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lucen/ufactory-xarm7

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UFACTORY xArm7 is an arm with 7 joints, shown without its gripper, made by UFACTORY. This model comes from MuJoCo Menagerie by Google DeepMind, under the BSD-3-Clause licence. Not made by Lucen Robotics. Listed as a reference model for simulation.

arm7 joints11.3 kg in simulation50 Hz

Use it from Python

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The same download from a script or a notebook.

from lucen import Hub

hub = Hub()
hub.pull("lucen/ufactory-xarm7", "./ufactory-xarm7")

The module comes with the CLI. Python guide.

UFACTORY xArm7, standing in its home pose

Move its joints, or let it fall under gravity, in your browser. About 10 MB the first time. Open the full simulator

README

README.md

UFACTORY xArm7

UFACTORY xArm7 is an arm with 7 joints, shown without its gripper, made by UFACTORY. This model comes from MuJoCo Menagerie by Google DeepMind, under the BSD-3-Clause licence. The licence text is in LICENSE.

Not made by Lucen Robotics. Listed as a reference model for simulation.

The source's own README is kept unchanged as SOURCE_README.md.

How it was set up

The files come from ufactory_xarm7 in MuJoCo Menagerie, at commit 822c2d8. The robot card was drafted from the model by lucen robot init, as in Add your robot.

The model file does not state the values below. Each one comes from the source beside it.

SettingValueWhere it comes from
Control rate50 Hzno policy-rate source for this arm; the rate Playground's arm tasks use (ctrl_dt=0.02) (a starting point)
Actionjoint position targetthe xArm SDK's servo mode: absolute joint targets
What a policy sensesjoint positions, joint velocitiesthe xArm's joint encoders
Commandjoint targetsa fixed-base arm commanded in joint space
Everything elseread from the model filejoint order, the home keyframe, and per-joint kp/kv and force limits from the MJCF's own <position> actuators. xarm7_nohand.xml, not xarm7.xml: with the gripper, its six finger joints follow one tendon actuator, which validate fails as undriven joints.

A value marked as a starting point is not the maker's own. The checks on the robot page show how it behaves.

The configs cited above, at the commits read:

  • Playground: MuJoCo Playground, commit 4057c14. Each robot's task file, under locomotion or manipulation, in its default_config().

No file from the source was changed. This README, the robot card and the robot's pictures are new.