Behron
3e39a34a7a
More merge conflicts. Taking main changes then will integrate mine.
192 lines
9.3 KiB
XML
192 lines
9.3 KiB
XML
<mujoco model="robotiq_2f85">
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<compiler angle="radian" meshdir="assets" autolimits="true"/>
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<option cone="elliptic" impratio="10"/>
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<asset>
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<material name="metal" rgba="0.58 0.58 0.58 1"/>
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<material name="silicone" rgba="0.1882 0.1882 0.1882 1"/>
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<material name="gray" rgba="0.4627 0.4627 0.4627 1"/>
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<material name="black" rgba="0.149 0.149 0.149 1"/>
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<mesh class="2f85" file="base_mount.stl"/>
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<mesh class="2f85" file="base.stl"/>
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<mesh class="2f85" file="driver.stl"/>
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<mesh class="2f85" file="coupler.stl"/>
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<mesh class="2f85" file="follower.stl"/>
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<mesh class="2f85" file="pad.stl"/>
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<mesh class="2f85" file="silicone_pad.stl"/>
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<mesh class="2f85" file="spring_link.stl"/>
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</asset>
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<default>
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<default class="2f85">
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<mesh scale="0.001 0.001 0.001"/>
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<general biastype="affine"/>
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<joint axis="1 0 0"/>
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<default class="driver">
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<joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
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</default>
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<default class="follower">
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<joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
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</default>
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<default class="spring_link">
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<joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125"/>
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</default>
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<default class="coupler">
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<joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
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</default>
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<default class="visual">
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<geom type="mesh" contype="0" conaffinity="0" group="2"/>
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</default>
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<default class="collision">
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<geom type="mesh" group="3"/>
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<default class="pad_box1">
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<geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7"
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solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1"/>
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</default>
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<default class="pad_box2">
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<geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6"
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solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1"/>
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</default>
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</default>
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</default>
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</default>
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<worldbody>
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<body name="base_mount" pos="0 0 0.007" childclass="2f85">
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<geom class="visual" mesh="base_mount" material="black"/>
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<geom class="collision" mesh="base_mount"/>
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<body name="base" pos="0 0 0.0038" quat="1 0 0 -1">
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<inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0"
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diaginertia="0.000260285 0.000225381 0.000152708"/>
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<geom class="visual" mesh="base" material="black"/>
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<geom class="collision" mesh="base"/>
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<site name="pinch" pos="0 0 0.145" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005"/>
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<!-- Right-hand side 4-bar linkage -->
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<body name="right_driver" pos="0 0.0306011 0.054904">
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<inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0"
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diaginertia="1.72352e-06 1.60906e-06 3.22006e-07"/>
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<joint name="right_driver_joint" class="driver"/>
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<geom class="visual" mesh="driver" material="gray"/>
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<geom class="collision" mesh="driver"/>
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<body name="right_coupler" pos="0 0.0315 -0.0041">
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<inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636"
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diaginertia="4.16206e-06 3.52216e-06 8.88131e-07"/>
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<joint name="right_coupler_joint" class="coupler"/>
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<geom class="visual" mesh="coupler" material="black"/>
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<geom class="collision" mesh="coupler"/>
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</body>
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</body>
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<body name="right_spring_link" pos="0 0.0132 0.0609">
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<inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403"
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diaginertia="8.96853e-06 6.71733e-06 2.63931e-06"/>
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<joint name="right_spring_link_joint" class="spring_link"/>
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<geom class="visual" mesh="spring_link" material="black"/>
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<geom class="collision" mesh="spring_link"/>
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<body name="right_follower" pos="0 0.055 0.0375">
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<inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0"
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diaginertia="2.67415e-06 2.4559e-06 6.02031e-07"/>
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<joint name="right_follower_joint" class="follower"/>
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<geom class="visual" mesh="follower" material="black"/>
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<geom class="collision" mesh="follower"/>
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<body name="right_pad" pos="0 -0.0189 0.01352">
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<geom class="pad_box1" name="right_pad1"/>
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<geom class="pad_box2" name="right_pad2"/>
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<inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107"
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diaginertia="4.73958e-07 3.64583e-07 1.23958e-07"/>
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<geom class="visual" mesh="pad"/>
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<body name="right_silicone_pad">
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<geom class="visual" mesh="silicone_pad" material="black"/>
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</body>
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</body>
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</body>
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</body>
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<!-- Left-hand side 4-bar linkage -->
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<body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
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<inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0"
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diaginertia="1.72352e-06 1.60906e-06 3.22006e-07"/>
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<joint name="left_driver_joint" class="driver"/>
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<geom class="visual" mesh="driver" material="gray"/>
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<geom class="collision" mesh="driver"/>
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<body name="left_coupler" pos="0 0.0315 -0.0041">
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<inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636"
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diaginertia="4.16206e-06 3.52216e-06 8.88131e-07"/>
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<joint name="left_coupler_joint" class="coupler"/>
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<geom class="visual" mesh="coupler" material="black"/>
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<geom class="collision" mesh="coupler"/>
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</body>
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</body>
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<body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
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<inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403"
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diaginertia="8.96853e-06 6.71733e-06 2.63931e-06"/>
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<joint name="left_spring_link_joint" class="spring_link"/>
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<geom class="visual" mesh="spring_link" material="black"/>
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<geom class="collision" mesh="spring_link"/>
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<body name="left_follower" pos="0 0.055 0.0375">
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<inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0"
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diaginertia="2.67415e-06 2.4559e-06 6.02031e-07"/>
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<joint name="left_follower_joint" class="follower"/>
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<geom class="visual" mesh="follower" material="black"/>
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<geom class="collision" mesh="follower"/>
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<body name="left_pad" pos="0 -0.0189 0.01352">
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<geom class="pad_box1" name="left_pad1"/>
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<geom class="pad_box2" name="left_pad2"/>
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<inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1"
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diaginertia="4.73958e-07 3.64583e-07 1.23958e-07"/>
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<geom class="visual" mesh="pad"/>
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<body name="left_silicone_pad">
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<geom class="visual" mesh="silicone_pad" material="black"/>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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<contact>
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<exclude body1="base" body2="left_driver"/>
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<exclude body1="base" body2="right_driver"/>
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<exclude body1="base" body2="left_spring_link"/>
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<exclude body1="base" body2="right_spring_link"/>
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<exclude body1="right_coupler" body2="right_follower"/>
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<exclude body1="left_coupler" body2="left_follower"/>
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</contact>
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<!--
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This adds stability to the model by having a tendon that distributes the forces between both
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joints, such that the equality constraint doesn't have to do that much work in order to equalize
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both joints. Since both joints share the same sign, we split the force between both equally by
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setting coef=0.5
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-->
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<tendon>
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<fixed name="split">
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<joint joint="right_driver_joint" coef="0.5"/>
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<joint joint="left_driver_joint" coef="0.5"/>
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</fixed>
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</tendon>
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<equality>
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<connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1"/>
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<connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1"/>
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<joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001"
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solref="0.005 1"/>
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</equality>
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<!--
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The general actuator below is a customized position actuator (with some damping) where
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gainprm[0] != kp (see http://mujoco.org/book/modeling.html#position).
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The reason why gainprm[0] != kp is because the control input range has to be re-scaled to
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[0, 255]. The joint range is currently set at [0, 0.8], the control range is [0, 255] and
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kp = 100. Tau = Kp * scale * control_input - Kp * error, max(Kp * scale * control_input) = 0.8,
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hence scale = 0.8 * 100 / 255
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-->
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<actuator>
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<general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255"
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gainprm="0.3137255 0 0" biasprm="0 -100 -10"/>
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</actuator>
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</mujoco>
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