bug fixes for real2sim and sim2real

Author: StoneT2000

README.md

@@ -3,3 +3,8 @@
 The robot model here is based on the real2sim project: https://github.com/simpler-env/SimplerEnv
 
 
+## Changes Made:
+
+- Added a .srdf file for SAPIEN to parse to avoid self collisions for better/faster simulation
+- Removed some collision meshes that were unnecessary (e.g. inside another collision mesh)
+- Removed mimic joint tags as they are not used and are modelled by the ManiSkill defined controllers

wx250s.srdf

@@ -0,0 +1,11 @@
+<robot name="wx250s">
+  <disable_collisions link1="base_link" link2="upper_arm_link" reason="Default"/>
+  <disable_collisions link1="gripper_link" link2="left_finger_link" reason="Default"/>
+  <disable_collisions link1="gripper_link" link2="right_finger_link" reason="Default"/>
+
+  <disable_collisions link1="gripper_bar_link" link2="gripper_link" reason="Default"/>
+  <disable_collisions link1="gripper_bar_link" link2="left_finger_link" reason="Default"/>
+  <disable_collisions link1="gripper_bar_link" link2="right_finger_link" reason="Default"/>
+
+  <disable_collisions link1="left_finger_link" link2="right_finger_link" reason="Default"/>
+</robot>

wx250s.urdf

@@ -252,28 +252,20 @@
     <parent link="ee_arm_link"/>
     <child link="gripper_prop_link"/>
   </joint>
-  <!-- <transmission name="trans_gripper">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="gripper">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="gripper_motor">
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission> -->
   <link name="gripper_prop_link">
     <visual>
       <origin rpy="0 0 1.5707963267948966" xyz="-0.0685 0 0"/>
       <geometry>
         <mesh filename="meshes_wx250s/WXSA-250-M-8-Gripper-Prop.obj" scale="0.001 0.001 0.001"/>
       </geometry>
     </visual>
-    <collision>
+    <!-- stao: No need to model this collision, it is inside gripper_link -->
+    <!-- <collision>
       <origin rpy="0 0 1.5707963267948966" xyz="-0.0685 0 0"/>
       <geometry>
         <mesh filename="meshes_wx250s/WXSA-250-M-8-Gripper-Prop.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-    </collision>
+    </collision> -->
     <inertial>
       <origin rpy="0 0 1.5707963267948966" xyz="0.0008460000 -0.0000016817 0.0000420000"/>
       <mass value="0.00434"/>
@@ -360,7 +352,7 @@
     <origin rpy="0 0 0" xyz="0 0 0"/>
     <parent link="fingers_link"/>
     <child link="right_finger_link"/>
-    <mimic joint="left_finger" multiplier="1" offset="0"/>
+    <!-- <mimic joint="left_finger" multiplier="1" offset="0"/> -->
   </joint>
   <!-- <transmission name="trans_right_finger">
     <type>transmission_interface/SimpleTransmission</type>