115 lines
4.4 KiB
XML
115 lines
4.4 KiB
XML
<mujoco model="panda hand">
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<compiler angle="radian" meshdir="assets" autolimits="true"/>
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<option integrator="implicitfast"/>
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<default>
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<default class="panda">
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<material specular="0.5" shininess="0.25"/>
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<joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
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<general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
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<default class="finger">
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<joint axis="0 1 0" type="slide" range="0 0.04"/>
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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="fingertip_pad_collision_1">
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<geom type="box" size="0.0085 0.004 0.0085" pos="0 0.0055 0.0445"/>
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</default>
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<default class="fingertip_pad_collision_2">
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<geom type="box" size="0.003 0.002 0.003" pos="0.0055 0.002 0.05"/>
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</default>
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<default class="fingertip_pad_collision_3">
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<geom type="box" size="0.003 0.002 0.003" pos="-0.0055 0.002 0.05"/>
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</default>
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<default class="fingertip_pad_collision_4">
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<geom type="box" size="0.003 0.002 0.0035" pos="0.0055 0.002 0.0395"/>
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</default>
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<default class="fingertip_pad_collision_5">
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<geom type="box" size="0.003 0.002 0.0035" pos="-0.0055 0.002 0.0395"/>
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</default>
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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 class="panda" name="white" rgba="1 1 1 1"/>
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<material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
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<material class="panda" name="black" rgba="0.25 0.25 0.25 1"/>
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<!-- Collision meshes -->
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<mesh name="hand_c" file="hand.stl"/>
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<!-- Visual meshes -->
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<mesh file="hand_0.obj"/>
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<mesh file="hand_1.obj"/>
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<mesh file="hand_2.obj"/>
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<mesh file="hand_3.obj"/>
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<mesh file="hand_4.obj"/>
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<mesh file="finger_0.obj"/>
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<mesh file="finger_1.obj"/>
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</asset>
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<worldbody>
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<body name="hand" childclass="panda" quat="0 0 0 1">
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<inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/>
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<geom mesh="hand_0" material="off_white" class="visual"/>
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<geom mesh="hand_1" material="black" class="visual"/>
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<geom mesh="hand_2" material="black" class="visual"/>
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<geom mesh="hand_3" material="white" class="visual"/>
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<geom mesh="hand_4" material="off_white" class="visual"/>
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<geom mesh="hand_c" class="collision"/>
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<body name="left_finger" pos="0 0 0.0584">
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<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
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<joint name="finger_joint1" class="finger"/>
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<geom mesh="finger_0" material="off_white" class="visual"/>
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<geom mesh="finger_1" material="black" class="visual"/>
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<geom mesh="finger_0" class="collision"/>
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<geom class="fingertip_pad_collision_1"/>
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<geom class="fingertip_pad_collision_2"/>
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<geom class="fingertip_pad_collision_3"/>
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<geom class="fingertip_pad_collision_4"/>
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<geom class="fingertip_pad_collision_5"/>
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</body>
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<body name="right_finger" pos="0 0 0.0584" quat="0 0 0 1">
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<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
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<joint name="finger_joint2" class="finger"/>
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<geom mesh="finger_0" material="off_white" class="visual"/>
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<geom mesh="finger_1" material="black" class="visual"/>
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<geom mesh="finger_0" class="collision"/>
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<geom class="fingertip_pad_collision_1"/>
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<geom class="fingertip_pad_collision_2"/>
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<geom class="fingertip_pad_collision_3"/>
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<geom class="fingertip_pad_collision_4"/>
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<geom class="fingertip_pad_collision_5"/>
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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="hand" body2="left_finger"/>
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<exclude body1="hand" body2="right_finger"/>
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</contact>
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<tendon>
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<fixed name="split">
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<joint joint="finger_joint1" coef="0.5"/>
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<joint joint="finger_joint2" coef="0.5"/>
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</fixed>
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</tendon>
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<equality>
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<joint joint1="finger_joint1" joint2="finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1"/>
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</equality>
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<actuator>
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<!-- Remap original ctrlrange (0, 0.04) to (0, 255): 0.04 * 100 / 255 = 0.01568627451 -->
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<general class="panda" name="actuator8" tendon="split" forcerange="-100 100" ctrlrange="0 255"
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gainprm="0.01568627451 0 0" biasprm="0 -100 -10"/>
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</actuator>
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</mujoco>
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