SSG48_gripper_description

Source Robotics SSG48 gripper Description (MJCF)

Important

Requires MuJoCo 3.1.3 or later.

Changelog

See CHANGELOG.md for a full history of changes.

⚒️TODO

• Add correct joint limits to URDF and MJCF files

Overview

This package contains a simplified robot description (MJCF) and URDF files of the SSG48 gripper developed by Source Robotics.

Jaw options

Folder contains few different jaw options for the gripper. You can change them by replacing the existing jaw options in the mesh folder by the ones you want.

Online mujoco viewer

https://mujoco-viewer.org/

URDF folder

URDF folder contains:

• SSG48 gripper
• Jaw options folder

More about URDF here: Link

URDF → MJCF derivation steps

1. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
2. Manually edited the MJCF to extract common properties into the <default> section.
3. Added position-controlled actuators for the arm.
4. Added scene.xml which includes the robot, with a textured groundplane, skybox, and haze.

License

This model is released under an Apache-2.0 License.

References

Mjcf reference Mujoco managerie

• references:
• https://mujoco.readthedocs.io/en/stable/XMLreference.html
• https://github.com/google-deepmind/mujoco_menagerie/tree/main/ufactory_lite6
• https://github.com/google-deepmind/mujoco_menagerie/blob/main/trossen_vx300s/vx300s.xml
• https://github.com/google-deepmind/mujoco_menagerie/blob/main/aloha/aloha.xml
• https://github.com/google-deepmind/mujoco_menagerie/blob/main/franka_emika_panda/panda.xml
• https://github.com/jeongeun980906/lerobot-mujoco-tutorial/blob/master/asset/robotis_omy/omy.xml