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franka_force.xml
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<mujoco model="panda hand">
<compiler angle="radian" meshdir="assets" autolimits="true"/>
<option integrator="implicitfast"/>
<default>
<default class="panda">
<material specular="0.5" shininess="0.25"/>
<joint armature="0.1" damping="1" axis="0 0 1" range="0.0 0.045"/>
<general dyntype="none" biastype="affine" ctrlrange="0 0.045" forcerange="-87 87"/>
<default class="finger" >
<joint axis="0 1 0" type="slide" />
</default>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2"/>
</default>
<default class="collision">
<geom type="mesh" group="3"/>
<default class="fingertip_pad_collision_1">
<geom type="box" size="0.0085 0.004 0.0085" pos="0 0.0055 0.0445"/>
</default>
<default class="fingertip_pad_collision_2">
<geom type="box" size="0.003 0.002 0.003" pos="0.0055 0.002 0.05"/>
</default>
<default class="fingertip_pad_collision_3">
<geom type="box" size="0.003 0.002 0.003" pos="-0.0055 0.002 0.05"/>
</default>
<default class="fingertip_pad_collision_4">
<geom type="box" size="0.003 0.002 0.0035" pos="0.0055 0.002 0.0395"/>
</default>
<default class="fingertip_pad_collision_5">
<geom type="box" size="0.003 0.002 0.0035" pos="-0.0055 0.002 0.0395"/>
</default>
</default>
</default>
</default>
<asset>
<material class="panda" name="white" rgba="1 1 1 1"/>
<material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
<material class="panda" name="black" rgba="0.25 0.25 0.25 1"/>
<!-- Collision meshes -->
<mesh name="hand_c" file="hand.stl"/>
<!-- Visual meshes -->
<mesh file="hand_0.obj"/>
<mesh file="hand_1.obj"/>
<mesh file="hand_2.obj"/>
<mesh file="hand_3.obj"/>
<mesh file="hand_4.obj"/>
<mesh file="finger_0.obj"/>
<mesh file="finger_1.obj"/>
</asset>
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
<body name="object" pos="0 0 0.05">
<freejoint name="object_joint" />
<inertial mass="0.1" pos="0 0 0" diaginertia="0.0001 0.00025 0.00017"/>
<geom name="object" type="cylinder" size="0.02 0.05" priority="1" solimp="0 0.95 0.01 0.2 2" />
</body>
<body name="hand" childclass="panda" pos="-0.1 0 0.05" quat="0 0.7071068 0 0.7071068" >
<inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/>
<geom mesh="hand_0" material="off_white" class="visual" />
<geom mesh="hand_1" material="black" class="visual" />
<geom mesh="hand_2" material="black" class="visual" />
<geom mesh="hand_3" material="white" class="visual" />
<geom mesh="hand_4" material="off_white" class="visual" />
<geom mesh="hand_c" class="collision" name="hand_c"/>
<body name="left_finger" pos="0 0 0.0584">
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
<joint name="finger_joint_l" class="finger"/>
<geom mesh="finger_0" material="off_white" class="visual"/>
<geom mesh="finger_1" material="black" class="visual"/>
<geom mesh="finger_0" class="collision"/>
<geom class="fingertip_pad_collision_1" name="pad_1_l"/>
<geom class="fingertip_pad_collision_2" name="pad_2_l"/>
<geom class="fingertip_pad_collision_3" name="pad_3_l"/>
<geom class="fingertip_pad_collision_4" name="pad_4_l"/>
<geom class="fingertip_pad_collision_5" name="pad_5_l"/>
</body>
<body name="right_finger" pos="0 0 0.0584" quat="0 0 0 1">
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
<joint name="finger_joint_r" class="finger"/>
<geom mesh="finger_0" material="off_white" class="visual"/>
<geom mesh="finger_1" material="black" class="visual"/>
<geom mesh="finger_0" class="collision"/>
<geom class="fingertip_pad_collision_1" name="pad_1_r"/>
<geom class="fingertip_pad_collision_2" name="pad_2_r"/>
<geom class="fingertip_pad_collision_3" name="pad_3_r"/>
<geom class="fingertip_pad_collision_4" name="pad_4_r"/>
<geom class="fingertip_pad_collision_5" name="pad_5_r"/>
</body>
</body>
</worldbody>
<contact>
<exclude body1="hand" body2="left_finger"/>
<exclude body1="hand" body2="right_finger"/>
</contact>
<actuator>
<general class="panda" name="finger_left" joint="finger_joint_l" ctrlrange="0 0.045" gainprm="100 0 0" biasprm="0 -100 -10"/>
<general class="panda" name="finger_right" joint="finger_joint_r" ctrlrange="0 0.045" gainprm="100 0 0" biasprm="0 -100 -10"/>
</actuator>
<!-- scene visuals -->
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="120" elevation="-20"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4"
rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5"
reflectance="0.2"/>
</asset>
</mujoco>