Rainbow robotics rby1

[dongridong]

Hello, we are the RBY1 Support Team from Rainbow Robotics.
We would like to contribute a simplified MJCF model for the RBY1 robot to support its use in simulations.

Description:
This pull request introduces a simplified MJCF description of the RBY1 robot developed by Rainbow Robotics.

The model includes:
Preprocessed meshes and assets for efficient simulation.

A well-defined rby1.xml MJCF file that:

• Implements the robot's structure and actuator configurations.
• Adjusts joint and collision properties for optimal MuJoCo simulation.
• Compatibility with the original URDF file, enabling smooth transitions between formats.

Key Features:

• Preprocessed meshes optimized for MuJoCo.
• Support for free joint movement in 3D space.
• Streamlined collision handling using classes.

Additional Work:

• Fixed an issue where the file would not open correctly in MuJoCo 3.2.7.
• Verified the model using model_test.py.
• Adjusted armature and damping parameters.
• Modified the forcelimit parameter.
• Added the implicitfast integrator option.

License:
This model is distributed under the Apache License 2.0.

If you have any questions, please feel free to contact us at [email protected].
Thank you!

[kevinzakka]

Hi @dongridong, can you remove the stray files in the test dir?

[dongridong]

Hi @dongridong, can you remove the stray files in the test dir?

Hi @kevinzakka.

As requested, I have removed all files in the test directory.
Thank you.

[kevinzakka]

Hi @dongridong, looks like you deleted the entire dir. I was referring to only the pycache files and additional files you had added. Can you please add back the test dir?

Also, you need to rebase your branch on top of the latest main!

[dongridong]

Hi @dongridong, looks like you deleted the entire dir. I was referring to only the pycache files and additional files you had added. Can you please add back the test dir?

Also, you need to rebase your branch on top of the latest main!

I've restored the test/ directory and removed only the unnecessary files.
Also, the branch has been rebased on top of the latest main.

Let me know if there's anything else you'd like me to adjust!

[dongridong]

Hi @dongridong, looks like you deleted the entire dir. I was referring to only the pycache files and additional files you had added. Can you please add back the test dir?

Also, you need to rebase your branch on top of the latest main!

Hi @kevinzakka.
Would there be any additional modifications needed?

[kevinzakka]

Hi @dongridong, it says there are conflicts with the main branch. You need to rebase with main.

[dongridong]

Hi @dongridong, it says there are conflicts with the main branch. You need to rebase with main.

Hi @kevinzakka,
I have resolved the merge conflict issues, optimized the mesh files for size, and fixed the path problems.
Please review it once more and let me know if everything looks good.

Thank you.

[kevinzakka]

Hi @dongridong, I’ll take a look this week!

[rishihahs]

Suggested change

	<geom mesh="LINK_2_0" class="collision"/>
	<geom mesh="LINK_2_1" class="collision"/>
	<geom mesh="LINK_2_0" class="in-model-collision"/>
	<geom mesh="LINK_2_1" class="in-model-collision"/>

Without marking this as an in-model collision, the robot ends up yeeting itself and smashing into the ground. After this change, the robot is stable in its starting position.

[dongridong]

Hello,

I hope you're doing well.
I wanted to kindly follow up to ask if there are any additional modifications that need to be made.
I haven’t heard back since the last feedback, so I just wanted to check in.

Wishing you a great day!

[dongridong]

Dear Rishi I have reviewed the points you mentioned, made the necessary changes, and completed the merge. Please kindly verify the updates. Thank you. 2025년 6월 30일 (월) 오후 1:51, Rishi Shah ***@***.***>님이 작성:

…

***@***.**** commented on this pull request. ------------------------------ In rainbow_robotics_rby1/rby1.xml <#150 (comment)> : > + <geom mesh="LINK_2_0" class="collision"/> + <geom mesh="LINK_2_1" class="collision"/> ⬇️ Suggested change - <geom mesh="LINK_2_0" class="collision"/> - <geom mesh="LINK_2_1" class="collision"/> + <geom mesh="LINK_2_0" class="in-model-collision"/> + <geom mesh="LINK_2_1" class="in-model-collision"/> Without marking this as an in-model collision, the robot ends up yeeting itself and smashing into the ground. After this change, the robot is stable in its starting position. — Reply to this email directly, view it on GitHub <#150 (review)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AWFL4WMDBXEIJH767NZJDMT3GC65FAVCNFSM6AAAAABYI7ZN6KVHI2DSMVQWIX3LMV43YUDVNRWFEZLROVSXG5CSMV3GSZLXHMZDSNRZHA4TGMZRHE> . You are receiving this because you were mentioned.Message ID: ***@***.***>

[dongridong]

Hi @dongridong, I’ll take a look this week!

Dear @kevinzakka.

Hope you are doing well.
I have incorporated all the requested revisions.

I would appreciate it if you could review once more and update the model accordingly.

Best regards,
Ian