Update robots/franka/mjcf/mjx_panda.xml
Browse filesSame as https://github.com/google-deepmind/mujoco_menagerie，except this part:
<position name="panda_finger1" joint="panda_finger_joint1"
kp="200" kv="5"
ctrlrange="0 0.04" forcerange="-200 200" />
<position name="panda_finger2" joint="panda_finger_joint2"
kp="200" kv="5"
ctrlrange="0 0.04" forcerange="-200 200" />
- robots/franka/mjcf/mjx_panda.xml +219 -206
robots/franka/mjcf/mjx_panda.xml
CHANGED
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@@ -1,35 +1,35 @@
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| 1 |
<mujoco model="franka">
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| 2 |
-
<compiler angle="radian" meshdir="assets" autolimits="true"/>
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| 3 |
-
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<default>
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<default class="panda">
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| 6 |
-
<material specular="0.5" shininess="0.25"/>
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| 7 |
-
<joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
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| 8 |
-
<general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
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| 9 |
-
<position forcerange="-100 100"/>
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<default class="finger">
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| 11 |
-
<joint axis="0 1 0" type="slide" range="0 0.04"/>
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</default>
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| 13 |
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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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| 18 |
-
<geom group="3" type="mesh" contype="0" conaffinity="0"/>
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<default class="primitive_collision">
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-
<geom group="3" type="box" contype="
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| 21 |
-
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<default class="fingertip_pad_collision_1">
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-
<geom type="box" size="0.011 0.0075 0.01" pos="0 0.0185 0.011"/>
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</default>
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<default class="fingertip_pad_collision_2">
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-
<geom type="box" size="0.011 0.0044 0.0019" pos="0 0.0068 0.0022"/>
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</default>
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<default class="fingertip_pad_collision_3">
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-
<geom type="box" size="0.00875 0.0035 0.01175" pos="0 0.0159 0.02835" quat="1 0.25 0 0"/>
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</default>
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<default class="fingertip_pad_collision_4">
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| 32 |
-
<geom type="box" size="0.00875 0.0076 0.00825" pos="0 0.00758 0.04525"
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</default>
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</default>
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</default>
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@@ -37,209 +37,209 @@
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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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| 42 |
-
<material class="panda" name="black" rgba="0.25 0.25 0.25 1"/>
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| 43 |
-
<material class="panda" name="green" rgba="0 1 0 1"/>
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| 44 |
-
<material class="panda" name="light_blue" rgba="0.039216 0.541176 0.780392 1"/>
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<!-- Collision meshes -->
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-
<mesh name="link0_c" file="link0.stl"/>
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| 48 |
-
<mesh name="link1_c" file="link1.stl"/>
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| 49 |
-
<mesh name="link2_c" file="link2.stl"/>
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| 50 |
-
<mesh name="link3_c" file="link3.stl"/>
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| 51 |
-
<mesh name="link4_c" file="link4.stl"/>
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| 52 |
-
<mesh name="link5_c0" file="link5_collision_0.obj"/>
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| 53 |
-
<mesh name="link5_c1" file="link5_collision_1.obj"/>
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| 54 |
-
<mesh name="link5_c2" file="link5_collision_2.obj"/>
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| 55 |
-
<mesh name="link6_c" file="link6.stl"/>
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| 56 |
-
<mesh name="link7_c" file="link7.stl"/>
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| 57 |
-
<mesh name="hand_c" file="hand.stl"/>
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<!-- Visual meshes -->
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-
<mesh file="link0_0.obj"/>
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| 61 |
-
<mesh file="link0_1.obj"/>
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| 62 |
-
<mesh file="link0_2.obj"/>
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| 63 |
-
<mesh file="link0_3.obj"/>
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| 64 |
-
<mesh file="link0_4.obj"/>
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| 65 |
-
<mesh file="link0_5.obj"/>
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| 66 |
-
<mesh file="link0_7.obj"/>
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| 67 |
-
<mesh file="link0_8.obj"/>
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| 68 |
-
<mesh file="link0_9.obj"/>
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| 69 |
-
<mesh file="link0_10.obj"/>
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| 70 |
-
<mesh file="link0_11.obj"/>
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| 71 |
-
<mesh file="link1.obj"/>
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| 72 |
-
<mesh file="link2.obj"/>
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| 73 |
-
<mesh file="link3_0.obj"/>
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| 74 |
-
<mesh file="link3_1.obj"/>
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| 75 |
-
<mesh file="link3_2.obj"/>
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| 76 |
-
<mesh file="link3_3.obj"/>
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| 77 |
-
<mesh file="link4_0.obj"/>
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| 78 |
-
<mesh file="link4_1.obj"/>
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| 79 |
-
<mesh file="link4_2.obj"/>
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| 80 |
-
<mesh file="link4_3.obj"/>
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| 81 |
-
<mesh file="link5_0.obj"/>
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| 82 |
-
<mesh file="link5_1.obj"/>
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| 83 |
-
<mesh file="link5_2.obj"/>
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| 84 |
-
<mesh file="link6_0.obj"/>
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| 85 |
-
<mesh file="link6_1.obj"/>
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| 86 |
-
<mesh file="link6_2.obj"/>
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| 87 |
-
<mesh file="link6_3.obj"/>
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| 88 |
-
<mesh file="link6_4.obj"/>
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| 89 |
-
<mesh file="link6_5.obj"/>
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| 90 |
-
<mesh file="link6_6.obj"/>
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| 91 |
-
<mesh file="link6_7.obj"/>
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-
<mesh file="link6_8.obj"/>
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| 93 |
-
<mesh file="link6_9.obj"/>
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| 94 |
-
<mesh file="link6_10.obj"/>
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| 95 |
-
<mesh file="link6_11.obj"/>
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| 96 |
-
<mesh file="link6_12.obj"/>
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| 97 |
-
<mesh file="link6_13.obj"/>
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| 98 |
-
<mesh file="link6_14.obj"/>
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| 99 |
-
<mesh file="link6_15.obj"/>
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| 100 |
-
<mesh file="link6_16.obj"/>
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| 101 |
-
<mesh file="link7_0.obj"/>
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| 102 |
-
<mesh file="link7_1.obj"/>
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| 103 |
-
<mesh file="link7_2.obj"/>
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| 104 |
-
<mesh file="link7_3.obj"/>
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-
<mesh file="link7_4.obj"/>
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| 106 |
-
<mesh file="link7_5.obj"/>
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| 107 |
-
<mesh file="link7_6.obj"/>
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| 108 |
-
<mesh file="link7_7.obj"/>
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| 109 |
-
<mesh file="hand_0.obj"/>
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| 110 |
-
<mesh file="hand_1.obj"/>
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| 111 |
-
<mesh file="hand_2.obj"/>
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| 112 |
-
<mesh file="hand_3.obj"/>
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| 113 |
-
<mesh file="hand_4.obj"/>
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| 114 |
-
<mesh file="finger_0.obj"/>
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| 115 |
-
<mesh file="finger_1.obj"/>
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</asset>
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<worldbody>
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| 119 |
-
<light name="top" pos="0 0 2" mode="trackcom"/>
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| 120 |
<body name="panda_link0" childclass="panda">
|
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<inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
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| 122 |
-
fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6"/>
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| 123 |
-
<geom mesh="link0_0" material="off_white" class="visual"/>
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| 124 |
-
<geom mesh="link0_1" material="black" class="visual"/>
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| 125 |
-
<geom mesh="link0_2" material="off_white" class="visual"/>
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| 126 |
-
<geom mesh="link0_3" material="black" class="visual"/>
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| 127 |
-
<geom mesh="link0_4" material="off_white" class="visual"/>
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| 128 |
-
<geom mesh="link0_5" material="black" class="visual"/>
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| 129 |
-
<geom mesh="link0_7" material="white" class="visual"/>
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| 130 |
-
<geom mesh="link0_8" material="white" class="visual"/>
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| 131 |
-
<geom mesh="link0_9" material="black" class="visual"/>
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| 132 |
-
<geom mesh="link0_10" material="off_white" class="visual"/>
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| 133 |
-
<geom mesh="link0_11" material="white" class="visual"/>
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-
<geom mesh="link0_c" class="collision"/>
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<body name="panda_link1" pos="0 0 0.333">
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<inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
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| 137 |
-
fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169"/>
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| 138 |
-
<joint name="panda_joint1" damping="40"/>
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| 139 |
-
<geom material="white" mesh="link1" class="visual"/>
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| 140 |
-
<geom mesh="link1_c" class="collision"/>
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<body name="panda_link2" quat="1 -1 0 0">
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<inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495"
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| 143 |
-
fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4"/>
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| 144 |
-
<joint name="panda_joint2" range="-1.7628 1.7628" damping="40"/>
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| 145 |
-
<geom material="white" mesh="link2" class="visual"/>
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| 146 |
-
<geom mesh="link2_c" class="collision"/>
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<body name="panda_link3" pos="0 -0.316 0" quat="1 1 0 0">
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| 148 |
-
<joint name="panda_joint3" damping="40"/>
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<inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2"
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| 150 |
-
fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2"/>
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| 151 |
-
<geom mesh="link3_0" material="white" class="visual"/>
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| 152 |
-
<geom mesh="link3_1" material="white" class="visual"/>
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| 153 |
-
<geom mesh="link3_2" material="white" class="visual"/>
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| 154 |
-
<geom mesh="link3_3" material="black" class="visual"/>
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| 155 |
-
<geom mesh="link3_c" class="collision"/>
|
| 156 |
<body name="panda_link4" pos="0.0825 0 0" quat="1 1 0 0">
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| 157 |
<inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2"
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| 158 |
-
fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3"/>
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| 159 |
-
<joint name="panda_joint4" range="-3.0718 -0.0698" damping="40"/>
|
| 160 |
-
<geom mesh="link4_0" material="white" class="visual"/>
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| 161 |
-
<geom mesh="link4_1" material="white" class="visual"/>
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| 162 |
-
<geom mesh="link4_2" material="black" class="visual"/>
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| 163 |
-
<geom mesh="link4_3" material="white" class="visual"/>
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| 164 |
-
<geom mesh="link4_c" class="collision"/>
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<body name="panda_link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
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<inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2"
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| 167 |
-
fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4"/>
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| 168 |
-
<joint name="panda_joint5" damping="2"/>
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| 169 |
-
<geom mesh="link5_0" material="black" class="visual"/>
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| 170 |
-
<geom mesh="link5_1" material="white" class="visual"/>
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| 171 |
-
<geom mesh="link5_2" material="white" class="visual"/>
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| 172 |
-
<geom mesh="link5_c0" class="collision"/>
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-
<geom mesh="link5_c1" class="collision"/>
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-
<geom mesh="link5_c2" class="collision"/>
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<body name="panda_link6" quat="1 1 0 0">
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<inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2"
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| 177 |
-
fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4"/>
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| 178 |
-
<joint name="panda_joint6" range="-0.0175 3.7525" damping="2"/>
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| 179 |
-
<geom mesh="link6_0" material="off_white" class="visual"/>
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-
<geom mesh="link6_1" material="white" class="visual"/>
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| 181 |
-
<geom mesh="link6_2" material="black" class="visual"/>
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| 182 |
-
<geom mesh="link6_3" material="white" class="visual"/>
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| 183 |
-
<geom mesh="link6_4" material="white" class="visual"/>
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| 184 |
-
<geom mesh="link6_5" material="white" class="visual"/>
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| 185 |
-
<geom mesh="link6_6" material="white" class="visual"/>
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| 186 |
-
<geom mesh="link6_7" material="light_blue" class="visual"/>
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| 187 |
-
<geom mesh="link6_8" material="light_blue" class="visual"/>
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| 188 |
-
<geom mesh="link6_9" material="black" class="visual"/>
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| 189 |
-
<geom mesh="link6_10" material="black" class="visual"/>
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| 190 |
-
<geom mesh="link6_11" material="white" class="visual"/>
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| 191 |
-
<geom mesh="link6_12" material="green" class="visual"/>
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| 192 |
-
<geom mesh="link6_13" material="white" class="visual"/>
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| 193 |
-
<geom mesh="link6_14" material="black" class="visual"/>
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| 194 |
-
<geom mesh="link6_15" material="black" class="visual"/>
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| 195 |
-
<geom mesh="link6_16" material="white" class="visual"/>
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| 196 |
-
<geom mesh="link6_c" class="collision"/>
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<body name="panda_link7" pos="0.088 0 0" quat="1 1 0 0">
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| 198 |
<inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2"
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-
fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4"/>
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| 200 |
-
<joint name="panda_joint7" damping="2"/>
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| 201 |
-
<geom mesh="link7_0" material="white" class="visual"/>
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| 202 |
-
<geom mesh="link7_1" material="black" class="visual"/>
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| 203 |
-
<geom mesh="link7_2" material="black" class="visual"/>
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| 204 |
-
<geom mesh="link7_3" material="black" class="visual"/>
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| 205 |
-
<geom mesh="link7_4" material="black" class="visual"/>
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| 206 |
-
<geom mesh="link7_5" material="black" class="visual"/>
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| 207 |
-
<geom mesh="link7_6" material="black" class="visual"/>
|
| 208 |
-
<geom mesh="link7_7" material="white" class="visual"/>
|
| 209 |
-
<geom mesh="link7_c" class="collision"/>
|
| 210 |
<body name="panda_hand" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834">
|
| 211 |
-
<inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/>
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| 212 |
-
<geom mesh="hand_0" material="off_white" class="visual"/>
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| 213 |
-
<geom mesh="hand_1" material="black" class="visual"/>
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| 214 |
-
<geom mesh="hand_2" material="black" class="visual"/>
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| 215 |
-
<geom mesh="hand_3" material="white" class="visual"/>
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| 216 |
-
<geom mesh="hand_4" material="off_white" class="visual"/>
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| 217 |
-
<geom mesh="hand_c" class="collision"/>
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| 218 |
<geom name="hand_capsule" type="capsule"
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| 219 |
-
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| 220 |
-
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| 221 |
-
<site name="gripper" pos="0 0 0.1"/>
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| 222 |
<body name="panda_left_finger" pos="0 0 0.0584">
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| 223 |
-
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
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| 224 |
-
<joint name="panda_finger_joint1" class="finger" damping="10"/>
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| 225 |
-
<geom mesh="finger_0" material="off_white" class="visual"/>
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| 226 |
-
<geom mesh="finger_1" material="black" class="visual"/>
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| 227 |
-
<geom mesh="finger_0" class="collision"/>
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| 228 |
-
<geom class="fingertip_pad_collision_1"/>
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| 229 |
-
<geom class="fingertip_pad_collision_2"/>
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| 230 |
-
<geom class="fingertip_pad_collision_3"/>
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| 231 |
-
<geom name="left_finger_pad" class="fingertip_pad_collision_4"/>
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| 232 |
</body>
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| 233 |
<body name="panda_right_finger" pos="0 0 0.0584" quat="0 0 0 1">
|
| 234 |
-
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
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| 235 |
-
<joint name="panda_finger_joint2" class="finger" damping="10"/>
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| 236 |
-
<geom mesh="finger_0" material="off_white" class="visual"/>
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| 237 |
-
<geom mesh="finger_1" material="black" class="visual"/>
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| 238 |
-
<geom mesh="finger_0" class="collision"/>
|
| 239 |
-
<geom class="fingertip_pad_collision_1"/>
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| 240 |
-
<geom class="fingertip_pad_collision_2"/>
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| 241 |
-
<geom class="fingertip_pad_collision_3"/>
|
| 242 |
-
<geom name="right_finger_pad" class="fingertip_pad_collision_4"/>
|
| 243 |
</body>
|
| 244 |
</body>
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</body>
|
|
@@ -253,22 +253,35 @@
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</worldbody>
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-
<tendon>
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-
<fixed name="split">
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-
<joint joint="panda_finger_joint1" coef="0.5"/>
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-
<joint joint="panda_finger_joint2" coef="0.5"/>
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-
</fixed>
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-
</tendon>
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-
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<actuator>
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-
<
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-
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-
<
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-
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-
<
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-
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-
<
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-
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-
<
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</actuator>
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</mujoco>
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|
| 1 |
<mujoco model="franka">
|
| 2 |
+
<compiler angle="radian" meshdir="assets" autolimits="true" />
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+
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<default>
|
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<default class="panda">
|
| 6 |
+
<material specular="0.5" shininess="0.25" />
|
| 7 |
+
<joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
|
| 8 |
+
<general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
|
| 9 |
+
<position forcerange="-100 100" />
|
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<default class="finger">
|
| 11 |
+
<joint axis="0 1 0" type="slide" range="0 0.04" />
|
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</default>
|
| 13 |
|
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<default class="visual">
|
| 15 |
+
<geom type="mesh" contype="0" conaffinity="0" group="2" />
|
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</default>
|
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<default class="collision">
|
| 18 |
+
<geom group="3" type="mesh" contype="0" conaffinity="0" />
|
| 19 |
<default class="primitive_collision">
|
| 20 |
+
<geom group="3" type="box" contype="0" conaffinity="0"
|
| 21 |
+
condim="3" solimp="0.99 0.995 0.01" solref="0.01 1" friction="1 0.005 0.0001" />
|
| 22 |
<default class="fingertip_pad_collision_1">
|
| 23 |
+
<geom type="box" size="0.011 0.0075 0.01" pos="0 0.0185 0.011" />
|
| 24 |
</default>
|
| 25 |
<default class="fingertip_pad_collision_2">
|
| 26 |
+
<geom type="box" size="0.011 0.0044 0.0019" pos="0 0.0068 0.0022" />
|
| 27 |
</default>
|
| 28 |
<default class="fingertip_pad_collision_3">
|
| 29 |
+
<geom type="box" size="0.00875 0.0035 0.01175" pos="0 0.0159 0.02835" quat="1 0.25 0 0" />
|
| 30 |
</default>
|
| 31 |
<default class="fingertip_pad_collision_4">
|
| 32 |
+
<geom type="box" size="0.00875 0.0076 0.00825" pos="0 0.00758 0.04525" conaffinity="3" />
|
| 33 |
</default>
|
| 34 |
</default>
|
| 35 |
</default>
|
|
|
|
| 37 |
</default>
|
| 38 |
|
| 39 |
<asset>
|
| 40 |
+
<material class="panda" name="white" rgba="1 1 1 1" />
|
| 41 |
+
<material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1" />
|
| 42 |
+
<material class="panda" name="black" rgba="0.25 0.25 0.25 1" />
|
| 43 |
+
<material class="panda" name="green" rgba="0 1 0 1" />
|
| 44 |
+
<material class="panda" name="light_blue" rgba="0.039216 0.541176 0.780392 1" />
|
| 45 |
|
| 46 |
<!-- Collision meshes -->
|
| 47 |
+
<mesh name="link0_c" file="link0.stl" />
|
| 48 |
+
<mesh name="link1_c" file="link1.stl" />
|
| 49 |
+
<mesh name="link2_c" file="link2.stl" />
|
| 50 |
+
<mesh name="link3_c" file="link3.stl" />
|
| 51 |
+
<mesh name="link4_c" file="link4.stl" />
|
| 52 |
+
<mesh name="link5_c0" file="link5_collision_0.obj" />
|
| 53 |
+
<mesh name="link5_c1" file="link5_collision_1.obj" />
|
| 54 |
+
<mesh name="link5_c2" file="link5_collision_2.obj" />
|
| 55 |
+
<mesh name="link6_c" file="link6.stl" />
|
| 56 |
+
<mesh name="link7_c" file="link7.stl" />
|
| 57 |
+
<mesh name="hand_c" file="hand.stl" />
|
| 58 |
|
| 59 |
<!-- Visual meshes -->
|
| 60 |
+
<mesh file="link0_0.obj" />
|
| 61 |
+
<mesh file="link0_1.obj" />
|
| 62 |
+
<mesh file="link0_2.obj" />
|
| 63 |
+
<mesh file="link0_3.obj" />
|
| 64 |
+
<mesh file="link0_4.obj" />
|
| 65 |
+
<mesh file="link0_5.obj" />
|
| 66 |
+
<mesh file="link0_7.obj" />
|
| 67 |
+
<mesh file="link0_8.obj" />
|
| 68 |
+
<mesh file="link0_9.obj" />
|
| 69 |
+
<mesh file="link0_10.obj" />
|
| 70 |
+
<mesh file="link0_11.obj" />
|
| 71 |
+
<mesh file="link1.obj" />
|
| 72 |
+
<mesh file="link2.obj" />
|
| 73 |
+
<mesh file="link3_0.obj" />
|
| 74 |
+
<mesh file="link3_1.obj" />
|
| 75 |
+
<mesh file="link3_2.obj" />
|
| 76 |
+
<mesh file="link3_3.obj" />
|
| 77 |
+
<mesh file="link4_0.obj" />
|
| 78 |
+
<mesh file="link4_1.obj" />
|
| 79 |
+
<mesh file="link4_2.obj" />
|
| 80 |
+
<mesh file="link4_3.obj" />
|
| 81 |
+
<mesh file="link5_0.obj" />
|
| 82 |
+
<mesh file="link5_1.obj" />
|
| 83 |
+
<mesh file="link5_2.obj" />
|
| 84 |
+
<mesh file="link6_0.obj" />
|
| 85 |
+
<mesh file="link6_1.obj" />
|
| 86 |
+
<mesh file="link6_2.obj" />
|
| 87 |
+
<mesh file="link6_3.obj" />
|
| 88 |
+
<mesh file="link6_4.obj" />
|
| 89 |
+
<mesh file="link6_5.obj" />
|
| 90 |
+
<mesh file="link6_6.obj" />
|
| 91 |
+
<mesh file="link6_7.obj" />
|
| 92 |
+
<mesh file="link6_8.obj" />
|
| 93 |
+
<mesh file="link6_9.obj" />
|
| 94 |
+
<mesh file="link6_10.obj" />
|
| 95 |
+
<mesh file="link6_11.obj" />
|
| 96 |
+
<mesh file="link6_12.obj" />
|
| 97 |
+
<mesh file="link6_13.obj" />
|
| 98 |
+
<mesh file="link6_14.obj" />
|
| 99 |
+
<mesh file="link6_15.obj" />
|
| 100 |
+
<mesh file="link6_16.obj" />
|
| 101 |
+
<mesh file="link7_0.obj" />
|
| 102 |
+
<mesh file="link7_1.obj" />
|
| 103 |
+
<mesh file="link7_2.obj" />
|
| 104 |
+
<mesh file="link7_3.obj" />
|
| 105 |
+
<mesh file="link7_4.obj" />
|
| 106 |
+
<mesh file="link7_5.obj" />
|
| 107 |
+
<mesh file="link7_6.obj" />
|
| 108 |
+
<mesh file="link7_7.obj" />
|
| 109 |
+
<mesh file="hand_0.obj" />
|
| 110 |
+
<mesh file="hand_1.obj" />
|
| 111 |
+
<mesh file="hand_2.obj" />
|
| 112 |
+
<mesh file="hand_3.obj" />
|
| 113 |
+
<mesh file="hand_4.obj" />
|
| 114 |
+
<mesh file="finger_0.obj" />
|
| 115 |
+
<mesh file="finger_1.obj" />
|
| 116 |
</asset>
|
| 117 |
|
| 118 |
<worldbody>
|
| 119 |
+
<light name="top" pos="0 0 2" mode="trackcom" />
|
| 120 |
<body name="panda_link0" childclass="panda">
|
| 121 |
<inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
|
| 122 |
+
fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
|
| 123 |
+
<geom mesh="link0_0" material="off_white" class="visual" />
|
| 124 |
+
<geom mesh="link0_1" material="black" class="visual" />
|
| 125 |
+
<geom mesh="link0_2" material="off_white" class="visual" />
|
| 126 |
+
<geom mesh="link0_3" material="black" class="visual" />
|
| 127 |
+
<geom mesh="link0_4" material="off_white" class="visual" />
|
| 128 |
+
<geom mesh="link0_5" material="black" class="visual" />
|
| 129 |
+
<geom mesh="link0_7" material="white" class="visual" />
|
| 130 |
+
<geom mesh="link0_8" material="white" class="visual" />
|
| 131 |
+
<geom mesh="link0_9" material="black" class="visual" />
|
| 132 |
+
<geom mesh="link0_10" material="off_white" class="visual" />
|
| 133 |
+
<geom mesh="link0_11" material="white" class="visual" />
|
| 134 |
+
<geom mesh="link0_c" class="collision" />
|
| 135 |
<body name="panda_link1" pos="0 0 0.333">
|
| 136 |
<inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
|
| 137 |
+
fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
|
| 138 |
+
<joint name="panda_joint1" damping="40" />
|
| 139 |
+
<geom material="white" mesh="link1" class="visual" />
|
| 140 |
+
<geom mesh="link1_c" class="collision" />
|
| 141 |
<body name="panda_link2" quat="1 -1 0 0">
|
| 142 |
<inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495"
|
| 143 |
+
fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
|
| 144 |
+
<joint name="panda_joint2" range="-1.7628 1.7628" damping="40" />
|
| 145 |
+
<geom material="white" mesh="link2" class="visual" />
|
| 146 |
+
<geom mesh="link2_c" class="collision" />
|
| 147 |
<body name="panda_link3" pos="0 -0.316 0" quat="1 1 0 0">
|
| 148 |
+
<joint name="panda_joint3" damping="40" />
|
| 149 |
<inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2"
|
| 150 |
+
fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
|
| 151 |
+
<geom mesh="link3_0" material="white" class="visual" />
|
| 152 |
+
<geom mesh="link3_1" material="white" class="visual" />
|
| 153 |
+
<geom mesh="link3_2" material="white" class="visual" />
|
| 154 |
+
<geom mesh="link3_3" material="black" class="visual" />
|
| 155 |
+
<geom mesh="link3_c" class="collision" />
|
| 156 |
<body name="panda_link4" pos="0.0825 0 0" quat="1 1 0 0">
|
| 157 |
<inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2"
|
| 158 |
+
fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
|
| 159 |
+
<joint name="panda_joint4" range="-3.0718 -0.0698" damping="40" />
|
| 160 |
+
<geom mesh="link4_0" material="white" class="visual" />
|
| 161 |
+
<geom mesh="link4_1" material="white" class="visual" />
|
| 162 |
+
<geom mesh="link4_2" material="black" class="visual" />
|
| 163 |
+
<geom mesh="link4_3" material="white" class="visual" />
|
| 164 |
+
<geom mesh="link4_c" class="collision" />
|
| 165 |
<body name="panda_link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
|
| 166 |
<inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2"
|
| 167 |
+
fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
|
| 168 |
+
<joint name="panda_joint5" damping="2" />
|
| 169 |
+
<geom mesh="link5_0" material="black" class="visual" />
|
| 170 |
+
<geom mesh="link5_1" material="white" class="visual" />
|
| 171 |
+
<geom mesh="link5_2" material="white" class="visual" />
|
| 172 |
+
<geom mesh="link5_c0" class="collision" />
|
| 173 |
+
<geom mesh="link5_c1" class="collision" />
|
| 174 |
+
<geom mesh="link5_c2" class="collision" />
|
| 175 |
<body name="panda_link6" quat="1 1 0 0">
|
| 176 |
<inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2"
|
| 177 |
+
fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
|
| 178 |
+
<joint name="panda_joint6" range="-0.0175 3.7525" damping="2" />
|
| 179 |
+
<geom mesh="link6_0" material="off_white" class="visual" />
|
| 180 |
+
<geom mesh="link6_1" material="white" class="visual" />
|
| 181 |
+
<geom mesh="link6_2" material="black" class="visual" />
|
| 182 |
+
<geom mesh="link6_3" material="white" class="visual" />
|
| 183 |
+
<geom mesh="link6_4" material="white" class="visual" />
|
| 184 |
+
<geom mesh="link6_5" material="white" class="visual" />
|
| 185 |
+
<geom mesh="link6_6" material="white" class="visual" />
|
| 186 |
+
<geom mesh="link6_7" material="light_blue" class="visual" />
|
| 187 |
+
<geom mesh="link6_8" material="light_blue" class="visual" />
|
| 188 |
+
<geom mesh="link6_9" material="black" class="visual" />
|
| 189 |
+
<geom mesh="link6_10" material="black" class="visual" />
|
| 190 |
+
<geom mesh="link6_11" material="white" class="visual" />
|
| 191 |
+
<geom mesh="link6_12" material="green" class="visual" />
|
| 192 |
+
<geom mesh="link6_13" material="white" class="visual" />
|
| 193 |
+
<geom mesh="link6_14" material="black" class="visual" />
|
| 194 |
+
<geom mesh="link6_15" material="black" class="visual" />
|
| 195 |
+
<geom mesh="link6_16" material="white" class="visual" />
|
| 196 |
+
<geom mesh="link6_c" class="collision" />
|
| 197 |
<body name="panda_link7" pos="0.088 0 0" quat="1 1 0 0">
|
| 198 |
<inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2"
|
| 199 |
+
fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
|
| 200 |
+
<joint name="panda_joint7" damping="2" />
|
| 201 |
+
<geom mesh="link7_0" material="white" class="visual" />
|
| 202 |
+
<geom mesh="link7_1" material="black" class="visual" />
|
| 203 |
+
<geom mesh="link7_2" material="black" class="visual" />
|
| 204 |
+
<geom mesh="link7_3" material="black" class="visual" />
|
| 205 |
+
<geom mesh="link7_4" material="black" class="visual" />
|
| 206 |
+
<geom mesh="link7_5" material="black" class="visual" />
|
| 207 |
+
<geom mesh="link7_6" material="black" class="visual" />
|
| 208 |
+
<geom mesh="link7_7" material="white" class="visual" />
|
| 209 |
+
<geom mesh="link7_c" class="collision" />
|
| 210 |
<body name="panda_hand" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834">
|
| 211 |
+
<inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017" />
|
| 212 |
+
<geom mesh="hand_0" material="off_white" class="visual" />
|
| 213 |
+
<geom mesh="hand_1" material="black" class="visual" />
|
| 214 |
+
<geom mesh="hand_2" material="black" class="visual" />
|
| 215 |
+
<geom mesh="hand_3" material="white" class="visual" />
|
| 216 |
+
<geom mesh="hand_4" material="off_white" class="visual" />
|
| 217 |
+
<geom mesh="hand_c" class="collision" />
|
| 218 |
<geom name="hand_capsule" type="capsule"
|
| 219 |
+
class="collision" conaffinity="1" size="0.04 0.06"
|
| 220 |
+
quat="1 1 0 0" pos="0 0 0.03" />
|
| 221 |
+
<site name="gripper" pos="0 0 0.1" />
|
| 222 |
<body name="panda_left_finger" pos="0 0 0.0584">
|
| 223 |
+
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7" />
|
| 224 |
+
<joint name="panda_finger_joint1" class="finger" damping="10" />
|
| 225 |
+
<geom mesh="finger_0" material="off_white" class="visual" />
|
| 226 |
+
<geom mesh="finger_1" material="black" class="visual" />
|
| 227 |
+
<geom mesh="finger_0" class="collision" />
|
| 228 |
+
<geom class="fingertip_pad_collision_1" />
|
| 229 |
+
<geom class="fingertip_pad_collision_2" />
|
| 230 |
+
<geom class="fingertip_pad_collision_3" />
|
| 231 |
+
<geom name="left_finger_pad" class="fingertip_pad_collision_4" />
|
| 232 |
</body>
|
| 233 |
<body name="panda_right_finger" pos="0 0 0.0584" quat="0 0 0 1">
|
| 234 |
+
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7" />
|
| 235 |
+
<joint name="panda_finger_joint2" class="finger" damping="10" />
|
| 236 |
+
<geom mesh="finger_0" material="off_white" class="visual" />
|
| 237 |
+
<geom mesh="finger_1" material="black" class="visual" />
|
| 238 |
+
<geom mesh="finger_0" class="collision" />
|
| 239 |
+
<geom class="fingertip_pad_collision_1" />
|
| 240 |
+
<geom class="fingertip_pad_collision_2" />
|
| 241 |
+
<geom class="fingertip_pad_collision_3" />
|
| 242 |
+
<geom name="right_finger_pad" class="fingertip_pad_collision_4" />
|
| 243 |
</body>
|
| 244 |
</body>
|
| 245 |
</body>
|
|
|
|
| 253 |
</worldbody>
|
| 254 |
|
| 255 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 256 |
<actuator>
|
| 257 |
+
<position name="panda_joint1" joint="panda_joint1" kp="1000" kv="20"
|
| 258 |
+
ctrlrange="-2.8973 2.8973" />
|
| 259 |
+
<position name="panda_joint2" joint="panda_joint2" kp="1000" kv="20"
|
| 260 |
+
ctrlrange="-1.7628 1.7628" />
|
| 261 |
+
<position name="panda_joint3" joint="panda_joint3" kp="750" kv="4"
|
| 262 |
+
ctrlrange="-2.8973 2.8973" />
|
| 263 |
+
<position name="panda_joint4" joint="panda_joint4" kp="750" kv="4"
|
| 264 |
+
ctrlrange="-3.0718 -0.0698" />
|
| 265 |
+
<position name="panda_joint5" joint="panda_joint5" kp="300" kv="2"
|
| 266 |
+
forcerange="-12 12" ctrlrange="-2.8973 2.8973" />
|
| 267 |
+
<position name="panda_joint6" joint="panda_joint6" kp="300" kv="2" forcerange="-12 12"
|
| 268 |
+
ctrlrange="-0.0175 3.7525" />
|
| 269 |
+
<position name="panda_joint7" joint="panda_joint7" kp="300" kv="2" forcerange="-12 12" />
|
| 270 |
+
<position name="panda_finger1" joint="panda_finger_joint1"
|
| 271 |
+
kp="200" kv="5"
|
| 272 |
+
ctrlrange="0 0.04" forcerange="-200 200" />
|
| 273 |
+
<position name="panda_finger2" joint="panda_finger_joint2"
|
| 274 |
+
kp="200" kv="5"
|
| 275 |
+
ctrlrange="0 0.04" forcerange="-200 200" />
|
| 276 |
+
<!-- <general name="panda_finger1" joint="panda_finger_joint1"
|
| 277 |
+
ctrlrange="0 0.04" gainprm="350 0 0" biasprm="0 -350 -10" forcerange="-200 200" />
|
| 278 |
+
<general name="panda_finger2" joint="panda_finger_joint2"
|
| 279 |
+
ctrlrange="0 0.04" gainprm="350 0 0" biasprm="0 -350 -10" forcerange="-200 200" /> -->
|
| 280 |
+
|
| 281 |
</actuator>
|
| 282 |
+
|
| 283 |
+
<contact>
|
| 284 |
+
<exclude body1="panda_link0" body2="panda_link1" />
|
| 285 |
+
</contact>
|
| 286 |
+
|
| 287 |
</mujoco>
|