-
Notifications
You must be signed in to change notification settings - Fork 460
Add kinova Link6 #207
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Open
anashoussaini
wants to merge
1
commit into
google-deepmind:main
Choose a base branch
from
anashoussaini:add-kinova-link6
base: main
Could not load branches
Branch not found: {{ refName }}
Loading
Could not load tags
Nothing to show
Loading
Are you sure you want to change the base?
Some commits from the old base branch may be removed from the timeline,
and old review comments may become outdated.
Open
Add kinova Link6 #207
Changes from all commits
Commits
File filter
Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
There are no files selected for viewing
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,6 @@ | ||
| # Changelog – Link6 Description | ||
|
|
||
| All notable changes to this model will be documented in this file. | ||
|
|
||
| ## [2025-27-08] | ||
| - Initial release. |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,11 @@ | ||
| Copyright (c) 2018, Kinova inc. | ||
|
|
||
| Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: | ||
|
|
||
| 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. | ||
|
|
||
| 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. | ||
|
|
||
| 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. | ||
|
|
||
| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| # Kinova Link6 Description (MJCF) | ||
|
|
||
| > [!IMPORTANT] | ||
| > Requires MuJoCo 2.3.3 or later. | ||
|
|
||
| ## Changelog | ||
|
|
||
| See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes. | ||
|
|
||
| ## Overview | ||
|
|
||
| This package contains a simplified robot description (MJCF) of the [Kinova | ||
| Link6](https://www.kinovarobotics.com/product/link6-robots) developed by [Kinova Robotics](https://www.kinovarobotics.com/). It is derived from a private URDF description. | ||
|
|
||
|
|
||
| <p float="left"> | ||
| <img src="assets/link6.png" width="400"> | ||
| </p> | ||
|
|
||
|
|
||
| ## MJCF derivation Link6 | ||
|
|
||
| 1. Converted xacro to URDF: `rosrun xacro xacro link6.xacro > link6.urdf` | ||
| 2. Added the following to the URDF's `<robot>` clause: | ||
|
|
||
| ```xml | ||
| <mujoco> | ||
| <compiler meshdir="assets" discardvisual="false" fusestatic="false"/> | ||
| </mujoco> | ||
| ``` | ||
|
|
||
| 3. Converted to MJCF: | ||
|
|
||
| ```python | ||
| import mujoco | ||
| model = mujoco.MjModel.from_xml_path('link6.urdf') | ||
| mujoco.mj_saveLastXML('link6_raw.xml', model) | ||
| ``` | ||
|
|
||
| 4. Added the following to the MJCF: | ||
| * Position actuators for all six arm joints with per-class gains/limits; | ||
| 5. Added `scene.xml` which includes the robot. | ||
|
|
||
|
|
||
| ## License | ||
|
|
||
| This model is released under a [BSD-3-Clause License](LICENSE). | ||
|
|
||
| ## Acknowledgement | ||
|
|
||
| This model was graciously contributed by [Anas Houssaini](https://anashoussaini.github.io/), [Abed Al Rahman Al Mrad](https://github.com/aalmrad),[Jonathan Lussier](https://github.com/kinovajon). | ||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,165 @@ | ||
| <mujoco model="link6_nominal"> | ||
| <compiler angle="radian" meshdir="assets/" balanceinertia="true"/> | ||
| <option integrator="implicitfast" timestep="0.002"/> | ||
|
|
||
| <default> | ||
| <default class="visual"> | ||
| <geom type="mesh" contype="0" conaffinity="0" group="2" rgba="0.529412 0.529412 0.529412 1"/> | ||
| </default> | ||
|
|
||
| <default class="collision"> | ||
| <geom group="3" contype="1" conaffinity="1" solimp="0.95 0.99 0.003" solref="-400 -80"/> | ||
| </default> | ||
|
|
||
| <default class="big_joint"> | ||
| <joint damping="3.0" armature="0.030" frictionloss="0.06"/> | ||
| </default> | ||
| <default class="mid_joint"> | ||
| <joint damping="2.2" armature="0.020" frictionloss="0.05"/> | ||
| </default> | ||
| <default class="wrist_joint"> | ||
| <joint damping="0.6" armature="0.006" frictionloss="0.03"/> | ||
| </default> | ||
|
|
||
| <default class="large_actuator"> | ||
| <position kp="6000" kv="230" forcerange="-300 300"/> | ||
| </default> | ||
| <default class="small_actuator"> | ||
| <position kp="700" kv="45" forcerange="-100 100"/> | ||
| </default> | ||
|
|
||
| <site size="0.005" rgba="0.5 0.5 0.5 0.8" group="4"/> | ||
| </default> | ||
|
|
||
| <asset> | ||
| <mesh name="base_link" file="base_link.stl"/> | ||
| <mesh name="shoulder_link" file="shoulder_link.stl"/> | ||
| <mesh name="arm_link" file="arm_link.stl"/> | ||
| <mesh name="forearm_link" file="forearm_link.stl"/> | ||
| <mesh name="lower_wrist_link" file="lower_wrist_link.stl"/> | ||
| <mesh name="upper_wrist_link" file="upper_wrist_link.stl"/> | ||
| <mesh name="wrist_interface_link" file="wrist_interface_link.stl"/> | ||
| </asset> | ||
|
|
||
| <worldbody> | ||
| <body name="base_link"> | ||
| <inertial pos="-0.00721418 -0.00010978 0.03709101" quat="0.99827321 -0.00279093 0.05866908 -0.00086296" | ||
| mass="1.86878181" diaginertia="0.00330895 0.00464688 0.00542015"/> | ||
| <geom class="visual" mesh="base_link"/> | ||
| <geom class="collision" type="sphere" size="0.1"/> | ||
| <body name="shoulder_link" pos="0 0 0.053" quat="0 1 0 0"> | ||
| <inertial pos="0.03930119 -0.00705889 -0.08462154" quat="0.42175869 0.83491972 -0.14162376 0.32399287" | ||
| mass="4.82569870" diaginertia="0.01126288 0.02720213 0.03303714"/> | ||
| <joint class="big_joint" name="joint_1" pos="0 0 0" axis="0 0 1" range="-6.283185307179586 6.283185307179586"/> | ||
| <geom class="visual" mesh="shoulder_link"/> | ||
| <geom class="collision" type="sphere" size="0.09" pos="0 0 -0.04"/> | ||
| <geom class="collision" type="sphere" size="0.095" pos="0.06065737 -0.01 -0.08144986"/> | ||
| <geom class="collision" type="sphere" size="0.09" pos="0 0 -0.11"/> | ||
| <geom class="collision" type="sphere" size="0.095" pos="0.1078564 -0.02138667 -0.1392602"/> | ||
| <geom class="collision" type="sphere" size="0.095" pos="0.04343076 -0.003456797 -0.1306261"/> | ||
|
|
||
| <body name="arm_link" pos="0.11024 -0.069257 -0.1375" quat="0.707107 -0.707107 0 0"> | ||
| <inertial pos="0.00000253 0.18829586 -0.03988382" quat="0.47725827 0.52180831 0.47703171 0.52190169" | ||
| mass="5.98601487" diaginertia="0.01564580 0.25482538 0.25899206"/> | ||
| <joint class="mid_joint" name="joint_2" pos="0 0 0" axis="0 0 1" range="-6.283185307179586 6.283185307179586"/> | ||
| <geom class="visual" mesh="arm_link"/> | ||
| <geom class="collision" type="sphere" size="0.08" pos="0.0 0.0 -0.01524985"/> | ||
| <geom class="collision" type="sphere" size="0.085" pos="0.0 0.003107564 -0.05411892"/> | ||
| <geom class="collision" type="sphere" size="0.08" pos="0.0 0.04674223 -0.07957917"/> | ||
| <geom class="collision" type="sphere" size="0.08" pos="0.0 0.1114492 -0.07957917"/> | ||
| <geom class="collision" type="sphere" size="0.08" pos="0.0 0.179992 -0.07957917"/> | ||
| <geom class="collision" type="sphere" size="0.08" pos="0.0 0.2487042 -0.07957917"/> | ||
| <geom class="collision" type="sphere" size="0.08" pos="0.0 0.3173259 -0.07957917"/> | ||
| <geom class="collision" type="sphere" size="0.08" pos="0.0 0.3835145 -0.07957917"/> | ||
| <geom class="collision" type="sphere" size="0.08" pos="0.0 0.4415521 -0.07957917"/> | ||
| <geom class="collision" type="sphere" size="0.085" pos="0.0 0.4824647 -0.05411892"/> | ||
| <geom class="collision" type="sphere" size="0.08" pos="0.0 0.4848319 -0.01524985"/> | ||
|
|
||
| <body name="forearm_link" pos="0 0.485 0" quat="0 -1 0 0"> | ||
| <inertial pos="0.00000464 -0.02451414 -0.02997969" quat="0.64665510 0.28632595 0.64737503 0.28418339" | ||
| mass="3.41588342" diaginertia="0.00645749 0.01686302 0.01742044"/> | ||
| <joint class="mid_joint" name="joint_3" pos="0 0 0" axis="0 0 1" | ||
| range="-6.283185307179586 6.283185307179586"/> | ||
| <geom class="visual" mesh="forearm_link"/> | ||
| <geom class="collision" type="sphere" size="0.08" pos="0.0 0.0 -0.01478543"/> | ||
| <geom class="collision" type="sphere" size="0.085" pos="0.0 -0.002774531 -0.05402248"/> | ||
| <geom class="collision" type="sphere" size="0.08" pos="0.0 -0.02792384 -0.08310601"/> | ||
| <geom class="collision" type="sphere" size="0.075" pos="0.0 -0.07494865 -0.09085903"/> | ||
| <geom class="collision" type="sphere" size="0.075" pos="0.0 -0.1212274 -0.091767"/> | ||
|
|
||
| <body name="lower_wrist_link" pos="0 -0.15216 -0.091704" quat="0.707107 -0.707107 0 0"> | ||
| <inertial pos="-0.00010793 -0.01056422 -0.08091102" quat="0.06015269 -0.70426339 0.04344890 -0.70605022" | ||
| mass="2.08494922" diaginertia="0.00248256 0.02432336 0.02454290"/> | ||
| <joint class="wrist_joint" name="joint_4" pos="0 0 0" axis="0 0 1" | ||
| range="-6.283185307179586 6.283185307179586"/> | ||
| <geom class="visual" mesh="lower_wrist_link"/> | ||
| <geom class="collision" type="sphere" size="0.07" pos="0.0 0.0 -0.01025881"/> | ||
| <geom class="collision" type="sphere" size="0.07" pos="0.0 0.0 -0.06014508"/> | ||
| <geom class="collision" type="sphere" size="0.07" pos="0.0 0.0 -0.1106502"/> | ||
| <geom class="collision" type="sphere" size="0.07" pos="0.0 0.0 -0.1607216"/> | ||
| <geom class="collision" type="sphere" size="0.07" pos="0.0 -0.001607588 -0.2100781"/> | ||
| <geom class="collision" type="sphere" size="0.07" pos="0.0 -0.03559661 -0.222183"/> | ||
|
|
||
| <body name="upper_wrist_link" pos="0 -0.062957 -0.22275" quat="0.707107 -0.707107 0 0"> | ||
| <inertial pos="0.01243595 0.03284165 -0.04091434" quat="0.66759196 -0.03630621 -0.46678850 0.57888802" | ||
| mass="2.00757510" diaginertia="0.00278168 0.00607540 0.00903167"/> | ||
| <joint class="wrist_joint" name="joint_5" pos="0 0 0" axis="0 0 1" | ||
| range="-6.283185307179586 6.283185307179586"/> | ||
| <geom class="visual" mesh="upper_wrist_link"/> | ||
| <geom class="collision" type="sphere" size="0.07" pos="0.0 0.0 -0.02579783"/> | ||
| <geom class="collision" type="sphere" size="0.07" pos="0.0 0.0 -0.06192018"/> | ||
| <geom class="collision" type="sphere" size="0.075" pos="0.00760242 0.03851649 -0.07210818"/> | ||
| <geom class="collision" type="sphere" size="0.075" pos="0.01731829 0.07948508 -0.07309098"/> | ||
| <geom class="collision" type="sphere" size="0.07" pos="0.06120646 0.0860149 -0.07708402"/> | ||
|
|
||
| <body name="wrist_interface_link" pos="0.087028 0.086 -0.076922" quat="0.707107 0 -0.707107 0"> | ||
| <inertial pos="0 0.00050624 -0.00388589" quat="0.66048695 0.25295379 0.65793755 -0.25863014" | ||
| mass="1.51926049" diaginertia="0.00139261 0.00390637 0.00390866"/> | ||
| <joint class="wrist_joint" name="joint_6" pos="0 0 0" axis="0 0 1" | ||
| range="-6.283185307179586 6.283185307179586"/> | ||
| <geom class="visual" mesh="wrist_interface_link"/> | ||
| <geom class="collision" type="sphere" size="0.07" pos="0.0 0.0 -0.02647703"/> | ||
| <geom class="collision" type="sphere" size="0.07" pos="0.0 0.0 -0.06063214"/> | ||
|
|
||
| <body name="end_effector_link" pos="0 0 -0.092" quat="0 1 0 0"> | ||
| <site name="tool0" pos="0 0 0" quat="1 0 0 0"/> | ||
| <site name="pinch_site" pos="0 0 0" quat="1 0 0 0"/> | ||
| </body> | ||
|
|
||
| </body> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </worldbody> | ||
|
|
||
| <actuator> | ||
| <position class="large_actuator" name="joint_1" joint="joint_1" kp="10000" kv="210" forcerange="-3500 3500" | ||
| timeconst="0.06" ctrlrange="-3.0543261909900767 3.0543261909900767"/> | ||
|
|
||
| <position class="large_actuator" name="joint_2" joint="joint_2" kp="1600" kv="80" timeconst="0.06" | ||
| forcerange="-300 300" ctrlrange="-2.792526803190927 1.5707963267948966"/> | ||
|
|
||
| <position class="large_actuator" name="joint_3" joint="joint_3" kp="1400" kv="75" timeconst="0.05" | ||
| forcerange="-280 280" ctrlrange="-1.0471975511965976 2.792526803190927"/> | ||
|
|
||
|
|
||
| <position class="small_actuator" name="joint_4" joint="joint_4" kp="800" kv="50" | ||
| ctrlrange="-3.0543261909900767 3.0543261909900767"/> | ||
|
|
||
| <position class="small_actuator" name="joint_5" joint="joint_5" kp="700" kv="45" | ||
| ctrlrange="-2.0943951023931953 2.0943951023931953"/> | ||
|
|
||
| <position class="small_actuator" name="joint_6" joint="joint_6" kp="700" kv="45" | ||
| ctrlrange="-3.0543261909900767 3.0543261909900767"/> | ||
| </actuator> | ||
|
|
||
| <keyframe> | ||
| <key name="home" qpos="0 0.26179939 3.14159265 -2.26892803 0 0.95993109" | ||
| ctrl="0 0.26179939 3.14159265 -2.26892803 0 0.95993109"/> | ||
| <key name="retract" qpos="0 -0.34906585 3.14159265 -2.54818071 0 -0.87266463" | ||
| ctrl="0 -0.34906585 3.14159265 -2.54818071 0 -0.87266463"/> | ||
| </keyframe> | ||
| </mujoco> |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,23 @@ | ||
| <mujoco model="link6 scene"> | ||
| <include file="link6.xml"/> | ||
|
|
||
| <statistic center="0.3 0 0.45" extent="0.8" meansize="0.05"/> | ||
|
|
||
| <visual> | ||
| <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0 0 0"/> | ||
| <rgba haze="0.15 0.25 0.35 1"/> | ||
| <global azimuth="120" elevation="-20"/> | ||
| </visual> | ||
|
|
||
| <asset> | ||
| <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/> | ||
| <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" | ||
| markrgb="0.8 0.8 0.8" width="300" height="300"/> | ||
| <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/> | ||
| </asset> | ||
|
|
||
| <worldbody> | ||
| <light pos="0 0 1.5" directional="true"/> | ||
| <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/> | ||
| </worldbody> | ||
| </mujoco> |
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Not sure the MuJoCo Menagerie maintainers will accept this PR if it comes from a private repository and isn’t officially recognized by the company. If you already have a working ROS package, maybe check with Kinova to see if they’d like to support it themselves and use yours as a base or inspiration?
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
The private URDF menitoned by @anashoussaini is a Kinova internal URDF. He is working with us on these pull requests.
thanks!