Update Robotiq gripper models 85 and 140 #435
Open
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
based on model in mujoco_menagerie
cambel
force-pushed
the
update_robotiq_gripper
branch
from
2dd4ae8 to
dbd7783
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Hi!
Similarly to #278 I noticed that the Robotiq grippers 85 and 140 were working kind of awkwardly. Especially the gripper Robotiq 140 was not even closing properly without any contact interaction.
Considering the newer approach to simulating the gripper Robotiq 85 proposed by mujoco_menagerie looks much better, I updated the models of both grippers.
The motion of both grippers seems considerably better in preliminary tests and their non-slip grasp seems better too. The improvement is much more clear on the gripper 140.
Comparison
Robotiq gripper 85
Robotiq gripper 140