Added MJCF file using position control instead of motor (torque) control#2
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magdelinekuan wants to merge 5 commits intoenactic:masterfrom
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Added MJCF file using position control instead of motor (torque) control#2magdelinekuan wants to merge 5 commits intoenactic:masterfrom
magdelinekuan wants to merge 5 commits intoenactic:masterfrom
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magdelinekuan
commented
Jul 16, 2025
magdelinekuan
commented
- Created a new MJCF file of the openarm bimanual robot that uses position control for each of the joints
- Modified joint limits according to those provided in the openarm_bimanual URDF
- Added forcerange according to peak torque specified in motor datasheets
- Added kp and damping to reduce overshoot and oscillations in simulation (may not reflect real values)
Add support for simulated openarm hardware with MuJoCo backend. Refactor the mujoco Move meshes to top level Add back the readme
Co-authored-by: Sutou Kouhei <kou@cozmixng.org>
Co-authored-by: Sutou Kouhei <kou@cozmixng.org> Update openarm_mujoco_hardware/include/openarm_mujoco_hardware/openarm_mujoco_hardware.hpp Co-authored-by: Sutou Kouhei <kou@cozmixng.org> Update openarm_mujoco_hardware/openarm_mujoco_hardware.xml Co-authored-by: Sutou Kouhei <kou@cozmixng.org> Update openarm_mujoco_hardware/package.xml Co-authored-by: Sutou Kouhei <kou@cozmixng.org> Update openarm_mujoco_hardware/test/test_load_openarm_mujoco_hardware.cpp Co-authored-by: Sutou Kouhei <kou@cozmixng.org> Update openarm_mujoco_hardware/src/openarm_mujoco_hardware.cpp Co-authored-by: Sutou Kouhei <kou@cozmixng.org>
thomasonzhou
requested changes
Jul 19, 2025
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| <default class="motor"> | ||
| <joint armature="0.001" frictionloss="0.1"/> | ||
| <motor ctrlrange="-0.2 0.2"/> | ||
| <motor ctrlrange="-0.2 0.2" gear="10"/> |
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It might be more worth it to add the damping property to the class here instead of repeating it below.
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Also, if we are updating gearing ratios, might as well also add armature:
https://mujoco.readthedocs.io/en/stable/XMLreference.html#body-joint-armature
| <geom name="right_link1_visual" pos="0.0 0.0 -0.0007" material="gray" type="mesh" mesh="link1.stl" class="visual" /> | ||
| <body name="right_link2" pos="0.0 0.0 0.05325"> | ||
| <joint name="right_rev1" type="hinge" class="motor" range="-2.0943951023931953 2.0943951023931953" axis="0 0 1" /> | ||
| <joint name="right_rev1" type="hinge" class="motor" damping="2.0" range="-2.0943951023931953 2.0943951023931953" axis="0 0 1" /> |
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also worth experimenting with: friction loss
https://mujoco.readthedocs.io/en/stable/XMLreference.html#body-joint-frictionloss
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