Robotiq 2F-85 Description (MJCF)

Requires MuJoCo 2.2.2 or later.

Overview

This package contains a simplified robot description (MJCF) of the Robotiq 85mm 2-Finger Adaptive Gripper developed by Robotiq. It is derived from the publicly available URDF description.

URDF → MJCF derivation steps

1. Added <mujoco> <compiler discardvisual="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. Added <exclude> clauses to prevent collisions between the linkage bodies.
5. Broke up collision pads into two pads for more contacts.
6. Increased pad friction and priority.
7. Added impratio=10 for better noslip.
8. Added scene.xml which includes the robot, with a textured groundplane, skybox, and haze.
9. Added hanging box to scene.xml.

License

This model is released under a BSD-2-Clause License.