google-deepmind
Add ufactory xarm 6
If you would like to see a new model added to the Menagerie collection, please provide us with the following information before sending a pull request. (Ideally, before you start working on converting or tuning the model for MuJoCo.)
URL for the existing model source (e.g. URDF) official urdf from ufactory: https://github.com/xArm-Developer/uf-gym/blob/master/urdf/xarm/xarm6_robot_white.urdf
License terms of the upstream model MIT: https://github.com/xArm-Developer/uf-gym/blob/master/LICENSE
What do you think is required to convert and tune this model for MuJoCo? I converted this model for my own research project using this tool: https://docs.kscale.dev/docs/urdf2mjcf, which I think under the hood just calls mujoco to load a urdf and save it? So far it works well in my project and I plan to test it some more.
One thing tho, is that the upstream model has a lot of vhacd-processed mesh for collision. Should those be included as well? I think the previous xarm7's model doesn't have those
Are you proposing to help develop and maintain the new model? Yes
Hi, I'm from UFACTORY and we are the manufacturer of xArm6. I request that you add the models of UFactory 850 and xArm6, May I ask if there is still anything else we need to provide?
