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fix(ik): pinocchio ik with mjcf #205

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Merged
juelg merged 2 commits into from
Aug 6, 2025
Merged

fix(ik): pinocchio ik with mjcf #205

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58cd587
fix(ik): pinocchio ik with mjcf
juelg Aug 6, 2025
c247142
fix(sim): tcp offset in robot mjcf
juelg Aug 6, 2025
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198 changes: 198 additions & 0 deletions assets/fr3/mjcf/fr3_0.xml
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42 changes: 0 additions & 42 deletions assets/fr3/mjcf/fr3_common.xml
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Original file line number Diff line number Diff line change
@@ -1,49 +1,7 @@
<mujoco model="fr3">
<compiler angle="radian" meshdir="assets"/>

<option integrator="implicitfast" impratio="20" noslip_iterations="5" cone="elliptic"/>

<default>
<default class="fr3">
<joint armature="0.1" damping="1"/>
<position inheritrange="1"/>
<default class="finger">
<joint axis="0 1 0" type="slide" range="0 0.04"/>
</default>
<default class="visual">
<geom type="mesh" group="2" contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom type="mesh" group="3" mass="0" density="0"/>
<default class="fingertip_pad_collision_1">
<geom type="box" size="0.0085 0.004 0.0085" pos="0 0.0055 0.0445"/>
</default>
<default class="fingertip_pad_collision_2">
<geom type="box" size="0.003 0.002 0.003" pos="0.0055 0.002 0.05"/>
</default>
<default class="fingertip_pad_collision_3">
<geom type="box" size="0.003 0.002 0.003" pos="-0.0055 0.002 0.05"/>
</default>
<default class="fingertip_pad_collision_4">
<geom type="box" size="0.003 0.002 0.0035" pos="0.0055 0.002 0.0395"/>
</default>
<default class="fingertip_pad_collision_5">
<geom type="box" size="0.003 0.002 0.0035" pos="-0.0055 0.002 0.0395"/>
</default>
</default>
<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
</default>
<default class="d435i">
<material specular="0" shininess="0.25"/>
<default class="visual_d435i">
<geom group="2" type="mesh" contype="0" conaffinity="0" mass="0"/>
</default>
<default class="collision_d435i">
<geom group="3" type="mesh" mass="0"/>
</default>
</default>
</default>

<asset>
<material name="black" rgba=".2 .2 .2 1"/>
<material name="white" rgba="1 1 1 1"/>
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60 changes: 53 additions & 7 deletions assets/fr3/mjcf/fr3_unnamed.xml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,50 @@
<mujoco>
<!-- custom tcp offset -->
<custom>
<numeric name="tcp_offset_translation" data="0.0 0.0 0.1034"/>
<!-- rotation matrix is row major -->
<numeric name="tcp_offset_rotation_matrix" data="0.707 0.707 0 -0.707 0.707 0 0 0 1"/>
</custom>
<default>
<default class="fr3">
<joint armature="0.1" damping="1"/>
<position inheritrange="1"/>
<default class="finger">
<joint axis="0 1 0" type="slide" range="0 0.04"/>
</default>
<default class="visual">
<geom type="mesh" group="2" contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom type="mesh" group="3" mass="0" density="0"/>
<default class="fingertip_pad_collision_1">
<geom type="box" size="0.0085 0.004 0.0085" pos="0 0.0055 0.0445"/>
</default>
<default class="fingertip_pad_collision_2">
<geom type="box" size="0.003 0.002 0.003" pos="0.0055 0.002 0.05"/>
</default>
<default class="fingertip_pad_collision_3">
<geom type="box" size="0.003 0.002 0.003" pos="-0.0055 0.002 0.05"/>
</default>
<default class="fingertip_pad_collision_4">
<geom type="box" size="0.003 0.002 0.0035" pos="0.0055 0.002 0.0395"/>
</default>
<default class="fingertip_pad_collision_5">
<geom type="box" size="0.003 0.002 0.0035" pos="-0.0055 0.002 0.0395"/>
</default>
</default>
<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
</default>
<default class="d435i">
<material specular="0" shininess="0.25"/>
<default class="visual_d435i">
<geom group="2" type="mesh" contype="0" conaffinity="0" mass="0"/>
</default>
<default class="collision_d435i">
<geom group="3" type="mesh" mass="0"/>
</default>
</default>
</default>
<worldbody>
<body name="base" childclass="fr3" gravcomp="1">
<body name="fr3_link0" gravcomp="1">
Expand All @@ -13,41 +59,41 @@
<body name="fr3_link1" pos="0 0 0.333" gravcomp="1">
<inertial pos="4.128e-07 -0.0181251 -0.0386036" quat="0.999901 0.0021545 0.00429041 0.0132325" mass="2.92747"
diaginertia="0.0186043 0.0181194 0.00538716"/>
<joint name="fr3_joint1" axis="0 0 1" range="-2.7437 2.7437" actuatorfrcrange="-87 87"/>
<joint name="fr3_joint1" axis="0 0 1" range="-2.7437 2.7437" actuatorfrcrange="-87 87" actuatorgravcomp="true"/>
<geom name="fr3_link1_collision" class="collision" mesh="fr3_link1_coll"/>
<geom material="white" mesh="fr3_link1" class="visual"/>
<body name="fr3_link2" quat="1 -1 0 0" gravcomp="1">
<inertial pos="0.00318289 -0.0743222 0.00881461" quat="0.356855 0.680818 -0.434812 0.469126" mass="2.93554"
diaginertia="0.0299291 0.0299291 0.0299291"/>
<joint name="fr3_joint2" axis="0 0 1" range="-1.7837 1.7837" actuatorfrcrange="-87 87"/>
<joint name="fr3_joint2" axis="0 0 1" range="-1.7837 1.7837" actuatorfrcrange="-87 87" actuatorgravcomp="true"/>
<geom material="white" mesh="fr3_link2" class="visual"/>
<geom name="fr3_link2_collision" class="collision" mesh="fr3_link2_coll"/>
<body name="fr3_link3" pos="0 -0.316 0" quat="1 1 0 0" gravcomp="1">
<inertial pos="0.0407016 -0.00482006 -0.0289731" quat="0.950032 -0.148357 0.229935 0.150201" mass="2.2449"
diaginertia="0.0140109 0.0140109 0.0140109"/>
<joint name="fr3_joint3" axis="0 0 1" range="-2.9007 2.9007" actuatorfrcrange="-87 87"/>
<joint name="fr3_joint3" axis="0 0 1" range="-2.9007 2.9007" actuatorfrcrange="-87 87" actuatorgravcomp="true"/>
<geom mesh="fr3_link3_0" material="white" class="visual"/>
<geom mesh="fr3_link3_1" material="black" class="visual"/>
<geom name="fr3_link3_collision" class="collision" mesh="fr3_link3_coll"/>
<body name="fr3_link4" pos="0.0825 0 0" quat="1 1 0 0" gravcomp="1">
<inertial pos="-0.0459101 0.0630493 -0.00851879" quat="0.23761 0.892458 -0.00078702 0.383484"
mass="2.6156" diaginertia="0.0206104 0.0206104 0.0206104"/>
<joint name="fr3_joint4" axis="0 0 1" range="-3.0421 -0.1518" actuatorfrcrange="-87 87"/>
<joint name="fr3_joint4" axis="0 0 1" range="-3.0421 -0.1518" actuatorfrcrange="-87 87" actuatorgravcomp="true"/>
<geom mesh="fr3_link4_0" material="white" class="visual"/>
<geom mesh="fr3_link4_1" material="black" class="visual"/>
<geom name="fr3_link4_collision" class="collision" mesh="fr3_link4_coll"/>
<body name="fr3_link5" pos="-0.0825 0.384 0" quat="1 -1 0 0" gravcomp="1">
<inertial pos="-0.00160396 0.0292536 -0.0972966" quat="0.922285 0.098826 0.0982562 -0.360514"
mass="2.32712" diaginertia="0.0182879 0.0182879 0.0182879"/>
<joint name="fr3_joint5" axis="0 0 1" range="-2.8065 2.8065" actuatorfrcrange="-12 12"/>
<joint name="fr3_joint5" axis="0 0 1" range="-2.8065 2.8065" actuatorfrcrange="-12 12" actuatorgravcomp="true"/>
<geom mesh="fr3_link5_0" material="white" class="visual"/>
<geom mesh="fr3_link5_1" material="white" class="visual"/>
<geom mesh="fr3_link5_2" material="black" class="visual"/>
<geom name="fr3_link5_collision" class="collision" mesh="fr3_link5_coll"/>
<body name="fr3_link6" quat="1 1 0 0" gravcomp="1">
<inertial pos="0.0597131 -0.0410295 -0.0101693" quat="0.593933 0.525442 0.520644 0.316361"
mass="1.81704" diaginertia="0.00483538 0.00483538 0.00483538"/>
<joint name="fr3_joint6" axis="0 0 1" range="0.5445 4.5169" actuatorfrcrange="-12 12"/>
<joint name="fr3_joint6" axis="0 0 1" range="0.5445 4.5169" actuatorfrcrange="-12 12" actuatorgravcomp="true"/>
<geom mesh="fr3_link6_0" material="button_green" class="visual"/>
<geom mesh="fr3_link6_1" material="white" class="visual"/>
<geom mesh="fr3_link6_2" material="white" class="visual"/>
Expand All @@ -60,7 +106,7 @@
<body name="fr3_link7" pos="0.088 0 0" quat="1 1 0 0" gravcomp="1">
<inertial pos="0.00452258 0.00862619 -0.0161633" quat="0.120255 0.394761 -0.799132 0.437139"
mass="0.627143" diaginertia="3.076e-07 3.076e-07 3.076e-07"/>
<joint name="fr3_joint7" axis="0 0 1" range="-3.0159 3.0159" actuatorfrcrange="-12 12"/>
<joint name="fr3_joint7" axis="0 0 1" range="-3.0159 3.0159" actuatorfrcrange="-12 12" actuatorgravcomp="true"/>
<geom mesh="fr3_link7_0" material="black" class="visual"/>
<geom mesh="fr3_link7_1" material="white" class="visual"/>
<geom mesh="fr3_link7_2" material="white" class="visual"/>
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