https://github.com/vikashplus/sawyer_sim

MuJoCo model for Sawyer from Rethink robotics
https://github.com/vikashplus/sawyer_sim

mujoco mujoco-dynamics rethink robosapien robot robot-arm robotics robotics-simulation sawyer sawyer-robot-arm

Last synced: about 1 year ago
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MuJoCo model for Sawyer from Rethink robotics

• Host: GitHub
• URL: https://github.com/vikashplus/sawyer_sim
• Owner: vikashplus
• License: apache-2.0
• Created: 2018-08-25T16:15:37.000Z (almost 8 years ago)
• Default Branch: master
• Last Pushed: 2023-02-25T17:47:50.000Z (over 3 years ago)
• Last Synced: 2025-02-05T17:39:41.543Z (over 1 year ago)
• Topics: mujoco, mujoco-dynamics, rethink, robosapien, robot, robot-arm, robotics, robotics-simulation, sawyer, sawyer-robot-arm
• Homepage: http://vikashplus.github.io/
• Size: 2.2 MB
• Stars: 12
• Watchers: 0
• Forks: 4
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# Sawyer Model

Mujoco model for Rething Robotics Sawyer with different actuator options. See [sawyer.xml](sawyer.xml) for details.

- Joint postion control 

- End effector control

- Joint motor control

- Parallel jaw gripper position control

![Alt text](assets/sawyer.png?raw=false "sawyer")

# Change log

#### April'20:: Model update to MuJoCo 2.0

- adding actuator options: postion, motor, gripper

- re-org geoms into viz and col group

- joint and actuator properties updated

- re-org model to be easily importable

- removed dummy bodies

- update to the collision geometries

- updated assets paths for better include support

- gripper follows include structure now