Commit
·
497b64f
1
Parent(s):
cd698d4
[add] franka shadow mjcf(for tendon)
Browse filesThis view is limited to 50 files because it contains too many changes.
See raw diff
- robots/franka_shadow_hand/mjcf/franka_shadow_left.xml +470 -0
- robots/franka_shadow_hand/mjcf/franka_shadow_right.xml +470 -0
- robots/franka_shadow_hand/mjcf/meshes/F1.dae +3 -0
- robots/franka_shadow_hand/mjcf/meshes/F1.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/F1.stl +3 -0
- robots/franka_shadow_hand/mjcf/meshes/F2.dae +3 -0
- robots/franka_shadow_hand/mjcf/meshes/F2.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/F2.stl +3 -0
- robots/franka_shadow_hand/mjcf/meshes/F3.dae +3 -0
- robots/franka_shadow_hand/mjcf/meshes/F3.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/F3.stl +3 -0
- robots/franka_shadow_hand/mjcf/meshes/TH1_z.dae +3 -0
- robots/franka_shadow_hand/mjcf/meshes/TH1_z.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/TH1_z.stl +3 -0
- robots/franka_shadow_hand/mjcf/meshes/TH2_z.dae +3 -0
- robots/franka_shadow_hand/mjcf/meshes/TH2_z.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/TH2_z.stl +3 -0
- robots/franka_shadow_hand/mjcf/meshes/TH3_z.dae +3 -0
- robots/franka_shadow_hand/mjcf/meshes/TH3_z.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/TH3_z.stl +3 -0
- robots/franka_shadow_hand/mjcf/meshes/finger_0.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/finger_1.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/forearm.dae +3 -0
- robots/franka_shadow_hand/mjcf/meshes/forearm.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/forearm_electric.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/forearm_electric.stl +3 -0
- robots/franka_shadow_hand/mjcf/meshes/forearm_electric_cvx.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/forearm_electric_cvx.stl +3 -0
- robots/franka_shadow_hand/mjcf/meshes/forearm_muscle.dae +3 -0
- robots/franka_shadow_hand/mjcf/meshes/forearm_muscle.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/hand.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/hand.stl +3 -0
- robots/franka_shadow_hand/mjcf/meshes/hand_0.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/hand_1.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/hand_2.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/hand_3.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/hand_4.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/knuckle.dae +3 -0
- robots/franka_shadow_hand/mjcf/meshes/knuckle.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/knuckle.stl +3 -0
- robots/franka_shadow_hand/mjcf/meshes/lfmetacarpal.dae +3 -0
- robots/franka_shadow_hand/mjcf/meshes/lfmetacarpal.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/lfmetacarpal.stl +3 -0
- robots/franka_shadow_hand/mjcf/meshes/link0.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/link0.stl +3 -0
- robots/franka_shadow_hand/mjcf/meshes/link0_0.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/link0_1.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/link0_10.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/link0_11.obj +3 -0
- robots/franka_shadow_hand/mjcf/meshes/link0_2.obj +3 -0
robots/franka_shadow_hand/mjcf/franka_shadow_left.xml
ADDED
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@@ -0,0 +1,470 @@
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| 1 |
+
<mujoco model="franka_shadow_left">
|
| 2 |
+
<compiler angle="radian" coordinate="local" meshdir="meshes"/>
|
| 3 |
+
|
| 4 |
+
<option timestep="0.002" iterations="20" apirate="200">
|
| 5 |
+
<flag warmstart="enable"></flag>
|
| 6 |
+
</option>
|
| 7 |
+
|
| 8 |
+
<default>
|
| 9 |
+
<default class="panda">
|
| 10 |
+
<material specular="0.5" shininess="0.25"/>
|
| 11 |
+
<joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
|
| 12 |
+
<general ctrllimited="true" forcelimited="true"></general>
|
| 13 |
+
<default class="finger">
|
| 14 |
+
<joint axis="0 1 0" type="slide" range="0 0.04"/>
|
| 15 |
+
</default>
|
| 16 |
+
|
| 17 |
+
<default class="visual">
|
| 18 |
+
<geom type="mesh" group="2" contype="0" conaffinity="0"/>
|
| 19 |
+
</default>
|
| 20 |
+
<default class="collision">
|
| 21 |
+
<geom type="mesh" group="3"/>
|
| 22 |
+
</default>
|
| 23 |
+
</default>
|
| 24 |
+
<default class="shadow_hand">
|
| 25 |
+
<geom friction="1 0.005 0.001" condim="3" margin="0.0005" contype="1" conaffinity="1"></geom>
|
| 26 |
+
<joint limited="true" damping="0.1" armature="0.001" margin="0.01" frictionloss="0.001"></joint>
|
| 27 |
+
<site size="0.005" rgba="0.4 0.9 0.4 1"></site>
|
| 28 |
+
<general ctrllimited="true" forcelimited="true"></general>
|
| 29 |
+
</default>
|
| 30 |
+
<default class="D_Touch">
|
| 31 |
+
<site type="box" size="0.009 0.004 0.013" pos="0 -0.004 0.018" rgba="0.8 0.8 0.8 0.15" group="4"></site>
|
| 32 |
+
</default>
|
| 33 |
+
<default class="DC_Hand">
|
| 34 |
+
<geom material="MatColl" contype="1" conaffinity="0" group="4"></geom>
|
| 35 |
+
</default>
|
| 36 |
+
<default class="D_Vizual">
|
| 37 |
+
<geom material="MatViz" contype="0" conaffinity="0" group="1" type="mesh"></geom>
|
| 38 |
+
</default>
|
| 39 |
+
<default class="free">
|
| 40 |
+
<joint type="free" damping="0" armature="0" limited="false"></joint>
|
| 41 |
+
</default>
|
| 42 |
+
</default>
|
| 43 |
+
|
| 44 |
+
<contact>
|
| 45 |
+
<pair geom1="C_ffdistal" geom2="C_thdistal" condim="1"></pair>
|
| 46 |
+
<pair geom1="C_ffmiddle" geom2="C_thdistal" condim="1"></pair>
|
| 47 |
+
<pair geom1="C_ffproximal" geom2="C_thdistal" condim="1"></pair>
|
| 48 |
+
<pair geom1="C_mfproximal" geom2="C_thdistal" condim="1"></pair>
|
| 49 |
+
<pair geom1="C_mfdistal" geom2="C_thdistal" condim="1"></pair>
|
| 50 |
+
<pair geom1="C_rfdistal" geom2="C_thdistal" condim="1"></pair>
|
| 51 |
+
<pair geom1="C_lfdistal" geom2="C_thdistal" condim="1"></pair>
|
| 52 |
+
<pair geom1="C_palm0" geom2="C_thdistal" condim="1"></pair>
|
| 53 |
+
<pair geom1="C_mfdistal" geom2="C_ffdistal" condim="1"></pair>
|
| 54 |
+
<pair geom1="C_rfdistal" geom2="C_mfdistal" condim="1"></pair>
|
| 55 |
+
<pair geom1="C_lfdistal" geom2="C_rfdistal" condim="1"></pair>
|
| 56 |
+
<pair geom1="C_mfproximal" geom2="C_ffproximal" condim="1"></pair>
|
| 57 |
+
<pair geom1="C_rfproximal" geom2="C_mfproximal" condim="1"></pair>
|
| 58 |
+
<pair geom1="C_lfproximal" geom2="C_rfproximal" condim="1"></pair>
|
| 59 |
+
<pair geom1="C_lfdistal" geom2="C_rfdistal" condim="1"></pair>
|
| 60 |
+
<pair geom1="C_lfdistal" geom2="C_mfdistal" condim="1"></pair>
|
| 61 |
+
<pair geom1="C_lfdistal" geom2="C_rfmiddle" condim="1"></pair>
|
| 62 |
+
<pair geom1="C_lfmiddle" geom2="C_rfdistal" condim="1"></pair>
|
| 63 |
+
<pair geom1="C_lfmiddle" geom2="C_rfmiddle" condim="1"></pair>
|
| 64 |
+
</contact>
|
| 65 |
+
|
| 66 |
+
<asset>
|
| 67 |
+
<material class="panda" name="white" rgba="1 1 1 1"/>
|
| 68 |
+
<material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
|
| 69 |
+
<material class="panda" name="black" rgba="0.25 0.25 0.25 1"/>
|
| 70 |
+
<material class="panda" name="green" rgba="0 1 0 1"/>
|
| 71 |
+
<material class="panda" name="light_blue" rgba="0.039216 0.541176 0.780392 1"/>
|
| 72 |
+
|
| 73 |
+
<!-- Collision meshes -->
|
| 74 |
+
<mesh name="link0_c" file="link0.obj"/>
|
| 75 |
+
<mesh name="link1_c" file="link1.obj"/>
|
| 76 |
+
<mesh name="link2_c" file="link2.obj"/>
|
| 77 |
+
<mesh name="link3_c" file="link3.obj"/>
|
| 78 |
+
<mesh name="link4_c" file="link4.obj"/>
|
| 79 |
+
<mesh name="link5_c0" file="link5_collision_0.obj"/>
|
| 80 |
+
<mesh name="link5_c1" file="link5_collision_1.obj"/>
|
| 81 |
+
<mesh name="link5_c2" file="link5_collision_2.obj"/>
|
| 82 |
+
<mesh name="link6_c" file="link6.obj"/>
|
| 83 |
+
<mesh name="link7_c" file="link7.obj"/>
|
| 84 |
+
|
| 85 |
+
<!-- Visual meshes -->
|
| 86 |
+
<mesh name = "link0_0v" file="link0_0.obj"/>
|
| 87 |
+
<mesh name = "link0_1v" file="link0_1.obj"/>
|
| 88 |
+
<mesh name = "link0_2v" file="link0_2.obj"/>
|
| 89 |
+
<mesh name = "link0_3v" file="link0_3.obj"/>
|
| 90 |
+
<mesh name = "link0_4v" file="link0_4.obj"/>
|
| 91 |
+
<mesh name = "link0_5v" file="link0_5.obj"/>
|
| 92 |
+
<mesh name = "link0_7v" file="link0_7.obj"/>
|
| 93 |
+
<mesh name = "link0_8v" file="link0_8.obj"/>
|
| 94 |
+
<mesh name = "link0_9v" file="link0_9.obj"/>
|
| 95 |
+
<mesh name = "link0_10v" file="link0_10.obj"/>
|
| 96 |
+
<mesh name = "link0_11v" file="link0_11.obj"/>
|
| 97 |
+
<mesh name = "link1v" file="link1.obj"/>
|
| 98 |
+
<mesh name = "link2v" file="link2.obj"/>
|
| 99 |
+
<mesh name = "link3_0v" file="link3_0.obj"/>
|
| 100 |
+
<mesh name = "link3_1v" file="link3_1.obj"/>
|
| 101 |
+
<mesh name = "link3_2v" file="link3_2.obj"/>
|
| 102 |
+
<mesh name = "link3_3v" file="link3_3.obj"/>
|
| 103 |
+
<mesh name = "link4_0v" file="link4_0.obj"/>
|
| 104 |
+
<mesh name = "link4_1v" file="link4_1.obj"/>
|
| 105 |
+
<mesh name = "link4_2v" file="link4_2.obj"/>
|
| 106 |
+
<mesh name = "link4_3v" file="link4_3.obj"/>
|
| 107 |
+
<mesh name = "link5_0v" file="link5_0.obj"/>
|
| 108 |
+
<mesh name = "link5_1v" file="link5_1.obj"/>
|
| 109 |
+
<mesh name = "link5_2v" file="link5_2.obj"/>
|
| 110 |
+
<mesh name = "link6_0v" file="link6_0.obj"/>
|
| 111 |
+
<mesh name = "link6_1v" file="link6_1.obj"/>
|
| 112 |
+
<mesh name = "link6_2v" file="link6_2.obj"/>
|
| 113 |
+
<mesh name = "link6_3v" file="link6_3.obj"/>
|
| 114 |
+
<mesh name = "link6_4v" file="link6_4.obj"/>
|
| 115 |
+
<mesh name = "link6_5v" file="link6_5.obj"/>
|
| 116 |
+
<mesh name = "link6_6v" file="link6_6.obj"/>
|
| 117 |
+
<mesh name = "link6_7v" file="link6_7.obj"/>
|
| 118 |
+
<mesh name = "link6_8v" file="link6_8.obj"/>
|
| 119 |
+
<mesh name = "link6_9v" file="link6_9.obj"/>
|
| 120 |
+
<mesh name = "link6_10v" file="link6_10.obj"/>
|
| 121 |
+
<mesh name = "link6_11v" file="link6_11.obj"/>
|
| 122 |
+
<mesh name = "link6_12v" file="link6_12.obj"/>
|
| 123 |
+
<mesh name = "link6_13v" file="link6_13.obj"/>
|
| 124 |
+
<mesh name = "link6_14v" file="link6_14.obj"/>
|
| 125 |
+
<mesh name = "link6_15v" file="link6_15.obj"/>
|
| 126 |
+
<mesh name = "link6_16v" file="link6_16.obj"/>
|
| 127 |
+
<mesh name = "link7_0v" file="link7_0.obj"/>
|
| 128 |
+
<mesh name = "link7_1v" file="link7_1.obj"/>
|
| 129 |
+
<mesh name = "link7_2v" file="link7_2.obj"/>
|
| 130 |
+
<mesh name = "link7_3v" file="link7_3.obj"/>
|
| 131 |
+
<mesh name = "link7_4v" file="link7_4.obj"/>
|
| 132 |
+
<mesh name = "link7_5v" file="link7_5.obj"/>
|
| 133 |
+
<mesh name = "link7_6v" file="link7_6.obj"/>
|
| 134 |
+
<mesh name = "link7_7v" file="link7_7.obj"/>
|
| 135 |
+
<mesh name = "hand_0v" file="hand_0.obj"/>
|
| 136 |
+
<mesh name = "hand_1v" file="hand_1.obj"/>
|
| 137 |
+
<mesh name = "hand_2v" file="hand_2.obj"/>
|
| 138 |
+
<mesh name = "hand_3v" file="hand_3.obj"/>
|
| 139 |
+
<mesh name = "hand_4v" file="hand_4.obj"/>
|
| 140 |
+
|
| 141 |
+
<!-- shadow hand meshes -->
|
| 142 |
+
<texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="32"></texture>
|
| 143 |
+
|
| 144 |
+
<texture name="texplane" type="2d" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.15 0.2" width="512" height="512"></texture>
|
| 145 |
+
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="127" rgb1="0.3 0.6 0.5" rgb2="0.3 0.6 0.5" markrgb="0 0 0" random="0.01"></texture>
|
| 146 |
+
|
| 147 |
+
<material name="MatGnd" reflectance="0.5" texture="texplane" texrepeat="1 1" texuniform="true"></material>
|
| 148 |
+
<material name="MatColl" specular="1" shininess="0.3" reflectance="0.5" rgba="0.4 0.5 0.6 1"></material>
|
| 149 |
+
<material name="MatViz" specular="0.75" shininess="0.1" reflectance="0.5" rgba="0.93 0.93 0.93 1"></material>
|
| 150 |
+
<material name="object" texture="texgeom" texuniform="false"></material>
|
| 151 |
+
<material name="floor_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 0"></material>
|
| 152 |
+
|
| 153 |
+
<mesh name="forearm" file="forearm_electric.obj"></mesh>
|
| 154 |
+
<mesh name="forearm_cvx" file="forearm_electric_cvx.obj"></mesh>
|
| 155 |
+
<mesh name="wrist" file="wrist.obj"></mesh>
|
| 156 |
+
<mesh name="palm" file="palm_left.obj" scale="0.001 0.001 0.001"></mesh>
|
| 157 |
+
<mesh name="knuckle" file="knuckle.obj"></mesh>
|
| 158 |
+
<mesh name="F3" file="F3.obj"></mesh>
|
| 159 |
+
<mesh name="F2" file="F2.obj"></mesh>
|
| 160 |
+
<mesh name="F1" file="F1.obj"></mesh>
|
| 161 |
+
<mesh name="lfmetacarpal" file="lfmetacarpal.obj"></mesh>
|
| 162 |
+
<mesh name="TH3_z" file="TH3_z.obj"></mesh>
|
| 163 |
+
<mesh name="TH2_z" file="TH2_z.obj"></mesh>
|
| 164 |
+
<mesh name="TH1_z" file="TH1_z.obj"></mesh>
|
| 165 |
+
</asset>
|
| 166 |
+
|
| 167 |
+
<worldbody>
|
| 168 |
+
<body name="panda_link0" childclass="panda">
|
| 169 |
+
<inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
|
| 170 |
+
fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6"/>
|
| 171 |
+
<geom mesh="link0_0v" material="off_white" class="visual"/>
|
| 172 |
+
<geom mesh="link0_1v" material="black" class="visual"/>
|
| 173 |
+
<geom mesh="link0_2v" material="off_white" class="visual"/>
|
| 174 |
+
<geom mesh="link0_3v" material="black" class="visual"/>
|
| 175 |
+
<geom mesh="link0_4v" material="off_white" class="visual"/>
|
| 176 |
+
<geom mesh="link0_5v" material="black" class="visual"/>
|
| 177 |
+
<geom mesh="link0_7v" material="white" class="visual"/>
|
| 178 |
+
<geom mesh="link0_8v" material="white" class="visual"/>
|
| 179 |
+
<geom mesh="link0_9v" material="black" class="visual"/>
|
| 180 |
+
<geom mesh="link0_10v" material="off_white" class="visual"/>
|
| 181 |
+
<geom mesh="link0_11v" material="white" class="visual"/>
|
| 182 |
+
<geom mesh="link0_c" class="collision"/>
|
| 183 |
+
<body name="panda_link1" pos="0 0 0.333">
|
| 184 |
+
<inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
|
| 185 |
+
fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169"/>
|
| 186 |
+
<joint name="panda_joint1"/>
|
| 187 |
+
<geom material="white" mesh="link1v" class="visual"/>
|
| 188 |
+
<geom mesh="link1_c" class="collision"/>
|
| 189 |
+
<body name="panda_link2" quat="1 -1 0 0">
|
| 190 |
+
<inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495"
|
| 191 |
+
fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4"/>
|
| 192 |
+
<joint name="panda_joint2" range="-1.7628 1.7628"/>
|
| 193 |
+
<geom material="white" mesh="link2v" class="visual"/>
|
| 194 |
+
<geom mesh="link2_c" class="collision"/>
|
| 195 |
+
<body name="panda_link3" pos="0 -0.316 0" quat="1 1 0 0">
|
| 196 |
+
<joint name="panda_joint3"/>
|
| 197 |
+
<inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2"
|
| 198 |
+
fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2"/>
|
| 199 |
+
<geom mesh="link3_0v" material="white" class="visual"/>
|
| 200 |
+
<geom mesh="link3_1v" material="white" class="visual"/>
|
| 201 |
+
<geom mesh="link3_2v" material="white" class="visual"/>
|
| 202 |
+
<geom mesh="link3_3v" material="black" class="visual"/>
|
| 203 |
+
<geom mesh="link3_c" class="collision"/>
|
| 204 |
+
<body name="panda_link4" pos="0.0825 0 0" quat="1 1 0 0">
|
| 205 |
+
<inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2"
|
| 206 |
+
fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3"/>
|
| 207 |
+
<joint name="panda_joint4" range="-3.0718 -0.0698"/>
|
| 208 |
+
<geom mesh="link4_0v" material="white" class="visual"/>
|
| 209 |
+
<geom mesh="link4_1v" material="white" class="visual"/>
|
| 210 |
+
<geom mesh="link4_2v" material="black" class="visual"/>
|
| 211 |
+
<geom mesh="link4_3v" material="white" class="visual"/>
|
| 212 |
+
<geom mesh="link4_c" class="collision"/>
|
| 213 |
+
<body name="panda_link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
|
| 214 |
+
<inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2"
|
| 215 |
+
fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4"/>
|
| 216 |
+
<joint name="panda_joint5"/>
|
| 217 |
+
<geom mesh="link5_0v" material="black" class="visual"/>
|
| 218 |
+
<geom mesh="link5_1v" material="white" class="visual"/>
|
| 219 |
+
<geom mesh="link5_2v" material="white" class="visual"/>
|
| 220 |
+
<geom mesh="link5_c0" class="collision"/>
|
| 221 |
+
<geom mesh="link5_c1" class="collision"/>
|
| 222 |
+
<geom mesh="link5_c2" class="collision"/>
|
| 223 |
+
<body name="panda_link6" quat="1 1 0 0">
|
| 224 |
+
<inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2"
|
| 225 |
+
fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4"/>
|
| 226 |
+
<joint name="panda_joint6" range="-0.0175 3.7525"/>
|
| 227 |
+
<geom mesh="link6_0v" material="off_white" class="visual"/>
|
| 228 |
+
<geom mesh="link6_1v" material="white" class="visual"/>
|
| 229 |
+
<geom mesh="link6_2v" material="black" class="visual"/>
|
| 230 |
+
<geom mesh="link6_3v" material="white" class="visual"/>
|
| 231 |
+
<geom mesh="link6_4v" material="white" class="visual"/>
|
| 232 |
+
<geom mesh="link6_5v" material="white" class="visual"/>
|
| 233 |
+
<geom mesh="link6_6v" material="white" class="visual"/>
|
| 234 |
+
<geom mesh="link6_7v" material="light_blue" class="visual"/>
|
| 235 |
+
<geom mesh="link6_8v" material="light_blue" class="visual"/>
|
| 236 |
+
<geom mesh="link6_9v" material="black" class="visual"/>
|
| 237 |
+
<geom mesh="link6_10v" material="black" class="visual"/>
|
| 238 |
+
<geom mesh="link6_11v" material="white" class="visual"/>
|
| 239 |
+
<geom mesh="link6_12v" material="green" class="visual"/>
|
| 240 |
+
<geom mesh="link6_13v" material="white" class="visual"/>
|
| 241 |
+
<geom mesh="link6_14v" material="black" class="visual"/>
|
| 242 |
+
<geom mesh="link6_15v" material="black" class="visual"/>
|
| 243 |
+
<geom mesh="link6_16v" material="white" class="visual"/>
|
| 244 |
+
<geom mesh="link6_c" class="collision"/>
|
| 245 |
+
<body name="panda_link7" pos="0.088 0 0" quat="1 1 0 0">
|
| 246 |
+
<inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2"
|
| 247 |
+
fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4"/>
|
| 248 |
+
<joint name="panda_joint7"/>
|
| 249 |
+
<geom mesh="link7_0v" material="white" class="visual"/>
|
| 250 |
+
<geom mesh="link7_1v" material="black" class="visual"/>
|
| 251 |
+
<geom mesh="link7_2v" material="black" class="visual"/>
|
| 252 |
+
<geom mesh="link7_3v" material="black" class="visual"/>
|
| 253 |
+
<geom mesh="link7_4v" material="black" class="visual"/>
|
| 254 |
+
<geom mesh="link7_5v" material="black" class="visual"/>
|
| 255 |
+
<geom mesh="link7_6v" material="black" class="visual"/>
|
| 256 |
+
<geom mesh="link7_7v" material="white" class="visual"/>
|
| 257 |
+
<geom mesh="link7_c" class="collision"/>
|
| 258 |
+
<body childclass="shadow_hand" name="forearm" pos="0 0 0.064" euler="0 0 -2.35619">
|
| 259 |
+
<inertial pos="0.001 -0.002 0.29" quat="0.982 -0.016 0 -0.188" mass="4" diaginertia="0.01 0.01 0.0075"></inertial>
|
| 260 |
+
<geom class="D_Vizual" pos="0 0.01 0.04" name="V_forearm" mesh="forearm" euler="0 0 1.57"></geom>
|
| 261 |
+
<geom class="DC_Hand" name="C_forearm" type="mesh" mesh="forearm_cvx" pos="0 0.01 0.04" euler="0 0 1.57" rgba="0.4 0.5 0.6 0.7"></geom>
|
| 262 |
+
<body name="wrist" pos="0 0 0.256">
|
| 263 |
+
<inertial pos="0.003 0 0.016" quat="0.504 0.496 0.495 0.504" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
|
| 264 |
+
<joint name="WRJ2" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.489 0.14" damping="0.5" armature="0.005"></joint>
|
| 265 |
+
<geom class="D_Vizual" name="V_wrist" mesh="wrist"></geom>
|
| 266 |
+
<geom class="DC_Hand" name="C_wrist" type="capsule" pos="0 0 0" quat="0.707 0.707 0 0" size="0.015 0.01" rgba="0.4 0.5 0.6 0.1"></geom>
|
| 267 |
+
<body name="palm" pos="0 0 0.034" euler="0 0 3.14159">
|
| 268 |
+
<inertial pos="0.006 0 0.036" quat="0.716 0.044 0.075 0.693" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
|
| 269 |
+
<joint name="WRJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.698 0.489" damping="0.5" armature="0.005"></joint>
|
| 270 |
+
<geom class="D_Vizual" name="V_palm" mesh="palm"></geom>
|
| 271 |
+
<geom class="DC_Hand" name="C_palm0" type="box" pos="0.011 0 0.038" size="0.032 0.0111 0.049" rgba="0.4 0.5 0.6 0.1"></geom>
|
| 272 |
+
<geom class="DC_Hand" name="C_palm1" type="box" pos="-0.032 0 0.014" size="0.011 0.0111 0.025" rgba="0.4 0.5 0.6 0.1"></geom>
|
| 273 |
+
<body name="ffknuckle" pos="-0.033 0 0.095" euler="0 0 3.14159">
|
| 274 |
+
<inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 275 |
+
<joint name="FFJ4" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349"></joint>
|
| 276 |
+
<geom class="D_Vizual" name="V_ffknuckle" mesh="knuckle"></geom>
|
| 277 |
+
<body name="ffproximal" pos="0 0 0" euler="0 0 3.14159">
|
| 278 |
+
<inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 279 |
+
<joint name="FFJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
|
| 280 |
+
<geom class="D_Vizual" name="V_ffproximal" mesh="F3"></geom>
|
| 281 |
+
<geom class="DC_Hand" name="C_ffproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
|
| 282 |
+
<body name="ffmiddle" pos="0 0 0.045" euler="0 0 3.14159">
|
| 283 |
+
<inertial pos="0 0 0.011" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 284 |
+
<joint name="FFJ2" type="hinge" pos="0 0 0" axis="-1 0 0" range="0 1.571"></joint>
|
| 285 |
+
<geom class="D_Vizual" name="V_ffmiddle" mesh="F2"></geom>
|
| 286 |
+
<geom class="DC_Hand" name="C_ffmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
|
| 287 |
+
<body name="ffdistal" pos="0 0 0.025" euler="0 0 3.14159">
|
| 288 |
+
<inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 289 |
+
<joint name="FFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
|
| 290 |
+
<geom class="D_Vizual" name="V_ffdistal" pos="0 0 0.001" mesh="F1"></geom>
|
| 291 |
+
<geom class="DC_Hand" name="C_ffdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
|
| 292 |
+
<site name="S_fftip" pos="0 0 0.026" group="3"></site>
|
| 293 |
+
<site class="D_Touch" name="Tch_fftip"></site>
|
| 294 |
+
</body>
|
| 295 |
+
</body>
|
| 296 |
+
</body>
|
| 297 |
+
</body>
|
| 298 |
+
<body name="mfknuckle" pos="-0.011 0 0.099" euler="0 0 3.14159">
|
| 299 |
+
<inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 300 |
+
<joint name="MFJ4" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349"></joint>
|
| 301 |
+
<geom class="D_Vizual" name="V_mfknuckle" mesh="knuckle"></geom>
|
| 302 |
+
<body name="mfproximal" pos="0 0 0" euler="0 0 3.14159">
|
| 303 |
+
<inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 304 |
+
<joint name="MFJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
|
| 305 |
+
<geom class="D_Vizual" name="V_mfproximal" mesh="F3"></geom>
|
| 306 |
+
<geom class="DC_Hand" name="C_mfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
|
| 307 |
+
<body name="mfmiddle" pos="0 0 0.045" euler="0 0 3.14159">
|
| 308 |
+
<inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 309 |
+
<joint name="MFJ2" type="hinge" pos="0 0 0" axis="-1 0 0" range="0 1.571"></joint>
|
| 310 |
+
<geom class="D_Vizual" name="V_mfmiddle" mesh="F2"></geom>
|
| 311 |
+
<geom class="DC_Hand" name="C_mfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
|
| 312 |
+
<body name="mfdistal" pos="0 0 0.025" euler="0 0 3.14159">
|
| 313 |
+
<inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 314 |
+
<joint name="MFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
|
| 315 |
+
<geom class="D_Vizual" name="V_mfdistal" mesh="F1"></geom>
|
| 316 |
+
<geom class="DC_Hand" name="C_mfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
|
| 317 |
+
<site name="S_mftip" pos="0 0 0.026" group="3"></site>
|
| 318 |
+
<site class="D_Touch" name="Tch_mftip"></site>
|
| 319 |
+
</body>
|
| 320 |
+
</body>
|
| 321 |
+
</body>
|
| 322 |
+
</body>
|
| 323 |
+
<body name="rfknuckle" pos="0.011 0 0.095" euler="0 0 3.14159">
|
| 324 |
+
<inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 325 |
+
<joint name="RFJ4" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349"></joint>
|
| 326 |
+
<geom class="D_Vizual" name="V_rfknuckle" mesh="knuckle"></geom>
|
| 327 |
+
<body name="rfproximal" pos="0 0 0" euler="0 0 3.14159">
|
| 328 |
+
<inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 329 |
+
<joint name="RFJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
|
| 330 |
+
<geom class="D_Vizual" name="V_rfproximal" mesh="F3"></geom>
|
| 331 |
+
<geom class="DC_Hand" name="C_rfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
|
| 332 |
+
<body name="rfmiddle" pos="0 0 0.045" euler="0 0 3.14159">
|
| 333 |
+
<inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 334 |
+
<joint name="RFJ2" type="hinge" pos="0 0 0" axis="-1 0 0" range="0 1.571"></joint>
|
| 335 |
+
<geom class="D_Vizual" name="V_rfmiddle" mesh="F2"></geom>
|
| 336 |
+
<geom class="DC_Hand" name="C_rfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
|
| 337 |
+
<body name="rfdistal" pos="0 0 0.025" euler="0 0 3.14159">
|
| 338 |
+
<inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 339 |
+
<joint name="RFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
|
| 340 |
+
<geom class="D_Vizual" name="V_rfdistal" mesh="F1" pos="0 0 0.001"></geom>
|
| 341 |
+
<geom class="DC_Hand" name="C_rfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
|
| 342 |
+
<site name="S_rftip" pos="0 0 0.026" group="3"></site>
|
| 343 |
+
<site class="D_Touch" name="Tch_rftip"></site>
|
| 344 |
+
</body>
|
| 345 |
+
</body>
|
| 346 |
+
</body>
|
| 347 |
+
</body>
|
| 348 |
+
<body name="lfmetacarpal" pos="0.017 0 0.044" euler="0 0 3.14159">
|
| 349 |
+
<inertial pos="-0.014 0.001 0.014" quat="0.709 -0.092 -0.063 0.696" mass="0.075" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 350 |
+
<joint name="LFJ5" type="hinge" pos="0 0 0" axis="-0.571 0 -0.821" range="0 0.785"></joint>
|
| 351 |
+
<geom class="D_Vizual" name="V_lfmetacarpal" pos="-0.016 0 -0.023" mesh="lfmetacarpal"></geom>
|
| 352 |
+
<geom class="DC_Hand" name="C_lfmetacarpal" type="box" pos="-0.0165 0 0.01" size="0.0095 0.0111 0.025" rgba="0.4 0.5 0.6 0.2"></geom>
|
| 353 |
+
<body name="lfknuckle" pos="-0.017 0 0.044" euler="0 0 3.14159">
|
| 354 |
+
<inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 355 |
+
<joint name="LFJ4" type="hinge" pos="0 0 0" axis="0 -1 0" range="-0.349 0.349"></joint>
|
| 356 |
+
<geom class="D_Vizual" name="V_lfknuckle" mesh="knuckle"></geom>
|
| 357 |
+
<body name="lfproximal" pos="0 0 0" euler="0 0 3.14159">
|
| 358 |
+
<inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 359 |
+
<joint name="LFJ3" type="hinge" pos="0 0 0" axis="-1 0 0" range="0 1.571"></joint>
|
| 360 |
+
<geom class="D_Vizual" name="V_lfproximal" mesh="F3"></geom>
|
| 361 |
+
<geom class="DC_Hand" name="C_lfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
|
| 362 |
+
<body name="lfmiddle" pos="0 0 0.045" euler="0 0 3.14159">
|
| 363 |
+
<inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 364 |
+
<joint name="LFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
|
| 365 |
+
<geom class="D_Vizual" name="V_lfmiddle" mesh="F2"></geom>
|
| 366 |
+
<geom class="DC_Hand" name="C_lfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
|
| 367 |
+
<body name="lfdistal" pos="0 0 0.025" euler="0 0 3.14159">
|
| 368 |
+
<inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 369 |
+
<joint name="LFJ1" type="hinge" pos="0 0 0" axis="-1 0 0" range="0 1.571"></joint>
|
| 370 |
+
<geom class="D_Vizual" name="V_lfdistal" mesh="F1" pos="0 0 0.001"></geom>
|
| 371 |
+
<geom class="DC_Hand" name="C_lfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
|
| 372 |
+
<site name="S_lftip" pos="0 0 0.026" group="3"></site>
|
| 373 |
+
<site class="D_Touch" name="Tch_lftip"></site>
|
| 374 |
+
</body>
|
| 375 |
+
</body>
|
| 376 |
+
</body>
|
| 377 |
+
</body>
|
| 378 |
+
</body>
|
| 379 |
+
<body name="thbase" pos="-0.034 -0.009 0.029" euler="0 -0.785398163397 3.14159265359">
|
| 380 |
+
<inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 381 |
+
<joint name="THJ5" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.047 1.047"></joint>
|
| 382 |
+
<geom name="V_thbase" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
|
| 383 |
+
<body name="thproximal" pos="0 0 0" euler="0 0 3.14159">
|
| 384 |
+
<inertial pos="0 0 0.017" quat="0.982 0 0.001 0.191" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 385 |
+
<joint name="THJ4" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.222"></joint>
|
| 386 |
+
<geom class="D_Vizual" name="V_thproximal" mesh="TH3_z"></geom>
|
| 387 |
+
<geom class="DC_Hand" name="C_thproximal" type="capsule" pos="0 0 0.019" size="0.013 0.019" rgba="0.4 0.5 0.6 0.1"></geom>
|
| 388 |
+
<body name="thhub" pos="0 0 0.038" euler="0 0 3.14159">
|
| 389 |
+
<inertial pos="0 0 0" mass="0.002" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 390 |
+
<joint name="THJ3" type="hinge" pos="0 0 0" axis="-1 0 0" range="-0.209 0.209"></joint>
|
| 391 |
+
<geom name="V_thhub" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
|
| 392 |
+
<body name="thmiddle" pos="0 0 0" euler="0 0 3.14159">
|
| 393 |
+
<inertial pos="0 0 0.016" quat="1 -0.001 -0.007 0.003" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 394 |
+
<joint name="THJ2" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.524 0.524"></joint>
|
| 395 |
+
<geom class="D_Vizual" name="V_thmiddle" mesh="TH2_z"></geom>
|
| 396 |
+
<geom class="DC_Hand" name="C_thmiddle" type="capsule" pos="0 0 0.016" size="0.011 0.016"></geom>
|
| 397 |
+
<body name="thdistal" pos="0 0 0.032" euler="0 0 3.14159">
|
| 398 |
+
<inertial pos="0 0 0.016" quat="0.999 -0.005 -0.047 0.005" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 399 |
+
<joint name="THJ1" type="hinge" pos="0 0 0" axis="0 -1 0" range="0 1.571"></joint>
|
| 400 |
+
<geom class="D_Vizual" name="V_thdistal" mesh="TH1_z"></geom>
|
| 401 |
+
<geom class="DC_Hand" name="C_thdistal" type="capsule" pos="0 0 0.013" size="0.00918 0.013" condim="4"></geom>
|
| 402 |
+
<site name="S_thtip" pos="0 0 0.0275" group="3"></site>
|
| 403 |
+
<site class="D_Touch" name="Tch_thtip" size="0.005 0.011 0.016" pos="-0.005 0 0.02"></site>
|
| 404 |
+
</body>
|
| 405 |
+
</body>
|
| 406 |
+
</body>
|
| 407 |
+
</body>
|
| 408 |
+
</body>
|
| 409 |
+
</body>
|
| 410 |
+
</body>
|
| 411 |
+
</body>
|
| 412 |
+
</body>
|
| 413 |
+
</body>
|
| 414 |
+
</body>
|
| 415 |
+
</body>
|
| 416 |
+
</body>
|
| 417 |
+
</body>
|
| 418 |
+
</body>
|
| 419 |
+
</body>
|
| 420 |
+
</worldbody>
|
| 421 |
+
|
| 422 |
+
<tendon>
|
| 423 |
+
<fixed name="T_FFJ1c" limited="true" range="-0.001 0.001">
|
| 424 |
+
<joint joint="FFJ1" coef="0.00705"></joint>
|
| 425 |
+
<joint joint="FFJ2" coef="-0.00805"></joint>
|
| 426 |
+
</fixed>
|
| 427 |
+
<fixed name="T_MFJ1c" limited="true" range="-0.001 0.001">
|
| 428 |
+
<joint joint="MFJ1" coef="0.00705"></joint>
|
| 429 |
+
<joint joint="MFJ2" coef="-0.00805"></joint>
|
| 430 |
+
</fixed>
|
| 431 |
+
<fixed name="T_RFJ1c" limited="true" range="-0.001 0.001">
|
| 432 |
+
<joint joint="RFJ1" coef="0.00705"></joint>
|
| 433 |
+
<joint joint="RFJ2" coef="-0.00805"></joint>
|
| 434 |
+
</fixed>
|
| 435 |
+
<fixed name="T_LFJ1c" limited="true" range="-0.001 0.001">
|
| 436 |
+
<joint joint="LFJ1" coef="0.00705"></joint>
|
| 437 |
+
<joint joint="LFJ2" coef="-0.00805"></joint>
|
| 438 |
+
</fixed>
|
| 439 |
+
</tendon>
|
| 440 |
+
|
| 441 |
+
<actuator>
|
| 442 |
+
<position name="panda_joint1" class="panda" joint="panda_joint1" ctrlrange="-2.8973 2.8973" kp="10000" forcerange="-40 40"></position>
|
| 443 |
+
<position name="panda_joint2" class="panda" joint="panda_joint2" ctrlrange="-1.7628 1.7628" kp="10000" forcerange="-40 40"></position>
|
| 444 |
+
<position name="panda_joint3" class="panda" joint="panda_joint3" ctrlrange="-2.8973 2.8973" kp="10000" forcerange="-40 40"></position>
|
| 445 |
+
<position name="panda_joint4" class="panda" joint="panda_joint4" ctrlrange="-3.0718 -0.0698" kp="10000" forcerange="-40 40"></position>
|
| 446 |
+
<position name="panda_joint5" class="panda" joint="panda_joint5" ctrlrange="-2.8973 2.8973" kp="10000" forcerange="-40 40"></position>
|
| 447 |
+
<position name="panda_joint6" class="panda" joint="panda_joint6" ctrlrange="-0.0175 3.7525" kp="10000" forcerange="-40 40"></position>
|
| 448 |
+
<position name="panda_joint7" class="panda" joint="panda_joint7" ctrlrange="-2.8973 2.8973" kp="10000" forcerange="-40 40"></position>
|
| 449 |
+
<position name="WRJ2" class="shadow_hand" joint="WRJ2" ctrlrange="-0.489 0.14" kp="5" forcerange="-4.785 4.785"></position>
|
| 450 |
+
<position name="WRJ1" class="shadow_hand" joint="WRJ1" ctrlrange="-0.698 0.489" kp="5" forcerange="-2.175 2.175"></position>
|
| 451 |
+
<position name="FFJ4" class="shadow_hand" joint="FFJ4" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
|
| 452 |
+
<position name="FFJ3" class="shadow_hand" joint="FFJ3" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
|
| 453 |
+
<position name="FFJ2" class="shadow_hand" joint="FFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
|
| 454 |
+
<position name="MFJ4" class="shadow_hand" joint="MFJ4" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
|
| 455 |
+
<position name="MFJ3" class="shadow_hand" joint="MFJ3" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
|
| 456 |
+
<position name="MFJ2" class="shadow_hand" joint="MFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
|
| 457 |
+
<position name="RFJ4" class="shadow_hand" joint="RFJ4" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
|
| 458 |
+
<position name="RFJ3" class="shadow_hand" joint="RFJ3" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
|
| 459 |
+
<position name="RFJ2" class="shadow_hand" joint="RFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
|
| 460 |
+
<position name="LFJ5" class="shadow_hand" joint="LFJ5" ctrlrange="0 0.785" kp="1" forcerange="-0.9 0.9"></position>
|
| 461 |
+
<position name="LFJ4" class="shadow_hand" joint="LFJ4" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
|
| 462 |
+
<position name="LFJ3" class="shadow_hand" joint="LFJ3" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
|
| 463 |
+
<position name="LFJ2" class="shadow_hand" joint="LFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
|
| 464 |
+
<position name="THJ5" class="shadow_hand" joint="THJ5" ctrlrange="-1.047 1.047" kp="1" forcerange="-2.3722 2.3722"></position>
|
| 465 |
+
<position name="THJ4" class="shadow_hand" joint="THJ4" ctrlrange="0 1.222" kp="1" forcerange="-1.45 1.45"></position>
|
| 466 |
+
<position name="THJ3" class="shadow_hand" joint="THJ3" ctrlrange="-0.209 0.209" kp="1" forcerange="-0.99 0.99"></position>
|
| 467 |
+
<position name="THJ2" class="shadow_hand" joint="THJ2" ctrlrange="-0.524 0.524" kp="1" forcerange="-0.99 0.99"></position>
|
| 468 |
+
<position name="THJ1" class="shadow_hand" joint="THJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.81 0.81"></position>
|
| 469 |
+
</actuator>
|
| 470 |
+
</mujoco>
|
robots/franka_shadow_hand/mjcf/franka_shadow_right.xml
ADDED
|
@@ -0,0 +1,470 @@
|
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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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
| 1 |
+
<mujoco model="franka_shadow_right">
|
| 2 |
+
<compiler angle="radian" coordinate="local" meshdir="meshes"/>
|
| 3 |
+
|
| 4 |
+
<option timestep="0.002" iterations="20" apirate="200">
|
| 5 |
+
<flag warmstart="enable"></flag>
|
| 6 |
+
</option>
|
| 7 |
+
|
| 8 |
+
<default>
|
| 9 |
+
<default class="panda">
|
| 10 |
+
<material specular="0.5" shininess="0.25"/>
|
| 11 |
+
<joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
|
| 12 |
+
<general ctrllimited="true" forcelimited="true"></general>
|
| 13 |
+
<default class="finger">
|
| 14 |
+
<joint axis="0 1 0" type="slide" range="0 0.04"/>
|
| 15 |
+
</default>
|
| 16 |
+
|
| 17 |
+
<default class="visual">
|
| 18 |
+
<geom type="mesh" group="2" contype="0" conaffinity="0"/>
|
| 19 |
+
</default>
|
| 20 |
+
<default class="collision">
|
| 21 |
+
<geom type="mesh" group="3"/>
|
| 22 |
+
</default>
|
| 23 |
+
</default>
|
| 24 |
+
<default class="shadow_hand">
|
| 25 |
+
<geom friction="1 0.005 0.001" condim="3" margin="0.0005" contype="1" conaffinity="1"></geom>
|
| 26 |
+
<joint limited="true" damping="0.1" armature="0.001" margin="0.01" frictionloss="0.001"></joint>
|
| 27 |
+
<site size="0.005" rgba="0.4 0.9 0.4 1"></site>
|
| 28 |
+
<general ctrllimited="true" forcelimited="true"></general>
|
| 29 |
+
</default>
|
| 30 |
+
<default class="D_Touch">
|
| 31 |
+
<site type="box" size="0.009 0.004 0.013" pos="0 -0.004 0.018" rgba="0.8 0.8 0.8 0.15" group="4"></site>
|
| 32 |
+
</default>
|
| 33 |
+
<default class="DC_Hand">
|
| 34 |
+
<geom material="MatColl" contype="1" conaffinity="0" group="4"></geom>
|
| 35 |
+
</default>
|
| 36 |
+
<default class="D_Vizual">
|
| 37 |
+
<geom material="MatViz" contype="0" conaffinity="0" group="1" type="mesh"></geom>
|
| 38 |
+
</default>
|
| 39 |
+
<default class="free">
|
| 40 |
+
<joint type="free" damping="0" armature="0" limited="false"></joint>
|
| 41 |
+
</default>
|
| 42 |
+
</default>
|
| 43 |
+
|
| 44 |
+
<contact>
|
| 45 |
+
<pair geom1="C_ffdistal" geom2="C_thdistal" condim="1"></pair>
|
| 46 |
+
<pair geom1="C_ffmiddle" geom2="C_thdistal" condim="1"></pair>
|
| 47 |
+
<pair geom1="C_ffproximal" geom2="C_thdistal" condim="1"></pair>
|
| 48 |
+
<pair geom1="C_mfproximal" geom2="C_thdistal" condim="1"></pair>
|
| 49 |
+
<pair geom1="C_mfdistal" geom2="C_thdistal" condim="1"></pair>
|
| 50 |
+
<pair geom1="C_rfdistal" geom2="C_thdistal" condim="1"></pair>
|
| 51 |
+
<pair geom1="C_lfdistal" geom2="C_thdistal" condim="1"></pair>
|
| 52 |
+
<pair geom1="C_palm0" geom2="C_thdistal" condim="1"></pair>
|
| 53 |
+
<pair geom1="C_mfdistal" geom2="C_ffdistal" condim="1"></pair>
|
| 54 |
+
<pair geom1="C_rfdistal" geom2="C_mfdistal" condim="1"></pair>
|
| 55 |
+
<pair geom1="C_lfdistal" geom2="C_rfdistal" condim="1"></pair>
|
| 56 |
+
<pair geom1="C_mfproximal" geom2="C_ffproximal" condim="1"></pair>
|
| 57 |
+
<pair geom1="C_rfproximal" geom2="C_mfproximal" condim="1"></pair>
|
| 58 |
+
<pair geom1="C_lfproximal" geom2="C_rfproximal" condim="1"></pair>
|
| 59 |
+
<pair geom1="C_lfdistal" geom2="C_rfdistal" condim="1"></pair>
|
| 60 |
+
<pair geom1="C_lfdistal" geom2="C_mfdistal" condim="1"></pair>
|
| 61 |
+
<pair geom1="C_lfdistal" geom2="C_rfmiddle" condim="1"></pair>
|
| 62 |
+
<pair geom1="C_lfmiddle" geom2="C_rfdistal" condim="1"></pair>
|
| 63 |
+
<pair geom1="C_lfmiddle" geom2="C_rfmiddle" condim="1"></pair>
|
| 64 |
+
</contact>
|
| 65 |
+
|
| 66 |
+
<asset>
|
| 67 |
+
<material class="panda" name="white" rgba="1 1 1 1"/>
|
| 68 |
+
<material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
|
| 69 |
+
<material class="panda" name="black" rgba="0.25 0.25 0.25 1"/>
|
| 70 |
+
<material class="panda" name="green" rgba="0 1 0 1"/>
|
| 71 |
+
<material class="panda" name="light_blue" rgba="0.039216 0.541176 0.780392 1"/>
|
| 72 |
+
|
| 73 |
+
<!-- Collision meshes -->
|
| 74 |
+
<mesh name="link0_c" file="link0.obj"/>
|
| 75 |
+
<mesh name="link1_c" file="link1.obj"/>
|
| 76 |
+
<mesh name="link2_c" file="link2.obj"/>
|
| 77 |
+
<mesh name="link3_c" file="link3.obj"/>
|
| 78 |
+
<mesh name="link4_c" file="link4.obj"/>
|
| 79 |
+
<mesh name="link5_c0" file="link5_collision_0.obj"/>
|
| 80 |
+
<mesh name="link5_c1" file="link5_collision_1.obj"/>
|
| 81 |
+
<mesh name="link5_c2" file="link5_collision_2.obj"/>
|
| 82 |
+
<mesh name="link6_c" file="link6.obj"/>
|
| 83 |
+
<mesh name="link7_c" file="link7.obj"/>
|
| 84 |
+
|
| 85 |
+
<!-- Visual meshes -->
|
| 86 |
+
<mesh name = "link0_0v" file="link0_0.obj"/>
|
| 87 |
+
<mesh name = "link0_1v" file="link0_1.obj"/>
|
| 88 |
+
<mesh name = "link0_2v" file="link0_2.obj"/>
|
| 89 |
+
<mesh name = "link0_3v" file="link0_3.obj"/>
|
| 90 |
+
<mesh name = "link0_4v" file="link0_4.obj"/>
|
| 91 |
+
<mesh name = "link0_5v" file="link0_5.obj"/>
|
| 92 |
+
<mesh name = "link0_7v" file="link0_7.obj"/>
|
| 93 |
+
<mesh name = "link0_8v" file="link0_8.obj"/>
|
| 94 |
+
<mesh name = "link0_9v" file="link0_9.obj"/>
|
| 95 |
+
<mesh name = "link0_10v" file="link0_10.obj"/>
|
| 96 |
+
<mesh name = "link0_11v" file="link0_11.obj"/>
|
| 97 |
+
<mesh name = "link1v" file="link1.obj"/>
|
| 98 |
+
<mesh name = "link2v" file="link2.obj"/>
|
| 99 |
+
<mesh name = "link3_0v" file="link3_0.obj"/>
|
| 100 |
+
<mesh name = "link3_1v" file="link3_1.obj"/>
|
| 101 |
+
<mesh name = "link3_2v" file="link3_2.obj"/>
|
| 102 |
+
<mesh name = "link3_3v" file="link3_3.obj"/>
|
| 103 |
+
<mesh name = "link4_0v" file="link4_0.obj"/>
|
| 104 |
+
<mesh name = "link4_1v" file="link4_1.obj"/>
|
| 105 |
+
<mesh name = "link4_2v" file="link4_2.obj"/>
|
| 106 |
+
<mesh name = "link4_3v" file="link4_3.obj"/>
|
| 107 |
+
<mesh name = "link5_0v" file="link5_0.obj"/>
|
| 108 |
+
<mesh name = "link5_1v" file="link5_1.obj"/>
|
| 109 |
+
<mesh name = "link5_2v" file="link5_2.obj"/>
|
| 110 |
+
<mesh name = "link6_0v" file="link6_0.obj"/>
|
| 111 |
+
<mesh name = "link6_1v" file="link6_1.obj"/>
|
| 112 |
+
<mesh name = "link6_2v" file="link6_2.obj"/>
|
| 113 |
+
<mesh name = "link6_3v" file="link6_3.obj"/>
|
| 114 |
+
<mesh name = "link6_4v" file="link6_4.obj"/>
|
| 115 |
+
<mesh name = "link6_5v" file="link6_5.obj"/>
|
| 116 |
+
<mesh name = "link6_6v" file="link6_6.obj"/>
|
| 117 |
+
<mesh name = "link6_7v" file="link6_7.obj"/>
|
| 118 |
+
<mesh name = "link6_8v" file="link6_8.obj"/>
|
| 119 |
+
<mesh name = "link6_9v" file="link6_9.obj"/>
|
| 120 |
+
<mesh name = "link6_10v" file="link6_10.obj"/>
|
| 121 |
+
<mesh name = "link6_11v" file="link6_11.obj"/>
|
| 122 |
+
<mesh name = "link6_12v" file="link6_12.obj"/>
|
| 123 |
+
<mesh name = "link6_13v" file="link6_13.obj"/>
|
| 124 |
+
<mesh name = "link6_14v" file="link6_14.obj"/>
|
| 125 |
+
<mesh name = "link6_15v" file="link6_15.obj"/>
|
| 126 |
+
<mesh name = "link6_16v" file="link6_16.obj"/>
|
| 127 |
+
<mesh name = "link7_0v" file="link7_0.obj"/>
|
| 128 |
+
<mesh name = "link7_1v" file="link7_1.obj"/>
|
| 129 |
+
<mesh name = "link7_2v" file="link7_2.obj"/>
|
| 130 |
+
<mesh name = "link7_3v" file="link7_3.obj"/>
|
| 131 |
+
<mesh name = "link7_4v" file="link7_4.obj"/>
|
| 132 |
+
<mesh name = "link7_5v" file="link7_5.obj"/>
|
| 133 |
+
<mesh name = "link7_6v" file="link7_6.obj"/>
|
| 134 |
+
<mesh name = "link7_7v" file="link7_7.obj"/>
|
| 135 |
+
<mesh name = "hand_0v" file="hand_0.obj"/>
|
| 136 |
+
<mesh name = "hand_1v" file="hand_1.obj"/>
|
| 137 |
+
<mesh name = "hand_2v" file="hand_2.obj"/>
|
| 138 |
+
<mesh name = "hand_3v" file="hand_3.obj"/>
|
| 139 |
+
<mesh name = "hand_4v" file="hand_4.obj"/>
|
| 140 |
+
|
| 141 |
+
<!-- shadow hand meshes -->
|
| 142 |
+
<texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="32"></texture>
|
| 143 |
+
|
| 144 |
+
<texture name="texplane" type="2d" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.15 0.2" width="512" height="512"></texture>
|
| 145 |
+
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="127" rgb1="0.3 0.6 0.5" rgb2="0.3 0.6 0.5" markrgb="0 0 0" random="0.01"></texture>
|
| 146 |
+
|
| 147 |
+
<material name="MatGnd" reflectance="0.5" texture="texplane" texrepeat="1 1" texuniform="true"></material>
|
| 148 |
+
<material name="MatColl" specular="1" shininess="0.3" reflectance="0.5" rgba="0.4 0.5 0.6 1"></material>
|
| 149 |
+
<material name="MatViz" specular="0.75" shininess="0.1" reflectance="0.5" rgba="0.93 0.93 0.93 1"></material>
|
| 150 |
+
<material name="object" texture="texgeom" texuniform="false"></material>
|
| 151 |
+
<material name="floor_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 0"></material>
|
| 152 |
+
|
| 153 |
+
<mesh name="forearm" file="forearm_electric.obj"></mesh>
|
| 154 |
+
<mesh name="forearm_cvx" file="forearm_electric_cvx.obj"></mesh>
|
| 155 |
+
<mesh name="wrist" file="wrist.obj"></mesh>
|
| 156 |
+
<mesh name="palm" file="palm.obj"></mesh>
|
| 157 |
+
<mesh name="knuckle" file="knuckle.obj"></mesh>
|
| 158 |
+
<mesh name="F3" file="F3.obj"></mesh>
|
| 159 |
+
<mesh name="F2" file="F2.obj"></mesh>
|
| 160 |
+
<mesh name="F1" file="F1.obj"></mesh>
|
| 161 |
+
<mesh name="lfmetacarpal" file="lfmetacarpal.obj"></mesh>
|
| 162 |
+
<mesh name="TH3_z" file="TH3_z.obj"></mesh>
|
| 163 |
+
<mesh name="TH2_z" file="TH2_z.obj"></mesh>
|
| 164 |
+
<mesh name="TH1_z" file="TH1_z.obj"></mesh>
|
| 165 |
+
</asset>
|
| 166 |
+
|
| 167 |
+
<worldbody>
|
| 168 |
+
<body name="panda_link0" childclass="panda">
|
| 169 |
+
<inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
|
| 170 |
+
fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6"/>
|
| 171 |
+
<geom mesh="link0_0v" material="off_white" class="visual"/>
|
| 172 |
+
<geom mesh="link0_1v" material="black" class="visual"/>
|
| 173 |
+
<geom mesh="link0_2v" material="off_white" class="visual"/>
|
| 174 |
+
<geom mesh="link0_3v" material="black" class="visual"/>
|
| 175 |
+
<geom mesh="link0_4v" material="off_white" class="visual"/>
|
| 176 |
+
<geom mesh="link0_5v" material="black" class="visual"/>
|
| 177 |
+
<geom mesh="link0_7v" material="white" class="visual"/>
|
| 178 |
+
<geom mesh="link0_8v" material="white" class="visual"/>
|
| 179 |
+
<geom mesh="link0_9v" material="black" class="visual"/>
|
| 180 |
+
<geom mesh="link0_10v" material="off_white" class="visual"/>
|
| 181 |
+
<geom mesh="link0_11v" material="white" class="visual"/>
|
| 182 |
+
<geom mesh="link0_c" class="collision"/>
|
| 183 |
+
<body name="panda_link1" pos="0 0 0.333">
|
| 184 |
+
<inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
|
| 185 |
+
fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169"/>
|
| 186 |
+
<joint name="panda_joint1"/>
|
| 187 |
+
<geom material="white" mesh="link1v" class="visual"/>
|
| 188 |
+
<geom mesh="link1_c" class="collision"/>
|
| 189 |
+
<body name="panda_link2" quat="1 -1 0 0">
|
| 190 |
+
<inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495"
|
| 191 |
+
fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4"/>
|
| 192 |
+
<joint name="panda_joint2" range="-1.7628 1.7628"/>
|
| 193 |
+
<geom material="white" mesh="link2v" class="visual"/>
|
| 194 |
+
<geom mesh="link2_c" class="collision"/>
|
| 195 |
+
<body name="panda_link3" pos="0 -0.316 0" quat="1 1 0 0">
|
| 196 |
+
<joint name="panda_joint3"/>
|
| 197 |
+
<inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2"
|
| 198 |
+
fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2"/>
|
| 199 |
+
<geom mesh="link3_0v" material="white" class="visual"/>
|
| 200 |
+
<geom mesh="link3_1v" material="white" class="visual"/>
|
| 201 |
+
<geom mesh="link3_2v" material="white" class="visual"/>
|
| 202 |
+
<geom mesh="link3_3v" material="black" class="visual"/>
|
| 203 |
+
<geom mesh="link3_c" class="collision"/>
|
| 204 |
+
<body name="panda_link4" pos="0.0825 0 0" quat="1 1 0 0">
|
| 205 |
+
<inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2"
|
| 206 |
+
fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3"/>
|
| 207 |
+
<joint name="panda_joint4" range="-3.0718 -0.0698"/>
|
| 208 |
+
<geom mesh="link4_0v" material="white" class="visual"/>
|
| 209 |
+
<geom mesh="link4_1v" material="white" class="visual"/>
|
| 210 |
+
<geom mesh="link4_2v" material="black" class="visual"/>
|
| 211 |
+
<geom mesh="link4_3v" material="white" class="visual"/>
|
| 212 |
+
<geom mesh="link4_c" class="collision"/>
|
| 213 |
+
<body name="panda_link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
|
| 214 |
+
<inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2"
|
| 215 |
+
fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4"/>
|
| 216 |
+
<joint name="panda_joint5"/>
|
| 217 |
+
<geom mesh="link5_0v" material="black" class="visual"/>
|
| 218 |
+
<geom mesh="link5_1v" material="white" class="visual"/>
|
| 219 |
+
<geom mesh="link5_2v" material="white" class="visual"/>
|
| 220 |
+
<geom mesh="link5_c0" class="collision"/>
|
| 221 |
+
<geom mesh="link5_c1" class="collision"/>
|
| 222 |
+
<geom mesh="link5_c2" class="collision"/>
|
| 223 |
+
<body name="panda_link6" quat="1 1 0 0">
|
| 224 |
+
<inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2"
|
| 225 |
+
fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4"/>
|
| 226 |
+
<joint name="panda_joint6" range="-0.0175 3.7525"/>
|
| 227 |
+
<geom mesh="link6_0v" material="off_white" class="visual"/>
|
| 228 |
+
<geom mesh="link6_1v" material="white" class="visual"/>
|
| 229 |
+
<geom mesh="link6_2v" material="black" class="visual"/>
|
| 230 |
+
<geom mesh="link6_3v" material="white" class="visual"/>
|
| 231 |
+
<geom mesh="link6_4v" material="white" class="visual"/>
|
| 232 |
+
<geom mesh="link6_5v" material="white" class="visual"/>
|
| 233 |
+
<geom mesh="link6_6v" material="white" class="visual"/>
|
| 234 |
+
<geom mesh="link6_7v" material="light_blue" class="visual"/>
|
| 235 |
+
<geom mesh="link6_8v" material="light_blue" class="visual"/>
|
| 236 |
+
<geom mesh="link6_9v" material="black" class="visual"/>
|
| 237 |
+
<geom mesh="link6_10v" material="black" class="visual"/>
|
| 238 |
+
<geom mesh="link6_11v" material="white" class="visual"/>
|
| 239 |
+
<geom mesh="link6_12v" material="green" class="visual"/>
|
| 240 |
+
<geom mesh="link6_13v" material="white" class="visual"/>
|
| 241 |
+
<geom mesh="link6_14v" material="black" class="visual"/>
|
| 242 |
+
<geom mesh="link6_15v" material="black" class="visual"/>
|
| 243 |
+
<geom mesh="link6_16v" material="white" class="visual"/>
|
| 244 |
+
<geom mesh="link6_c" class="collision"/>
|
| 245 |
+
<body name="panda_link7" pos="0.088 0 0" quat="1 1 0 0">
|
| 246 |
+
<inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2"
|
| 247 |
+
fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4"/>
|
| 248 |
+
<joint name="panda_joint7"/>
|
| 249 |
+
<geom mesh="link7_0v" material="white" class="visual"/>
|
| 250 |
+
<geom mesh="link7_1v" material="black" class="visual"/>
|
| 251 |
+
<geom mesh="link7_2v" material="black" class="visual"/>
|
| 252 |
+
<geom mesh="link7_3v" material="black" class="visual"/>
|
| 253 |
+
<geom mesh="link7_4v" material="black" class="visual"/>
|
| 254 |
+
<geom mesh="link7_5v" material="black" class="visual"/>
|
| 255 |
+
<geom mesh="link7_6v" material="black" class="visual"/>
|
| 256 |
+
<geom mesh="link7_7v" material="white" class="visual"/>
|
| 257 |
+
<geom mesh="link7_c" class="collision"/>
|
| 258 |
+
<body childclass="shadow_hand" name="forearm" pos="0 0 0.064" euler="0 0 -2.35619">
|
| 259 |
+
<inertial pos="0.001 -0.002 0.29" quat="0.982 -0.016 0 -0.188" mass="4" diaginertia="0.01 0.01 0.0075"></inertial>
|
| 260 |
+
<geom class="D_Vizual" pos="0 0.01 0.04" name="V_forearm" mesh="forearm" euler="0 0 1.57"></geom>
|
| 261 |
+
<geom class="DC_Hand" name="C_forearm" type="mesh" mesh="forearm_cvx" pos="0 0.01 0.04" euler="0 0 1.57" rgba="0.4 0.5 0.6 0.7"></geom>
|
| 262 |
+
<body name="wrist" pos="0 0 0.256">
|
| 263 |
+
<inertial pos="0.003 0 0.016" quat="0.504 0.496 0.495 0.504" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
|
| 264 |
+
<joint name="WRJ2" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.489 0.14" damping="0.5" armature="0.005"></joint>
|
| 265 |
+
<geom class="D_Vizual" name="V_wrist" mesh="wrist"></geom>
|
| 266 |
+
<geom class="DC_Hand" name="C_wrist" type="capsule" pos="0 0 0" quat="0.707 0.707 0 0" size="0.015 0.01" rgba="0.4 0.5 0.6 0.1"></geom>
|
| 267 |
+
<body name="palm" pos="0 0 0.034">
|
| 268 |
+
<inertial pos="0.006 0 0.036" quat="0.716 0.044 0.075 0.693" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
|
| 269 |
+
<joint name="WRJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.698 0.489" damping="0.5" armature="0.005"></joint>
|
| 270 |
+
<geom class="D_Vizual" name="V_palm" mesh="palm"></geom>
|
| 271 |
+
<geom class="DC_Hand" name="C_palm0" type="box" pos="0.011 0 0.038" size="0.032 0.0111 0.049" rgba="0.4 0.5 0.6 0.1"></geom>
|
| 272 |
+
<geom class="DC_Hand" name="C_palm1" type="box" pos="-0.032 0 0.014" size="0.011 0.0111 0.025" rgba="0.4 0.5 0.6 0.1"></geom>
|
| 273 |
+
<body name="ffknuckle" pos="0.033 0 0.095">
|
| 274 |
+
<inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 275 |
+
<joint name="FFJ4" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349"></joint>
|
| 276 |
+
<geom class="D_Vizual" name="V_ffknuckle" mesh="knuckle"></geom>
|
| 277 |
+
<body name="ffproximal" pos="0 0 0">
|
| 278 |
+
<inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 279 |
+
<joint name="FFJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
|
| 280 |
+
<geom class="D_Vizual" name="V_ffproximal" mesh="F3"></geom>
|
| 281 |
+
<geom class="DC_Hand" name="C_ffproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
|
| 282 |
+
<body name="ffmiddle" pos="0 0 0.045">
|
| 283 |
+
<inertial pos="0 0 0.011" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 284 |
+
<joint name="FFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
|
| 285 |
+
<geom class="D_Vizual" name="V_ffmiddle" mesh="F2"></geom>
|
| 286 |
+
<geom class="DC_Hand" name="C_ffmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
|
| 287 |
+
<body name="ffdistal" pos="0 0 0.025">
|
| 288 |
+
<inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 289 |
+
<joint name="FFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
|
| 290 |
+
<geom class="D_Vizual" name="V_ffdistal" pos="0 0 0.001" mesh="F1"></geom>
|
| 291 |
+
<geom class="DC_Hand" name="C_ffdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
|
| 292 |
+
<site name="S_fftip" pos="0 0 0.026" group="3"></site>
|
| 293 |
+
<site class="D_Touch" name="Tch_fftip"></site>
|
| 294 |
+
</body>
|
| 295 |
+
</body>
|
| 296 |
+
</body>
|
| 297 |
+
</body>
|
| 298 |
+
<body name="mfknuckle" pos="0.011 0 0.099">
|
| 299 |
+
<inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 300 |
+
<joint name="MFJ4" type="hinge" pos="0 0 0" axis="0 -1 0" range="-0.349 0.349"></joint>
|
| 301 |
+
<geom class="D_Vizual" name="V_mfknuckle" mesh="knuckle"></geom>
|
| 302 |
+
<body name="mfproximal" pos="0 0 0">
|
| 303 |
+
<inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 304 |
+
<joint name="MFJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
|
| 305 |
+
<geom class="D_Vizual" name="V_mfproximal" mesh="F3"></geom>
|
| 306 |
+
<geom class="DC_Hand" name="C_mfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
|
| 307 |
+
<body name="mfmiddle" pos="0 0 0.045">
|
| 308 |
+
<inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 309 |
+
<joint name="MFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
|
| 310 |
+
<geom class="D_Vizual" name="V_mfmiddle" mesh="F2"></geom>
|
| 311 |
+
<geom class="DC_Hand" name="C_mfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
|
| 312 |
+
<body name="mfdistal" pos="0 0 0.025">
|
| 313 |
+
<inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 314 |
+
<joint name="MFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
|
| 315 |
+
<geom class="D_Vizual" name="V_mfdistal" mesh="F1"></geom>
|
| 316 |
+
<geom class="DC_Hand" name="C_mfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
|
| 317 |
+
<site name="S_mftip" pos="0 0 0.026" group="3"></site>
|
| 318 |
+
<site class="D_Touch" name="Tch_mftip"></site>
|
| 319 |
+
</body>
|
| 320 |
+
</body>
|
| 321 |
+
</body>
|
| 322 |
+
</body>
|
| 323 |
+
<body name="rfknuckle" pos="-0.011 0 0.095">
|
| 324 |
+
<inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 325 |
+
<joint name="RFJ4" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349"></joint>
|
| 326 |
+
<geom class="D_Vizual" name="V_rfknuckle" mesh="knuckle"></geom>
|
| 327 |
+
<body name="rfproximal" pos="0 0 0">
|
| 328 |
+
<inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 329 |
+
<joint name="RFJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
|
| 330 |
+
<geom class="D_Vizual" name="V_rfproximal" mesh="F3"></geom>
|
| 331 |
+
<geom class="DC_Hand" name="C_rfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
|
| 332 |
+
<body name="rfmiddle" pos="0 0 0.045">
|
| 333 |
+
<inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 334 |
+
<joint name="RFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
|
| 335 |
+
<geom class="D_Vizual" name="V_rfmiddle" mesh="F2"></geom>
|
| 336 |
+
<geom class="DC_Hand" name="C_rfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
|
| 337 |
+
<body name="rfdistal" pos="0 0 0.025">
|
| 338 |
+
<inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 339 |
+
<joint name="RFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
|
| 340 |
+
<geom class="D_Vizual" name="V_rfdistal" mesh="F1" pos="0 0 0.001"></geom>
|
| 341 |
+
<geom class="DC_Hand" name="C_rfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
|
| 342 |
+
<site name="S_rftip" pos="0 0 0.026" group="3"></site>
|
| 343 |
+
<site class="D_Touch" name="Tch_rftip"></site>
|
| 344 |
+
</body>
|
| 345 |
+
</body>
|
| 346 |
+
</body>
|
| 347 |
+
</body>
|
| 348 |
+
<body name="lfmetacarpal" pos="-0.017 0 0.044">
|
| 349 |
+
<inertial pos="-0.014 0.001 0.014" quat="0.709 -0.092 -0.063 0.696" mass="0.075" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 350 |
+
<joint name="LFJ5" type="hinge" pos="0 0 0" axis="0.571 0 0.821" range="0 0.785"></joint>
|
| 351 |
+
<geom class="D_Vizual" name="V_lfmetacarpal" pos="-0.016 0 -0.023" mesh="lfmetacarpal"></geom>
|
| 352 |
+
<geom class="DC_Hand" name="C_lfmetacarpal" type="box" pos="-0.0165 0 0.01" size="0.0095 0.0111 0.025" rgba="0.4 0.5 0.6 0.2"></geom>
|
| 353 |
+
<body name="lfknuckle" pos="-0.017 0 0.044">
|
| 354 |
+
<inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 355 |
+
<joint name="LFJ4" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349"></joint>
|
| 356 |
+
<geom class="D_Vizual" name="V_lfknuckle" mesh="knuckle"></geom>
|
| 357 |
+
<body name="lfproximal" pos="0 0 0">
|
| 358 |
+
<inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 359 |
+
<joint name="LFJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
|
| 360 |
+
<geom class="D_Vizual" name="V_lfproximal" mesh="F3"></geom>
|
| 361 |
+
<geom class="DC_Hand" name="C_lfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
|
| 362 |
+
<body name="lfmiddle" pos="0 0 0.045">
|
| 363 |
+
<inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 364 |
+
<joint name="LFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
|
| 365 |
+
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|
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|
| 391 |
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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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|
| 400 |
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|
| 401 |
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| 402 |
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| 405 |
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| 417 |
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| 418 |
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| 419 |
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| 422 |
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|
| 423 |
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|
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| 434 |
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| 438 |
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