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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="-2.8973 2.8973"/>
<general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
<default class="finger">
<joint axis="0 1 0" type="slide" range="0 0.04"/>
</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>
<body name="hand" childclass="panda" quat="0 0 0 1">
<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"/>
<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_joint1" 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"/>
<geom class="fingertip_pad_collision_2"/>
<geom class="fingertip_pad_collision_3"/>
<geom class="fingertip_pad_collision_4"/>
<geom class="fingertip_pad_collision_5"/>
</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_joint2" 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"/>
<geom class="fingertip_pad_collision_2"/>
<geom class="fingertip_pad_collision_3"/>
<geom class="fingertip_pad_collision_4"/>
<geom class="fingertip_pad_collision_5"/>
</body>
</body>
</worldbody>
<contact>
<exclude body1="hand" body2="left_finger"/>
<exclude body1="hand" body2="right_finger"/>
</contact>
<tendon>
<fixed name="split">
<joint joint="finger_joint1" coef="0.5"/>
<joint joint="finger_joint2" coef="0.5"/>
</fixed>
</tendon>
<equality>
<joint joint1="finger_joint1" joint2="finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1"/>
</equality>
<actuator>
<!-- Remap original ctrlrange (0, 0.04) to (0, 255): 0.04 * 100 / 255 = 0.01568627451 -->
<general class="panda" name="actuator8" tendon="split" forcerange="-100 100" ctrlrange="0 255"
gainprm="0.01568627451 0 0" biasprm="0 -100 -10"/>
</actuator>
</mujoco>
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