ViperX 300 6DOF Description (MJCF)

Requires MuJoCo 2.2.2 or later.

Overview

This package contains a simplified robot description (MJCF) of the ViperX 300 6DOF developed by Trossen Robotics. It is derived from the publicly available URDF description.

URDF → MJCF derivation steps

1. Added <mujoco> <compiler discardvisual="false" strippath="false" fusestatic="false"/> </mujoco> to the URDF's <robot> clause in order to preserve visual geometries.
2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
3. Manually edited the MJCF to extract common properties into the <default> section.
4. Used interbotix_black.png to texture the visual geoms.
5. Added a light to track gripper_link.
6. Removed gripper joint.
7. Added an equality constraint so that the right finger mimics the position of the left finger.
8. Manually designed box collision geoms for the gripper.
9. Added exclude clause to prevent collisions between base_link and shoulder_link.
10. Added position controlled actuators.
11. Added impratio=10 and cone=elliptic for better noslip.
12. Added scene.xml which includes the robot, with a textured groundplane, skybox, and haze.

License

This model is released under a BSD-3-Clause License.