MuJoCo MJCF for OpenArm

Usage

resting_bimanual.mp4

1. Install MuJoCo and launch a simulation.
2. Drag the *.xml file into the simulation window.

For a detailed installation guide, see: github.com/reazon-research/openarm-sim/blob/main/MuJoCo.md

Improving Simulation Stability

• Short timestep of < 0.001
• Runge Kutta integrator
• Simplified collision geometry

CAD to STL conversion

• Setting contype and conaffinity to zero uses a geom as a visual mesh
• To view collision bounding boxex, activate Rendering>Model Elements>Body Tree in the left sidebar
• Binary meshes (*.stl) are needed, so this conversion should be done in CAD or with MeshLab

URDF to MJCF Conversion

• Grippers actuate equally using a tendon and equality constraint, which uses a mimic joint in URDF
• Off-diagonal inertias are set to zero