ARMAR-7 USD

This issue is meant to track the current status of the ARMAR-7 USD model.

Things to note

• Neck_pitch_joint drive max_force was increased
• Finger drive and joint parameters are totally made up
• For all drives, friction and amateur are totally made up as well
• Finger tendon configuration is copy-paste from some random robot hand
• Manually removed wrist D6 joints, replaced with two revolute (due to control issues) -> ugly, needs to be automatized and improved
• A bit clueless about stiffness and damping values for all the joints

ToDos

MuJoCo import script

• Set material_MTL1 and 2 to black for Head_link in USD
• Insert mimic drives for fingers
• Set TCP links to small weight (e.g. 0.00001)