-1 0 0 1" material="black_mat" class="visual"/>
82
+ <geom mesh="camera" pos="0.06 0 -0.01" quat="-1 0 0 1" class="collision"/>
83
+ <camera name="wrist_cam" pos="0.0475 0 0.075" mode="fixed" euler="0 -1.1 -1.5708"
84
+ focal="1.93e-3 1.93e-3" resolution="1280 720" sensorsize="3896e-6 2140e-6"/>
85
+ <body name="link7" pos="0.08657 0.024896 -0.0002436" gravcomp="1">
86
+ <inertial pos="-0.00035522 -0.007827 -0.0029883" quat="0.5 0.5 0.5 0.5" mass="0.064798"
87
+ diaginertia="3e-05 3e-05 2e-05"/>
88
+ <joint name="joint7" axis="0 1 0" class="finger" range="0 0.044"/>
89
+ <geom mesh="link7" material="black_mat" class="visual"/>
90
+ <geom type="box" size=".02 .002 .002625" pos="0.05 -0.023 -0.002625" rgba="1 0 0 1" class="collision"/>
91
+ <geom type="box" size=".02 .002 .002625" pos="0.05 -0.023 0.002625" rgba="1 0 0 1" class="collision"/>
92
+ <geom type="box" size=".015 .002 .018" pos="0.015 -0.023 0" rgba="0 0 1 1" class="collision"/>
93
+ </body>
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+ <body name="link8" pos="0.08657 -0.0249 -0.00024366" gravcomp="1">
95
+ <inertial pos="-0.000355223 0.00782769 0.00242006" quat="0.5 0.5 0.5 0.5" mass="0.0647982"
96
+ diaginertia="3e-05 3e-05 2e-05"/>
97
+ <joint name="joint8" axis="0 1 0" class="finger" range="-0.044 0"/>
98
+ <geom mesh="link8" material="black_mat" class="visual"/>
99
+ <geom type="box" size=".02 .002 .002625" pos="0.05 0.023 -0.002625" rgba="1 0 0 1" class="collision"/>
100
+ <geom type="box" size=".02 .002 .002625" pos="0.05 0.023 0.002625" rgba="1 0 0 1" class="collision"/>
101
+ <geom type="box" size=".015 .002 .018" pos="0.015 0.023 0" rgba="0 0 1 1" class="collision"/>
102
+ </body>
103
+ </body>
104
+ </body>
105
+ </body>
106
+ </body>
107
+ </body>
108
+ </body>
109
+ </body>
110
+ </worldbody>
111
+
112
+ <contact>
113
+ <exclude body1="base_link" body2="link1"/>
114
+ </contact>
115
+
116
+ <equality>
117
+ <joint joint1="joint7" joint2="joint8" polycoef="0 -1 0 0 0"/>
118
+ </equality>
119
+
120
+ <actuator>
121
+ <position name="joint1" joint="joint1" class="arx_l5" kp="80" kv="5"/>
122
+ <position name="joint2" joint="joint2" class="arx_l5" kp="80" kv="5"/>
123
+ <position name="joint3" joint="joint3" class="arx_l5" kp="80" kv="5"/>
124
+ <position name="joint4" joint="joint4" class="arx_l5" kp="40" kv="5"/>
125
+ <position name="joint5" joint="joint5" class="arx_l5" kp="10" kv="1.5"/>
126
+ <position name="joint6" joint="joint6" class="arx_l5" kp="10" kv="1.5"/>
127
+ <position name="gripper" joint="joint7" class="finger" kp="40" kv="5"/>
128
+ </actuator>
129
+
130
+ <keyframe>
131
+ <key name="home" qpos="0 0.251 0.314 0 0 0 0.044 -0.044" ctrl="0 0.251 0.314 0 0 0 0.044"/>
132
+ </keyframe>
133
+ </mujoco>
manipulators/arx_l5/assets/base_link.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:04c95ecfcf001d3bcd43190cca1c5443e98f986a1e57c2ddee7bd28da9d67e09
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+ size 831334
manipulators/arx_l5/assets/camera.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:1add87c2a03f996ed5304f97ed24a56294d5d32720fda6783a02041c5c03c8f7
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+ size 835733
manipulators/arx_l5/assets/link1.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:01243ee80f060fe6858e559bcdc5bd2f9b015c018531779b7fb1cd8246a17bd0
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+ size 379622
manipulators/arx_l5/assets/link2.obj ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:ade60370ac720c1489ecc1806faf265cc49fd5be4a6057e0b93b7da4c5c398ba
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+ size 1933493
manipulators/arx_l5/assets/link3.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:43d475ae678a232921da37c893bdfbf2524383622f89808ec356595b134c5525
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+ size 2144530
manipulators/arx_l5/assets/link4.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:d616632897d7d17fa499423e87f36b9401ec54f117a99685b131989f1b2ce670
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+ size 406200
manipulators/arx_l5/assets/link5.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:ebcc9e83c49d40900f1e5be332db697e47d4f3c9c45555817f6d74abf5b9dd2f
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+ size 2301371
manipulators/arx_l5/assets/link6.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:57957e2a042277526ad29d84c608993431a1bdd9b19f71a24d2d161215f27587
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+ size 1944757
manipulators/arx_l5/assets/link7.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ size 279721
manipulators/arx_l5/assets/link8.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:370731b0450addefe6c6d494dc2ac0246259c8a286d532ea5c225750ecd66740
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+ size 285359