Spaces:
Configuration error
Configuration error
Create panda.xml
Browse files
panda.xml
ADDED
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| 1 |
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<mujoco model="panda">
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| 2 |
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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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| 9 |
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<joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
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| 10 |
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<general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
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| 11 |
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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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| 18 |
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<default class="collision">
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| 19 |
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<geom type="mesh" group="3"/>
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| 20 |
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<default class="fingertip_pad_collision_1">
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| 21 |
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<geom type="box" size="0.0085 0.004 0.0085" pos="0 0.0055 0.0445"/>
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| 22 |
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</default>
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| 23 |
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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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| 30 |
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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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| 31 |
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</default>
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| 32 |
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<default class="fingertip_pad_collision_5">
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| 33 |
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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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| 34 |
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</default>
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</default>
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</default>
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</default>
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| 38 |
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<asset>
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| 40 |
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<material class="panda" name="white" rgba="1 1 1 1"/>
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| 41 |
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<material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
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| 42 |
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<material class="panda" name="black" rgba="0.25 0.25 0.25 1"/>
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| 43 |
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<material class="panda" name="green" rgba="0 1 0 1"/>
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| 44 |
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<material class="panda" name="light_blue" rgba="0.039216 0.541176 0.780392 1"/>
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| 45 |
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| 46 |
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<!-- Collision meshes -->
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| 47 |
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<mesh name="link0_c" file="link0.stl"/>
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| 48 |
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<mesh name="link1_c" file="link1.stl"/>
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| 49 |
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<mesh name="link2_c" file="link2.stl"/>
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| 50 |
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<mesh name="link3_c" file="link3.stl"/>
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| 51 |
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<mesh name="link4_c" file="link4.stl"/>
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| 52 |
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<mesh name="link5_c0" file="link5_collision_0.obj"/>
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| 53 |
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<mesh name="link5_c1" file="link5_collision_1.obj"/>
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| 54 |
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<mesh name="link5_c2" file="link5_collision_2.obj"/>
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| 55 |
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<mesh name="link6_c" file="link6.stl"/>
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| 56 |
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<mesh name="link7_c" file="link7.stl"/>
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| 57 |
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<mesh name="hand_c" file="hand.stl"/>
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| 58 |
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| 59 |
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<!-- Visual meshes -->
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| 60 |
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<mesh file="link0_0.obj"/>
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| 61 |
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<mesh file="link0_1.obj"/>
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| 62 |
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<mesh file="link0_2.obj"/>
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| 63 |
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<mesh file="link0_3.obj"/>
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| 64 |
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<mesh file="link0_4.obj"/>
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| 65 |
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<mesh file="link0_5.obj"/>
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| 66 |
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<mesh file="link0_7.obj"/>
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| 67 |
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<mesh file="link0_8.obj"/>
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| 68 |
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<mesh file="link0_9.obj"/>
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| 69 |
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<mesh file="link0_10.obj"/>
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| 70 |
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<mesh file="link0_11.obj"/>
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| 71 |
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<mesh file="link1.obj"/>
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| 72 |
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<mesh file="link2.obj"/>
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| 73 |
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<mesh file="link3_0.obj"/>
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| 74 |
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<mesh file="link3_1.obj"/>
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| 75 |
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<mesh file="link3_2.obj"/>
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| 76 |
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<mesh file="link3_3.obj"/>
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| 77 |
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<mesh file="link4_0.obj"/>
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| 78 |
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<mesh file="link4_1.obj"/>
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| 79 |
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<mesh file="link4_2.obj"/>
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| 80 |
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<mesh file="link4_3.obj"/>
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| 81 |
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<mesh file="link5_0.obj"/>
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| 82 |
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<mesh file="link5_1.obj"/>
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| 83 |
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<mesh file="link5_2.obj"/>
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| 84 |
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<mesh file="link6_0.obj"/>
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| 85 |
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<mesh file="link6_1.obj"/>
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| 86 |
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<mesh file="link6_2.obj"/>
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| 87 |
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<mesh file="link6_3.obj"/>
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| 88 |
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<mesh file="link6_4.obj"/>
|
| 89 |
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<mesh file="link6_5.obj"/>
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| 90 |
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<mesh file="link6_6.obj"/>
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| 91 |
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<mesh file="link6_7.obj"/>
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| 92 |
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<mesh file="link6_8.obj"/>
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| 93 |
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<mesh file="link6_9.obj"/>
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| 94 |
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<mesh file="link6_10.obj"/>
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| 95 |
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<mesh file="link6_11.obj"/>
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| 96 |
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<mesh file="link6_12.obj"/>
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| 97 |
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<mesh file="link6_13.obj"/>
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| 98 |
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<mesh file="link6_14.obj"/>
|
| 99 |
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<mesh file="link6_15.obj"/>
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| 100 |
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<mesh file="link6_16.obj"/>
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| 101 |
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<mesh file="link7_0.obj"/>
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| 102 |
+
<mesh file="link7_1.obj"/>
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| 103 |
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<mesh file="link7_2.obj"/>
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| 104 |
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<mesh file="link7_3.obj"/>
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| 105 |
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<mesh file="link7_4.obj"/>
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| 106 |
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<mesh file="link7_5.obj"/>
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| 107 |
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<mesh file="link7_6.obj"/>
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| 108 |
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<mesh file="link7_7.obj"/>
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| 109 |
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<mesh file="hand_0.obj"/>
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| 110 |
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<mesh file="hand_1.obj"/>
|
| 111 |
+
<mesh file="hand_2.obj"/>
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| 112 |
+
<mesh file="hand_3.obj"/>
|
| 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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| 116 |
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</asset>
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| 117 |
+
|
| 118 |
+
<worldbody>
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| 119 |
+
<light name="top" pos="0 0 2" mode="trackcom"/>
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| 120 |
+
<body name="link0" childclass="panda">
|
| 121 |
+
<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"/>
|
| 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"/>
|
| 134 |
+
<geom mesh="link0_c" class="collision"/>
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| 135 |
+
<body name="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="joint1"/>
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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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| 141 |
+
<body name="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="joint2" range="-1.7628 1.7628"/>
|
| 145 |
+
<geom material="white" mesh="link2" class="visual"/>
|
| 146 |
+
<geom mesh="link2_c" class="collision"/>
|
| 147 |
+
<body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
|
| 148 |
+
<joint name="joint3"/>
|
| 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="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="joint4" range="-3.0718 -0.0698"/>
|
| 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="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="joint5"/>
|
| 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="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="joint6" range="-0.0175 3.7525"/>
|
| 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="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="joint7"/>
|
| 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="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 |
+
<body name="left_finger" pos="0 0 0.0584">
|
| 219 |
+
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
|
| 220 |
+
<joint name="finger_joint1" class="finger"/>
|
| 221 |
+
<geom mesh="finger_0" material="off_white" class="visual"/>
|
| 222 |
+
<geom mesh="finger_1" material="black" class="visual"/>
|
| 223 |
+
<geom mesh="finger_0" class="collision"/>
|
| 224 |
+
<geom class="fingertip_pad_collision_1"/>
|
| 225 |
+
<geom class="fingertip_pad_collision_2"/>
|
| 226 |
+
<geom class="fingertip_pad_collision_3"/>
|
| 227 |
+
<geom class="fingertip_pad_collision_4"/>
|
| 228 |
+
<geom class="fingertip_pad_collision_5"/>
|
| 229 |
+
</body>
|
| 230 |
+
<body name="right_finger" pos="0 0 0.0584" quat="0 0 0 1">
|
| 231 |
+
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
|
| 232 |
+
<joint name="finger_joint2" class="finger"/>
|
| 233 |
+
<geom mesh="finger_0" material="off_white" class="visual"/>
|
| 234 |
+
<geom mesh="finger_1" material="black" class="visual"/>
|
| 235 |
+
<geom mesh="finger_0" class="collision"/>
|
| 236 |
+
<geom class="fingertip_pad_collision_1"/>
|
| 237 |
+
<geom class="fingertip_pad_collision_2"/>
|
| 238 |
+
<geom class="fingertip_pad_collision_3"/>
|
| 239 |
+
<geom class="fingertip_pad_collision_4"/>
|
| 240 |
+
<geom class="fingertip_pad_collision_5"/>
|
| 241 |
+
</body>
|
| 242 |
+
</body>
|
| 243 |
+
</body>
|
| 244 |
+
</body>
|
| 245 |
+
</body>
|
| 246 |
+
</body>
|
| 247 |
+
</body>
|
| 248 |
+
</body>
|
| 249 |
+
</body>
|
| 250 |
+
</body>
|
| 251 |
+
</worldbody>
|
| 252 |
+
|
| 253 |
+
<tendon>
|
| 254 |
+
<fixed name="split">
|
| 255 |
+
<joint joint="finger_joint1" coef="0.5"/>
|
| 256 |
+
<joint joint="finger_joint2" coef="0.5"/>
|
| 257 |
+
</fixed>
|
| 258 |
+
</tendon>
|
| 259 |
+
|
| 260 |
+
<equality>
|
| 261 |
+
<joint joint1="finger_joint1" joint2="finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1"/>
|
| 262 |
+
</equality>
|
| 263 |
+
|
| 264 |
+
<actuator>
|
| 265 |
+
<general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450"/>
|
| 266 |
+
<general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450"
|
| 267 |
+
ctrlrange="-1.7628 1.7628"/>
|
| 268 |
+
<general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350"/>
|
| 269 |
+
<general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350"
|
| 270 |
+
ctrlrange="-3.0718 -0.0698"/>
|
| 271 |
+
<general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12"/>
|
| 272 |
+
<general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12"
|
| 273 |
+
ctrlrange="-0.0175 3.7525"/>
|
| 274 |
+
<general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12"/>
|
| 275 |
+
<!-- Remap original ctrlrange (0, 0.04) to (0, 255): 0.04 * 100 / 255 = 0.01568627451 -->
|
| 276 |
+
<general class="panda" name="actuator8" tendon="split" forcerange="-100 100" ctrlrange="0 255"
|
| 277 |
+
gainprm="0.01568627451 0 0" biasprm="0 -100 -10"/>
|
| 278 |
+
</actuator>
|
| 279 |
+
|
| 280 |
+
<keyframe>
|
| 281 |
+
<key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0.04 0.04" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 255"/>
|
| 282 |
+
</keyframe>
|
| 283 |
+
</mujoco>
|