393 lines
27 KiB
XML
393 lines
27 KiB
XML
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<mujoco model="shadow_dexee">
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<compiler autolimits="true" angle="radian" meshdir="assets"/>
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<option integrator="implicitfast" cone="elliptic" noslip_iterations="5" noslip_tolerance="0"/>
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<default>
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<site group="3" rgba="1 0 0 1" size="0.001"/>
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<default class="finger/visual">
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<geom type="mesh" contype="0" conaffinity="0"/>
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</default>
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<default class="finger/collision">
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<geom type="mesh" group="3" material="collision" mass="0"/>
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<default class="finger/collision_soft">
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<geom condim="6" friction="1 0.005 0.0001" solref="-2500 -100"/>
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</default>
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<default class="finger/collision_hard">
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<geom condim="4" friction="1 0.001 2e-05" solref="-7000 -167"/>
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</default>
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</default>
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</default>
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<asset>
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<material name="white_aluminium" rgba="0.6313 0.6313 0.62745 1"/>
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<material name="graphite_black" rgba="0.1529 0.16078 0.16862 1"/>
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<material name="jet_black" rgba="0.0549 0.0549 0.06274 1"/>
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<material name="collision" rgba="1 0.6 0.6 1"/>
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<mesh name="r3_config1_base" file="Asm-MRH-HB1-Visual,00-Plastic.stl"/>
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<mesh name="r3_config1_base_col" file="Asm-MRH-HB1-Visual,00-Plastic.stl"/>
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<mesh name="r3_config1_base_puck" file="Asm-MRH-HB1-Visual,00-Puck.stl"/>
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<mesh name="r3_config1_base_puck_col" file="Asm-MRH-HB1-Visual,00-Puck.stl"/>
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<mesh name="r3_finger_base" file="MRH-FB-MainALU-Visual,00.stl"/>
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<mesh name="r3_finger_base_tb" file="MRH-FB-TB-Main-Visual,00.stl"/>
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<mesh name="r3_finger_cover" file="MRH-FB-Main-Cover-Visual,00.stl"/>
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<mesh name="r3_finger_pulley_block" file="MRH-FB-PulleyBlock1-Visual,00.stl"/>
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<mesh name="r3_finger_lid_white" file="MRH-FB-TB-Lid-White-Visual,00.stl"/>
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<mesh name="r3_finger_lid_logo" file="MRH-FB-TB-Lid-Logo-Visual,00.stl"/>
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<mesh name="r3_finger_cover_small_left" file="MRH-FB-S-Cover-L-Visual,00.stl"/>
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<mesh name="r3_finger_cover_small_right" file="MRH-FB-S-Cover-R-Visual,00.stl"/>
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<mesh name="r3_finger_base_col" file="r3_finger_base_col.stl"/>
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<mesh name="r3_finger_knuckle" file="MRH-F-J0Link-Visual,00.stl" refquat="1 -1 0 0"/>
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<mesh name="r3_finger_knuckle_col" file="MRH-F-J0Link-Visual,00.stl" refquat="1 -1 0 0"/>
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<mesh name="r3_finger_proximal" file="MRH-F-Prox-Visual,00-Main.stl" refquat="1 -1 0 0"/>
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<mesh name="r3_finger_proximal_lid" file="MRH-F-Prox-Visual,00-Lid.stl" refquat="1 -1 0 0"/>
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<mesh name="r3_finger_proximal_magtac" file="MRH-F-Prox-MagTac-Sensor-Visual,00.stl" refquat="1 -1 0 0"/>
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<mesh name="r3_finger_proximal_col" file="Asm-MRH-F-Prox-Visual,00+Magtac,00.stl" refquat="1 -1 0 0"/>
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<mesh name="r3_finger_middle" file="MRH-F-Mid-Visual,00.stl" refquat="1 -1 0 0"/>
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<mesh name="r3_finger_middle_magtac" file="MRH-F-Mid-MagTac-Sensor-Visual,00.stl" refquat="1 -1 0 0"/>
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<mesh name="r3_finger_middle_col" file="Asm-MRH-F-Mid-Visual,00+MagTac,00.stl" refquat="1 -1 0 0"/>
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<mesh name="r3_finger_distal" file="MRH-F-Distal-Visual,00.stl" refquat="0 0 0 1"/>
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<mesh name="r3_finger_distal_sensor" file="MRH-F-Distal-Sensor-Visual,00.stl" refquat="0 -1 0 0"/>
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<mesh name="r3_finger_distal_col" file="MRH-F-Distal-Visual,00.stl" refquat="0 0 0 1"/>
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<mesh name="r3_finger_distal_tip_col" file="MRH-F-Distal-Sensor-Visual,00.stl" refquat="0 -1 0 0"/>
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</asset>
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<extension>
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<plugin plugin="mujoco.pid">
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<instance name="actuator_J0">
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<config key="kp" value="2.8"/>
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<config key="ki" value="4.0"/>
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<config key="kd" value="0.03"/>
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<config key="imax" value="0.1"/>
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<config key="slewmax" value="3.14159"/>
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</instance>
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</plugin>
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<plugin plugin="mujoco.pid">
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<instance name="actuator_J1">
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<config key="kp" value="2.5"/>
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<config key="ki" value="3.0"/>
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<config key="kd" value="0.02"/>
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<config key="imax" value="0.2"/>
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<config key="slewmax" value="3.14159"/>
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</instance>
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</plugin>
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<plugin plugin="mujoco.pid">
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<instance name="actuator_J2">
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<config key="kp" value="1.1"/>
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<config key="ki" value="3.0"/>
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<config key="kd" value="0.01"/>
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<config key="imax" value="0.2"/>
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<config key="slewmax" value="3.14159"/>
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</instance>
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</plugin>
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<plugin plugin="mujoco.pid">
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<instance name="actuator_J3">
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<config key="kp" value="0.6"/>
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<config key="ki" value="3.0"/>
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<config key="kd" value="0.008"/>
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<config key="imax" value="0.1"/>
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<config key="slewmax" value="3.14159"/>
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</instance>
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</plugin>
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</extension>
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<worldbody>
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<light pos="0 0 2"/>
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<site name="tcp" type="sphere" rgba="1 0.5 0 0.2" size="0.001" pos="0 0 0.3"/>
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<site name="attachment_site" type="sphere" group="3" rgba="1 0 0 1" size="0.001"/>
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<body name="hand_base" gravcomp="1">
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<geom name="hand_base_geom" material="jet_black" type="mesh" contype="0" conaffinity="0" mass="0.51"
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mesh="r3_config1_base"/>
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<geom name="hand_base_geom_col" type="mesh" group="3" rgba="1 0.6 0.6 1" mass="0" mesh="r3_config1_base_col"/>
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<geom name="hand_base_puck_geom" material="white_aluminium" type="mesh" contype="0" conaffinity="0" mass="0"
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mesh="r3_config1_base_puck"/>
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<geom name="hand_base_puck_geom_col" type="mesh" group="3" rgba="1 0.6 0.6 1" mass="0"
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mesh="r3_config1_base_puck_col"/>
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<geom name="hand_base_CollisionGeom_1" type="cylinder" contype="0" conaffinity="0" group="5" size="0.08"
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rgba="1 1 1 0.3" mass="0" fromto="0 0 -0.01 0 0 0.195"/>
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</body>
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<body pos="0 0.05 0.017" quat="1 0 0 0" name="F0/">
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<body name="F0/finger_base" gravcomp="1">
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<site name="F0/attachment_site"/>
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<geom name="F0/base_geom" class="finger/visual" mass="0.89937782" mesh="r3_finger_base"/>
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<geom name="F0/base_tb_geom" class="finger/visual" mass="0" mesh="r3_finger_base_tb"/>
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<geom name="F0/base_cover_geom" class="finger/visual" material="jet_black" mass="0" mesh="r3_finger_cover"/>
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<geom name="F0/base_pulley_block_geom" class="finger/visual" mass="0" mesh="r3_finger_pulley_block"/>
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<geom name="F0/base_lid_white_geom" class="finger/visual" material="white_aluminium" mass="0"
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mesh="r3_finger_lid_white"/>
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<geom name="F0/base_lid_logo_geom" class="finger/visual" material="jet_black" mass="0" mesh="r3_finger_lid_logo"/>
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<geom name="F0/base_cover_small_left_geom" class="finger/visual" material="jet_black" mass="0"
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mesh="r3_finger_cover_small_left"/>
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<geom name="F0/base_cover_small_right_geom" class="finger/visual" material="jet_black" mass="0"
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mesh="r3_finger_cover_small_right"/>
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<geom name="F0/base_geom_col" class="finger/collision_hard" quat="1 -1 0 0" mesh="r3_finger_base_col"/>
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<body name="F0/finger_knuckle" pos="0 0.015 0.17902" euler="-1.0472 0 0" gravcomp="1">
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<site name="F0/j0_site"/>
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<joint name="F0/J0" axis="0 0 -1" range="-0.8727 0.8727" armature="8e-05" damping="0.009" frictionloss="0.009"/>
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<geom name="F0/knuckle_geom" class="finger/visual" material="jet_black" mass="0.13077995"
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mesh="r3_finger_knuckle"/>
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<geom name="F0/knuckle_geom_col" class="finger/collision_hard" mesh="r3_finger_knuckle_col"/>
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<body name="F0/finger_proximal" pos="0 -0.03 0" gravcomp="1">
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<site name="F0/j1_site"/>
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<joint name="F0/J1" axis="1 0 0" range="-1.3963 0.7854" armature="8e-05" damping="0.009"
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frictionloss="0.009"/>
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<geom name="F0/proximal_geom" class="finger/visual" mass="0.09614332" mesh="r3_finger_proximal"/>
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<geom name="F0/proximal_lid_geom" class="finger/visual" material="jet_black" mass="0"
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mesh="r3_finger_proximal_lid"/>
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<geom name="F0/proximal_magtac_geom" class="finger/visual" material="graphite_black" mass="0"
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mesh="r3_finger_proximal_magtac"/>
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<geom name="F0/proximal_geom_col" class="finger/collision_hard" mesh="r3_finger_proximal_col"/>
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<body name="F0/finger_middle" pos="0 -0.05 0" gravcomp="1">
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<site name="F0/j2_site"/>
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<joint name="F0/J2" axis="1 0 0" range="0 1.3963" armature="8e-05" damping="0.009" frictionloss="0.009"/>
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<geom name="F0/middle_geom" class="finger/visual" material="jet_black" mass="0.05585897"
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mesh="r3_finger_middle"/>
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<geom name="F0/middle_magtac_geom" class="finger/visual" material="graphite_black" mass="0"
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mesh="r3_finger_middle_magtac"/>
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<geom name="F0/middle_geom_col" class="finger/collision_hard" mesh="r3_finger_middle_col"/>
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<body name="F0/finger_distal" pos="0 -0.035 0" quat="0 0 -1 1" gravcomp="1">
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<site name="F0/j3_site"/>
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<joint name="F0/J3" axis="-1 0 0" range="-0.5236 1.4835" armature="8e-05" damping="0.009"
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frictionloss="0.009"/>
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<geom name="F0/distal_geom" class="finger/visual" mass="0.02766365" mesh="r3_finger_distal"/>
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<geom name="F0/distal_sensor_geom" class="finger/visual" material="graphite_black" mass="0"
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mesh="r3_finger_distal_sensor"/>
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<geom name="F0/distal_geom_col" class="finger/collision_hard" mesh="r3_finger_distal_col"/>
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<geom name="F0/distal_geom_tip_col" class="finger/collision_soft" mesh="r3_finger_distal_tip_col"/>
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<site name="F0/fingertip_site" pos="0 -0.00625 0.04"/>
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<site name="F0/distal_site" pos="0 0.007 0.03"/>
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<geom name="F0/finger_distal_CollisionGeom_1" type="capsule" contype="0" conaffinity="0" group="5"
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size="0.018" rgba="1 1 1 0.3" mass="0" fromto="0 0 0.025 0 0 0"/>
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</body>
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<geom name="F0/finger_middle_CollisionGeom_1" type="cylinder" contype="0" conaffinity="0" group="5"
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size="0.014" rgba="1 1 1 0.3" mass="0" fromto="0.015 0 0 -0.015 0 0"/>
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<geom name="F0/finger_middle_CollisionGeom_2" type="capsule" contype="0" conaffinity="0" group="5"
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size="0.02" rgba="1 1 1 0.3" mass="0" fromto="0 -0.026 0 0 -0.01 0"/>
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<geom name="F0/finger_middle_CollisionGeom_3" type="cylinder" contype="0" conaffinity="0" group="5"
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size="0.014" rgba="1 1 1 0.3" mass="0" fromto="0.015 -0.035 0 -0.015 -0.035 0"/>
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</body>
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<geom name="F0/finger_proximal_CollisionGeom_1" type="cylinder" contype="0" conaffinity="0" group="5"
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size="0.02" rgba="1 1 1 0.3" mass="0" fromto="0.02 0 0 -0.023 0 0"/>
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<geom name="F0/finger_proximal_CollisionGeom_2" type="capsule" contype="0" conaffinity="0" group="5"
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size="0.025" rgba="1 1 1 0.3" mass="0" fromto="0 -0.01 0.003 0 -0.04 0.003"/>
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</body>
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<geom name="F0/finger_knuckle_CollisionGeom_1" type="cylinder" contype="0" conaffinity="0" group="5"
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size="0.027" rgba="1 1 1 0.3" mass="0" fromto="0 0 0.008 0 0 -0.047"/>
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<geom name="F0/finger_knuckle_CollisionGeom_2" type="cylinder" contype="0" conaffinity="0" group="5"
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size="0.018" rgba="1 1 1 0.3" mass="0" fromto="0.018 -0.03 0 -0.018 -0.03 0"/>
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<geom name="F0/finger_knuckle_CollisionGeom_3" type="capsule" contype="0" conaffinity="0" group="5"
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size="0.025" rgba="1 1 1 0.3" mass="0" fromto="-0.0015 -0.02 -0.01 -0.0015 -0.02 -0.02"/>
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</body>
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<geom name="F0/finger_base_CollisionGeom_1" type="cylinder" contype="0" conaffinity="0" group="5" size="0.05"
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rgba="1 1 1 0.3" mass="0" fromto="0 0 -0.005 0 0 0.195"/>
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</body>
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</body>
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<body pos="0.039 -0.029 0.017" quat="-0.16212752892551119 0 0 0.98676981326168844" name="F1/">
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<body name="F1/finger_base" gravcomp="1">
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<site name="F1/attachment_site"/>
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<geom name="F1/base_geom" class="finger/visual" mass="0.89937782" mesh="r3_finger_base"/>
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<geom name="F1/base_tb_geom" class="finger/visual" mass="0" mesh="r3_finger_base_tb"/>
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<geom name="F1/base_cover_geom" class="finger/visual" material="jet_black" mass="0" mesh="r3_finger_cover"/>
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<geom name="F1/base_pulley_block_geom" class="finger/visual" mass="0" mesh="r3_finger_pulley_block"/>
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<geom name="F1/base_lid_white_geom" class="finger/visual" material="white_aluminium" mass="0"
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mesh="r3_finger_lid_white"/>
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<geom name="F1/base_lid_logo_geom" class="finger/visual" material="jet_black" mass="0" mesh="r3_finger_lid_logo"/>
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<geom name="F1/base_cover_small_left_geom" class="finger/visual" material="jet_black" mass="0"
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mesh="r3_finger_cover_small_left"/>
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<geom name="F1/base_cover_small_right_geom" class="finger/visual" material="jet_black" mass="0"
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mesh="r3_finger_cover_small_right"/>
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<geom name="F1/base_geom_col" class="finger/collision_hard" quat="1 -1 0 0" mesh="r3_finger_base_col"/>
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<body name="F1/finger_knuckle" pos="0 0.015 0.17902" euler="-1.0472 0 0" gravcomp="1">
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<site name="F1/j0_site"/>
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<joint name="F1/J0" axis="0 0 -1" range="-0.8727 0.8727" armature="8e-05" damping="0.009" frictionloss="0.009"/>
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<geom name="F1/knuckle_geom" class="finger/visual" material="jet_black" mass="0.13077995"
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mesh="r3_finger_knuckle"/>
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<geom name="F1/knuckle_geom_col" class="finger/collision_hard" mesh="r3_finger_knuckle_col"/>
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<body name="F1/finger_proximal" pos="0 -0.03 0" gravcomp="1">
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<site name="F1/j1_site"/>
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<joint name="F1/J1" axis="1 0 0" range="-1.3963 0.7854" armature="8e-05" damping="0.009"
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frictionloss="0.009"/>
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<geom name="F1/proximal_geom" class="finger/visual" mass="0.09614332" mesh="r3_finger_proximal"/>
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<geom name="F1/proximal_lid_geom" class="finger/visual" material="jet_black" mass="0"
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mesh="r3_finger_proximal_lid"/>
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<geom name="F1/proximal_magtac_geom" class="finger/visual" material="graphite_black" mass="0"
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mesh="r3_finger_proximal_magtac"/>
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|
|
<geom name="F1/proximal_geom_col" class="finger/collision_hard" mesh="r3_finger_proximal_col"/>
|
||
|
|
<body name="F1/finger_middle" pos="0 -0.05 0" gravcomp="1">
|
||
|
|
<site name="F1/j2_site"/>
|
||
|
|
<joint name="F1/J2" axis="1 0 0" range="0 1.3963" armature="8e-05" damping="0.009" frictionloss="0.009"/>
|
||
|
|
<geom name="F1/middle_geom" class="finger/visual" material="jet_black" mass="0.05585897"
|
||
|
|
mesh="r3_finger_middle"/>
|
||
|
|
<geom name="F1/middle_magtac_geom" class="finger/visual" material="graphite_black" mass="0"
|
||
|
|
mesh="r3_finger_middle_magtac"/>
|
||
|
|
<geom name="F1/middle_geom_col" class="finger/collision_hard" mesh="r3_finger_middle_col"/>
|
||
|
|
<body name="F1/finger_distal" pos="0 -0.035 0" quat="0 0 -1 1" gravcomp="1">
|
||
|
|
<site name="F1/j3_site"/>
|
||
|
|
<joint name="F1/J3" axis="-1 0 0" range="-0.5236 1.4835" armature="8e-05" damping="0.009"
|
||
|
|
frictionloss="0.009"/>
|
||
|
|
<geom name="F1/distal_geom" class="finger/visual" mass="0.02766365" mesh="r3_finger_distal"/>
|
||
|
|
<geom name="F1/distal_sensor_geom" class="finger/visual" material="graphite_black" mass="0"
|
||
|
|
mesh="r3_finger_distal_sensor"/>
|
||
|
|
<geom name="F1/distal_geom_col" class="finger/collision_hard" mesh="r3_finger_distal_col"/>
|
||
|
|
<geom name="F1/distal_geom_tip_col" class="finger/collision_soft" mesh="r3_finger_distal_tip_col"/>
|
||
|
|
<site name="F1/fingertip_site" pos="0 -0.00625 0.04"/>
|
||
|
|
<site name="F1/distal_site" pos="0 0.007 0.03"/>
|
||
|
|
<geom name="F1/finger_distal_CollisionGeom_1" type="capsule" contype="0" conaffinity="0" group="5"
|
||
|
|
size="0.018" rgba="1 1 1 0.3" mass="0" fromto="0 0 0.025 0 0 0"/>
|
||
|
|
</body>
|
||
|
|
<geom name="F1/finger_middle_CollisionGeom_1" type="cylinder" contype="0" conaffinity="0" group="5"
|
||
|
|
size="0.014" rgba="1 1 1 0.3" mass="0" fromto="0.015 0 0 -0.015 0 0"/>
|
||
|
|
<geom name="F1/finger_middle_CollisionGeom_2" type="capsule" contype="0" conaffinity="0" group="5"
|
||
|
|
size="0.02" rgba="1 1 1 0.3" mass="0" fromto="0 -0.026 0 0 -0.01 0"/>
|
||
|
|
<geom name="F1/finger_middle_CollisionGeom_3" type="cylinder" contype="0" conaffinity="0" group="5"
|
||
|
|
size="0.014" rgba="1 1 1 0.3" mass="0" fromto="0.015 -0.035 0 -0.015 -0.035 0"/>
|
||
|
|
</body>
|
||
|
|
<geom name="F1/finger_proximal_CollisionGeom_1" type="cylinder" contype="0" conaffinity="0" group="5"
|
||
|
|
size="0.02" rgba="1 1 1 0.3" mass="0" fromto="0.02 0 0 -0.023 0 0"/>
|
||
|
|
<geom name="F1/finger_proximal_CollisionGeom_2" type="capsule" contype="0" conaffinity="0" group="5"
|
||
|
|
size="0.025" rgba="1 1 1 0.3" mass="0" fromto="0 -0.01 0.003 0 -0.04 0.003"/>
|
||
|
|
</body>
|
||
|
|
<geom name="F1/finger_knuckle_CollisionGeom_1" type="cylinder" contype="0" conaffinity="0" group="5"
|
||
|
|
size="0.027" rgba="1 1 1 0.3" mass="0" fromto="0 0 0.008 0 0 -0.047"/>
|
||
|
|
<geom name="F1/finger_knuckle_CollisionGeom_2" type="cylinder" contype="0" conaffinity="0" group="5"
|
||
|
|
size="0.018" rgba="1 1 1 0.3" mass="0" fromto="0.018 -0.03 0 -0.018 -0.03 0"/>
|
||
|
|
<geom name="F1/finger_knuckle_CollisionGeom_3" type="capsule" contype="0" conaffinity="0" group="5"
|
||
|
|
size="0.025" rgba="1 1 1 0.3" mass="0" fromto="-0.0015 -0.02 -0.01 -0.0015 -0.02 -0.02"/>
|
||
|
|
</body>
|
||
|
|
<geom name="F1/finger_base_CollisionGeom_1" type="cylinder" contype="0" conaffinity="0" group="5" size="0.0500"
|
||
|
|
rgba="1 1 1 0.3" mass="0" fromto="0 0 -0.005 0 0 0.195"/>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
|
||
|
|
<body pos="-0.039 -0.029 0.017" quat="0.16212752892551119 0 0 0.98676981326168844" name="F2/">
|
||
|
|
<body name="F2/finger_base" gravcomp="1">
|
||
|
|
<site name="F2/attachment_site"/>
|
||
|
|
<geom name="F2/base_geom" class="finger/visual" mass="0.89937782" mesh="r3_finger_base"/>
|
||
|
|
<geom name="F2/base_tb_geom" class="finger/visual" mass="0" mesh="r3_finger_base_tb"/>
|
||
|
|
<geom name="F2/base_cover_geom" class="finger/visual" material="jet_black" mass="0" mesh="r3_finger_cover"/>
|
||
|
|
<geom name="F2/base_pulley_block_geom" class="finger/visual" mass="0" mesh="r3_finger_pulley_block"/>
|
||
|
|
<geom name="F2/base_lid_white_geom" class="finger/visual" material="white_aluminium" mass="0"
|
||
|
|
mesh="r3_finger_lid_white"/>
|
||
|
|
<geom name="F2/base_lid_logo_geom" class="finger/visual" material="jet_black" mass="0" mesh="r3_finger_lid_logo"/>
|
||
|
|
<geom name="F2/base_cover_small_left_geom" class="finger/visual" material="jet_black" mass="0"
|
||
|
|
mesh="r3_finger_cover_small_left"/>
|
||
|
|
<geom name="F2/base_cover_small_right_geom" class="finger/visual" material="jet_black" mass="0"
|
||
|
|
mesh="r3_finger_cover_small_right"/>
|
||
|
|
<geom name="F2/base_geom_col" class="finger/collision_hard" quat="1 -1 0 0" mesh="r3_finger_base_col"/>
|
||
|
|
<body name="F2/finger_knuckle" pos="0 0.015 0.17902" euler="-1.0472 0 0" gravcomp="1">
|
||
|
|
<site name="F2/j0_site"/>
|
||
|
|
<joint name="F2/J0" axis="0 0 -1" range="-0.8727 0.8727" armature="8e-05" damping="0.009" frictionloss="0.009"/>
|
||
|
|
<geom name="F2/knuckle_geom" class="finger/visual" material="jet_black" mass="0.13077995"
|
||
|
|
mesh="r3_finger_knuckle"/>
|
||
|
|
<geom name="F2/knuckle_geom_col" class="finger/collision_hard" mesh="r3_finger_knuckle_col"/>
|
||
|
|
<body name="F2/finger_proximal" pos="0 -0.03 0" gravcomp="1">
|
||
|
|
<site name="F2/j1_site"/>
|
||
|
|
<joint name="F2/J1" axis="1 0 0" range="-1.3963 0.7854" armature="8e-05" damping="0.009"
|
||
|
|
frictionloss="0.009"/>
|
||
|
|
<geom name="F2/proximal_geom" class="finger/visual" mass="0.09614332" mesh="r3_finger_proximal"/>
|
||
|
|
<geom name="F2/proximal_lid_geom" class="finger/visual" material="jet_black" mass="0"
|
||
|
|
mesh="r3_finger_proximal_lid"/>
|
||
|
|
<geom name="F2/proximal_magtac_geom" class="finger/visual" material="graphite_black" mass="0"
|
||
|
|
mesh="r3_finger_proximal_magtac"/>
|
||
|
|
<geom name="F2/proximal_geom_col" class="finger/collision_hard" mesh="r3_finger_proximal_col"/>
|
||
|
|
<body name="F2/finger_middle" pos="0 -0.05 0" gravcomp="1">
|
||
|
|
<site name="F2/j2_site"/>
|
||
|
|
<joint name="F2/J2" axis="1 0 0" range="0 1.3963" armature="8e-05" damping="0.009" frictionloss="0.009"/>
|
||
|
|
<geom name="F2/middle_geom" class="finger/visual" material="jet_black" mass="0.05585897"
|
||
|
|
mesh="r3_finger_middle"/>
|
||
|
|
<geom name="F2/middle_magtac_geom" class="finger/visual" material="graphite_black" mass="0"
|
||
|
|
mesh="r3_finger_middle_magtac"/>
|
||
|
|
<geom name="F2/middle_geom_col" class="finger/collision_hard" mesh="r3_finger_middle_col"/>
|
||
|
|
<body name="F2/finger_distal" pos="0 -0.035 0" quat="0 0 -1 1" gravcomp="1">
|
||
|
|
<site name="F2/j3_site"/>
|
||
|
|
<joint name="F2/J3" axis="-1 0 0" range="-0.5236 1.4835" armature="8e-05" damping="0.009"
|
||
|
|
frictionloss="0.009"/>
|
||
|
|
<geom name="F2/distal_geom" class="finger/visual" mass="0.02766365" mesh="r3_finger_distal"/>
|
||
|
|
<geom name="F2/distal_sensor_geom" class="finger/visual" material="graphite_black" mass="0"
|
||
|
|
mesh="r3_finger_distal_sensor"/>
|
||
|
|
<geom name="F2/distal_geom_col" class="finger/collision_hard" mesh="r3_finger_distal_col"/>
|
||
|
|
<geom name="F2/distal_geom_tip_col" class="finger/collision_soft" mesh="r3_finger_distal_tip_col"/>
|
||
|
|
<site name="F2/fingertip_site" pos="0 -0.00625 0.04"/>
|
||
|
|
<site name="F2/distal_site" pos="0 0.007 0.03"/>
|
||
|
|
<geom name="F2/finger_distal_CollisionGeom_1" type="capsule" contype="0" conaffinity="0" group="5"
|
||
|
|
size="0.018" rgba="1 1 1 0.3" mass="0" fromto="0 0 0.025 0 0 0"/>
|
||
|
|
</body>
|
||
|
|
<geom name="F2/finger_middle_CollisionGeom_1" type="cylinder" contype="0" conaffinity="0" group="5"
|
||
|
|
size="0.014" rgba="1 1 1 0.3" mass="0" fromto="0.015 0 0 -0.015 0 0"/>
|
||
|
|
<geom name="F2/finger_middle_CollisionGeom_2" type="capsule" contype="0" conaffinity="0" group="5"
|
||
|
|
size="0.02" rgba="1 1 1 0.3" mass="0" fromto="0 -0.026 0 0 -0.01 0"/>
|
||
|
|
<geom name="F2/finger_middle_CollisionGeom_3" type="cylinder" contype="0" conaffinity="0" group="5"
|
||
|
|
size="0.014" rgba="1 1 1 0.3" mass="0" fromto="0.015 -0.035 0 -0.015 -0.035 0"/>
|
||
|
|
</body>
|
||
|
|
<geom name="F2/finger_proximal_CollisionGeom_1" type="cylinder" contype="0" conaffinity="0" group="5"
|
||
|
|
size="0.02" rgba="1 1 1 0.3" mass="0" fromto="0.02 0 0 -0.023 0 0"/>
|
||
|
|
<geom name="F2/finger_proximal_CollisionGeom_2" type="capsule" contype="0" conaffinity="0" group="5"
|
||
|
|
size="0.025" rgba="1 1 1 0.3" mass="0" fromto="0 -0.01 0.003 0 -0.04 0.003"/>
|
||
|
|
</body>
|
||
|
|
<geom name="F2/finger_knuckle_CollisionGeom_1" type="cylinder" contype="0" conaffinity="0" group="5"
|
||
|
|
size="0.027" rgba="1 1 1 0.3" mass="0" fromto="0 0 0.008 0 0 -0.047"/>
|
||
|
|
<geom name="F2/finger_knuckle_CollisionGeom_2" type="cylinder" contype="0" conaffinity="0" group="5"
|
||
|
|
size="0.018" rgba="1 1 1 0.3" mass="0" fromto="0.018 -0.03 0 -0.018 -0.03 0"/>
|
||
|
|
<geom name="F2/finger_knuckle_CollisionGeom_3" type="capsule" contype="0" conaffinity="0" group="5"
|
||
|
|
size="0.025" rgba="1 1 1 0.3" mass="0" fromto="-0.0015 -0.02 -0.01 -0.0015 -0.02 -0.02"/>
|
||
|
|
</body>
|
||
|
|
<geom name="F2/finger_base_CollisionGeom_1" type="cylinder" contype="0" conaffinity="0" group="5" size="0.05"
|
||
|
|
rgba="1 1 1 0.3" mass="0" fromto="0 0 -0.005 0 0 0.195"/>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</worldbody>
|
||
|
|
|
||
|
|
<contact>
|
||
|
|
<exclude name="hand_base:F0_finger_knuckle" body1="hand_base" body2="F0/finger_knuckle"/>
|
||
|
|
<exclude name="hand_base:F1_finger_knuckle" body1="hand_base" body2="F1/finger_knuckle"/>
|
||
|
|
<exclude name="hand_base:F2_finger_knuckle" body1="hand_base" body2="F2/finger_knuckle"/>
|
||
|
|
<exclude name="F0/base:knuckle" body1="F0/finger_base" body2="F0/finger_knuckle"/>
|
||
|
|
<exclude name="F1/base:knuckle" body1="F1/finger_base" body2="F1/finger_knuckle"/>
|
||
|
|
<exclude name="F2/base:knuckle" body1="F2/finger_base" body2="F2/finger_knuckle"/>
|
||
|
|
</contact>
|
||
|
|
|
||
|
|
<actuator>
|
||
|
|
<plugin name="F0/J0_actuator" plugin="mujoco.pid" instance="actuator_J0" ctrlrange="-0.8727 0.8727"
|
||
|
|
forcerange="-0.9 0.53" dyntype="none" joint="F0/J0" actdim="2"/>
|
||
|
|
<plugin name="F0/J1_actuator" plugin="mujoco.pid" instance="actuator_J1" ctrlrange="-1.3963 0.7854"
|
||
|
|
forcerange="-0.35 1.2" dyntype="none" joint="F0/J1" actdim="2"/>
|
||
|
|
<plugin name="F0/J2_actuator" plugin="mujoco.pid" instance="actuator_J2" ctrlrange="0 1.3963" forcerange="-0.52 0.7"
|
||
|
|
dyntype="none" joint="F0/J2" actdim="2"/>
|
||
|
|
<plugin name="F0/J3_actuator" plugin="mujoco.pid" instance="actuator_J3" ctrlrange="-0.5236 1.4835"
|
||
|
|
forcerange="-0.3 0.3" dyntype="none" joint="F0/J3" actdim="2"/>
|
||
|
|
<plugin name="F1/J0_actuator" plugin="mujoco.pid" instance="actuator_J0" ctrlrange="-0.8727 0.8727"
|
||
|
|
forcerange="-0.9 0.53" dyntype="none" joint="F1/J0" actdim="2"/>
|
||
|
|
<plugin name="F1/J1_actuator" plugin="mujoco.pid" instance="actuator_J1" ctrlrange="-1.3963 0.7854"
|
||
|
|
forcerange="-0.35 1.2" dyntype="none" joint="F1/J1" actdim="2"/>
|
||
|
|
<plugin name="F1/J2_actuator" plugin="mujoco.pid" instance="actuator_J2" ctrlrange="0 1.3963" forcerange="-0.52 0.7"
|
||
|
|
dyntype="none" joint="F1/J2" actdim="2"/>
|
||
|
|
<plugin name="F1/J3_actuator" plugin="mujoco.pid" instance="actuator_J3" ctrlrange="-0.5236 1.4835"
|
||
|
|
forcerange="-0.3 0.3" dyntype="none" joint="F1/J3" actdim="2"/>
|
||
|
|
<plugin name="F2/J0_actuator" plugin="mujoco.pid" instance="actuator_J0" ctrlrange="-0.8727 0.8727"
|
||
|
|
forcerange="-0.9 0.53" dyntype="none" joint="F2/J0" actdim="2"/>
|
||
|
|
<plugin name="F2/J1_actuator" plugin="mujoco.pid" instance="actuator_J1" ctrlrange="-1.3963 0.7854"
|
||
|
|
forcerange="-0.35 1.2" dyntype="none" joint="F2/J1" actdim="2"/>
|
||
|
|
<plugin name="F2/J2_actuator" plugin="mujoco.pid" instance="actuator_J2" ctrlrange="0 1.3963" forcerange="-0.52 0.7"
|
||
|
|
dyntype="none" joint="F2/J2" actdim="2"/>
|
||
|
|
<plugin name="F2/J3_actuator" plugin="mujoco.pid" instance="actuator_J3" ctrlrange="-0.5236 1.4835"
|
||
|
|
forcerange="-0.3 0.3" dyntype="none" joint="F2/J3" actdim="2"/>
|
||
|
|
</actuator>
|
||
|
|
|
||
|
|
<sensor>
|
||
|
|
<jointactuatorfrc name="F0/j0_torque" joint="F0/J0"/>
|
||
|
|
<jointactuatorfrc name="F0/j1_torque" joint="F0/J1"/>
|
||
|
|
<jointactuatorfrc name="F0/j2_torque" joint="F0/J2"/>
|
||
|
|
<jointactuatorfrc name="F0/j3_torque" joint="F0/J3"/>
|
||
|
|
<jointactuatorfrc name="F1/j0_torque" joint="F1/J0"/>
|
||
|
|
<jointactuatorfrc name="F1/j1_torque" joint="F1/J1"/>
|
||
|
|
<jointactuatorfrc name="F1/j2_torque" joint="F1/J2"/>
|
||
|
|
<jointactuatorfrc name="F1/j3_torque" joint="F1/J3"/>
|
||
|
|
<jointactuatorfrc name="F2/j0_torque" joint="F2/J0"/>
|
||
|
|
<jointactuatorfrc name="F2/j1_torque" joint="F2/J1"/>
|
||
|
|
<jointactuatorfrc name="F2/j2_torque" joint="F2/J2"/>
|
||
|
|
<jointactuatorfrc name="F2/j3_torque" joint="F2/J3"/>
|
||
|
|
</sensor>
|
||
|
|
</mujoco>
|