New End Effectors in MuJoCo

[laikhtewari]

Description

Robot models (URDF and MJCF) + configurations are created for franka with different end effectors (currently robotiq 85)

Fixes # (issue)

T123146522

Type of change

Please check the options that are relevant.

• Bug fix (non-breaking change that fixes an issue)
• Proposes a change (non-breaking change that isn't necessarily a bug)
• Refactor
• New feature (non-breaking change that adds a new functionality)
• Breaking change (fix or feature that would break some existing functionality downstream)
• This is a unit test
• Documentation only change
• Datasets Release
• Models Release

Type of requested review

• I want a thorough review of the implementation.
• I want a high level review.
• I want a deep design review.

Before and After

Testing

DISPLAY=:100 launch_robot.py robot_client=franka_robotiq_85_mujoco_sim.yaml robot_model=franka_panda_robotiq_85

Checklist:

• I have performed manual end-to-end testing of the feature in my environment.
• I have added Docstrings and comments to the code.
• I have made changes to existing documentation where needed.
• I have added tests that show that the PR is functional.
• New and existing unit tests pass locally with my changes.
• I have added relevant collaborators to review the PR before merge.
• [Polymetis only] I ran on hardware (1) all scripts in tests/scripts, (2) asv benchmarks.

[1heart]

Please symlink or otherwise more cleanly reference the existing mesh files. If possible, get rid of the empty space between the gripper and the arm. Otherwise, lgtm.

[codecov-commenter]

Codecov Report

Merging #1359 (c1fa706) into main (5e4d64d) will increase coverage by 0.00%.
The diff coverage is n/a.

@@           Coverage Diff           @@
##             main    #1359   +/-   ##
=======================================
  Coverage   34.13%   34.13%           
=======================================
  Files         358      358           
  Lines       35541    35541           
=======================================
+ Hits        12131    12132    +1     
+ Misses      23410    23409    -1     

Impacted Files	Coverage Δ
interpreter/robot/tests/world.py	75.18% <0.00%> (+0.72%)	⬆️