| Files in this folder are modified from [mujoco_menagerie](https://github.com/google-deepmind/mujoco_menagerie/tree/main/franka_emika_panda). The modifications are renaming the joint names to be consistent with the URDF file in `urdf` folder and the USD file in `usd` folder. | |
| Below is the original README from the `mujoco_menagerie` repo: | |
| # Franka Emika Panda Description (MJCF) | |
| Requires MuJoCo 2.3.3 or later. | |
| ## Overview | |
| This package contains a simplified robot description (MJCF) of the [Franka Emika | |
| Panda](https://www.franka.de/) developed by [Franka | |
| Emika](https://www.franka.de/company). It is derived from the [publicly | |
| available URDF | |
| description](https://github.com/frankaemika/franka_ros/tree/develop/franka_description). | |
| <p float="left"> | |
| <img src="panda.png" width="400"> | |
| </p> | |
| ## URDF → MJCF derivation steps | |
| 1. Converted the DAE [mesh | |
| files](https://github.com/frankaemika/franka_ros/tree/develop/franka_description/meshes/visual) | |
| to OBJ format using [Blender](https://www.blender.org/). | |
| 2. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf). | |
| 3. Eliminated the perfectly flat `link0_6` from the resulting submeshes created for `link0`. | |
| 4. Created a convex decomposition of the STL collision [mesh | |
| file](https://github.com/frankaemika/franka_ros/tree/develop/franka_description/meshes/collision) | |
| for `link5` using [V-HACD](https://github.com/kmammou/v-hacd). | |
| 5. Added `<mujoco> <compiler discardvisual="false"/> </mujoco>` to the | |
| [URDF](https://github.com/frankaemika/franka_ros/tree/develop/franka_description/robots)'s | |
| `<robot>` clause in order to preserve visual geometries. | |
| 6. Loaded the URDF into MuJoCo and saved a corresponding MJCF. | |
| 7. Matched inertial parameters with [inertial.yaml]( | |
| https://github.com/frankaemika/franka_ros/blob/develop/franka_description/robots/common/inertial.yaml). | |
| 8. Added a tracking light to the base. | |
| 9. Manually edited the MJCF to extract common properties into the `<default>` section. | |
| 10. Added `<exclude>` clauses to prevent collisions between `link7` and `link8`. | |
| 11. Manually designed collision geoms for the fingertips. | |
| 12. Added position-controlled actuators for the arm. | |
| 13. Added an equality constraint so that the left finger mimics the position of the right finger. | |
| 14. Added a tendon to split the force equally between both fingers and a | |
| position actuator acting on this tendon. | |
| 15. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze. | |
| ### MJX | |
| A version of the Franka Emika Panda environment was created for MJX. Steps: | |
| 1. Added `mjx_panda.xml`, forked from `panda.xml`. | |
| 2. Added `mjx_scene.xml` and `mjx_single_cube.xml`, forked from `scene.xml`. | |
| 3. Gripper collision geometries were modified to contain less geoms. A capsule collision geom was added to the hand. | |
| 4. Solver parameters were tuned for performance. | |
| 5. Actuator `kp` and `kv` were reduced for more stable simulation. | |
| 6. Added a `site` to the gripper. | |
| 7. Removed tendon and added position actuator for the gripper. Changed gripper `ctrlrange`. | |
| ## License | |
| This model is released under an [Apache-2.0 License](LICENSE). | |