| <mujoco model="franka"> |
| <compiler angle="radian" meshdir="assets" autolimits="true" /> |
|
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|
| <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" /> |
| <position forcerange="-100 100" /> |
| <default class="finger"> |
| <joint axis="0 1 0" type="slide" range="0 0.04" /> |
| </default> |
| <geom type="mesh" contype="0" conaffinity="0" group="2" /> |
| </default> |
| <default class="collision"> |
| <geom group="3" type="mesh" contype="0" conaffinity="0" /> |
| <default class="primitive_collision"> |
| <geom group="3" type="box" contype="0" conaffinity="0" |
| condim="3" solimp="0.99 0.995 0.01" solref="0.01 1" friction="1 0.005 0.0001" /> |
| <default class="fingertip_pad_collision_1"> |
| <geom type="box" size="0.011 0.0075 0.01" pos="0 0.0185 0.011" /> |
| </default> |
| <default class="fingertip_pad_collision_2"> |
| <geom type="box" size="0.011 0.0044 0.0019" pos="0 0.0068 0.0022" /> |
| </default> |
| <default class="fingertip_pad_collision_3"> |
| <geom type="box" size="0.00875 0.0035 0.01175" pos="0 0.0159 0.02835" quat="1 0.25 0 0" /> |
| </default> |
| <default class="fingertip_pad_collision_4"> |
| <geom type="box" size="0.00875 0.0076 0.00825" pos="0 0.00758 0.04525" conaffinity="3" /> |
| </default> |
| </default> |
| </default> |
| </default> |
| <body name="panda_link1" pos="0 0 0.333"> |
| <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" |
| fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" /> |
| <joint name="panda_joint1" damping="40" /> |
| <geom material="white" mesh="link1" class="visual" /> |
| <geom mesh="link1_c" class="collision" /> |
| <body name="panda_link2" quat="1 -1 0 0"> |
| <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" |
| fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" /> |
| <joint name="panda_joint2" range="-1.7628 1.7628" damping="40" /> |
| <geom material="white" mesh="link2" class="visual" /> |
| <geom mesh="link2_c" class="collision" /> |
| <body name="panda_link3" pos="0 -0.316 0" quat="1 1 0 0"> |
| <joint name="panda_joint3" damping="40" /> |
| <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" |
| fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" /> |
| <geom mesh="link3_0" material="white" class="visual" /> |
| <body name="panda_link4" pos="0.0825 0 0" quat="1 1 0 0"> |
| <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" |
| fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" /> |
| <joint name="panda_joint4" range="-3.0718 -0.0698" damping="40" /> |
| <geom mesh="link4_0" material="white" class="visual" /> |
| <geom mesh="link4_1" material="white" class="visual" /> |
| <geom mesh="link4_2" material="black" class="visual" /> |
| <body name="panda_link5" pos="-0.0825 0.384 0" quat="1 -1 0 0"> |
| <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" |
| fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" /> |
| <joint name="panda_joint5" damping="2" /> |
| <geom mesh="link5_0" material="black" class="visual" /> |
| <geom mesh="link5_1" material="white" class="visual" /> |
| <geom mesh="link5_2" material="white" class="visual" /> |
| <body name="panda_link6" quat="1 1 0 0"> |
| <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" |
| fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" /> |
| <joint name="panda_joint6" range="-0.0175 3.7525" damping="2" /> |
| <geom mesh="link6_0" material="off_white" class="visual" /> |
| <geom mesh="link6_1" material="white" class="visual" /> |
| <geom mesh="link6_2" material="black" class="visual" /> |
| <body name="panda_link7" pos="0.088 0 0" quat="1 1 0 0"> |
| <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" |
| fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" /> |
| <joint name="panda_joint7" damping="2" /> |
| <geom mesh="link7_0" material="white" class="visual" /> |
| <geom mesh="link7_1" material="black" class="visual" /> |
| <geom mesh="link7_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" /> |
| <geom name="hand_capsule" type="capsule" |
| class="collision" conaffinity="1" size="0.04 0.06" |
| quat="1 1 0 0" pos="0 0 0.03" /> |
| <site name="gripper" pos="0 0 0.1" /> |
| <body name="panda_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="panda_finger_joint1" class="finger" damping="10" /> |
| <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 name="left_finger_pad" class="fingertip_pad_collision_4" /> |
|
|
| </body> |
| <body name="panda_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="panda_finger_joint2" class="finger" damping="10" /> |
| <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 name="right_finger_pad" class="fingertip_pad_collision_4" /> |
|
|
| </body> |
| </body> |
| </body> |
| </body> |
| </worldbody> |
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|
| <actuator> |
| <position name="panda_joint1" joint="panda_joint1" kp="1000" kv="20" |
| ctrlrange="-2.8973 2.8973" /> |
| <position name="panda_joint2" joint="panda_joint2" kp="1000" kv="20" |
| ctrlrange="-1.7628 1.7628" /> |
| <position name="panda_joint3" joint="panda_joint3" kp="750" kv="4" |
| ctrlrange="-2.8973 2.8973" /> |
| <position name="panda_joint4" joint="panda_joint4" kp="750" kv="4" |
| ctrlrange="-3.0718 -0.0698" /> |
| <position name="panda_joint5" joint="panda_joint5" kp="300" kv="2" |
| forcerange="-12 12" ctrlrange="-2.8973 2.8973" /> |
| <position name="panda_joint6" joint="panda_joint6" kp="300" kv="2" forcerange="-12 12" |
| ctrlrange="-0.0175 3.7525" /> |
| <position name="panda_joint7" joint="panda_joint7" kp="300" kv="2" forcerange="-12 12" /> |
| <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" /> |
| |
| |
| |
| |
|
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| </actuator> |
|
|
| <contact> |
| <exclude body1="panda_link0" body2="panda_link1" /> |
| </contact> |
|
|
| </mujoco> |
