MuJoCo MJCF for OpenArm

mjcf.mp4

Usage

1. Install MuJoCo and launch a simulation.
2. Drag the *.xml file into the simulation window.

For a detailed installation guide, see: github.com/reazon-research/openarm-sim/blob/main/MuJoCo.md

Improving Simulation Stability

• Short timestep of 0.001
• Runge Kutta integrator

CAD to STL conversion

• Fasteners can cause collisions and constrain the range of movement of joints, so they have been removed in J2_v1_1.stl
• The base_link mesh is removed from collision detection by setting contype and conaffinity to zero, allowing the first DOF to rotate

URDF to MJCF Conversion

• Grippers actuate equally using a tendon and equality constraint