Add UFactory Lite6

[peterdavidfagan]

URL for the existing model source (e.g. URDF)
Lite6 URDF

License terms of the upstream model
BSD 3-Clause

What do you think is required to convert and tune this model for MuJoCo?

• Being able to convert from the URDF to MuJoCo using the compile command
• Tuning model parameters for actuators

Are you proposing to help develop and maintain the new model?
I would be happy to help develop and maintain the new model.

[kevinzakka]

Hi @peterdavidfagan, if you can get me the URDF files (not xacro), I can have this out pretty fast.

[peterdavidfagan]

Thanks @kevinzakka, I'll clean the URDF I have here (remove ros 2 control tags, use relative paths instead of ROS package paths etc.) and link it here shortly.

[peterdavidfagan]

Please find files at the following link. This loads into the mjviewer so I believe all that is needed is there, if something is missing I'd be happy to add it. Also I haven't included the grippers in the URDF but I'd be happy to add these (I am currently working with a custom gripper that someone else open sourced.)

Thanks so much for the assistance with this. I feel I lack expertise in tuning model parameters for MuJoCo actuators, if you have any advice on automated tuning procedures I'd be eager to learn more.

[kevinzakka]

Hi @peterdavidfagan, did it have any DAE or OBJ files? It would be nice to have pretty visual meshes.

[peterdavidfagan]

Hey @kevinzakka,

I didn't see any released with the xarm_description_package, they seem to specify the material properties within their xacro file.

I am happy to create .obj files with the material colours specified in the URDF and add them to the repo I shared along with a URDF file that reads its meshes from these .obj files rather than the current .stl files.

[kevinzakka]

If it doesn't exist in the original description, then we can just add textures to the STLs!

[kevinzakka]

@peterdavidfagan Model should be released by tomorrow at the latest, cheers :)

[peterdavidfagan]

If it doesn't exist in the original description, then we can just add textures to the STLs!

This is great to know I wasn't aware of this, I have less experience working with 3D modelling (although I have been exploring Blender a bit recently).

@peterdavidfagan Model should be released by tomorrow at the latest, cheers :)

This is awesome, thank you so much @kevinzakka.

[kevinzakka]

@peterdavidfagan The model is now live. It's not really sysID'd but should give you a good starting point!

[peterdavidfagan]

Thank you @kevinzakka, this is much appreciated.