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google-deepmind / mujoco_menagerie

A collection of high-quality models for the MuJoCo physics engine, curated by Google DeepMind.
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Add WidowX #28

Closed vyeevani closed 5 months ago

vyeevani commented 1 year ago

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.)

Given recent work from Google like the Open X Embodiment dataset, it would be cool to try policies entirely in simulation. Given my personal workflow is primarily in Brax as opposed to the Gazebo (the native deployment of interbotix), it would be cool to have this integrated.

URL for the existing model source (e.g. URDF) https://github.com/Interbotix/interbotix_ros_manipulators/tree/main/interbotix_ros_xsarms/interbotix_xsarm_descriptions/urdf

License terms of the upstream model BSD 3-Clause License

What do you think is required to convert and tune this model for MuJoCo? You'd have to run the model through argument substitution using ROS's xacro module.

Are you proposing to help develop and maintain the new model? Sure

kevinzakka commented 11 months ago

Hey @vyeevani, thanks for your interest in Menagerie. The WidowX and ViperX will be out this week hopefully. Cheers!

kevinzakka commented 11 months ago

The ViperX 300 6DOF is now live as of 477ec56566682d663b996d86a188c75499e74b98.

ygtkorkmaz commented 7 months ago

Is there any update on WidowX?

kevinzakka commented 5 months ago

@ygtkorkmaz Will be out by end of week.