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Fisher-Wang commited on
Commit
745ff24
·
1 Parent(s): a9387c6

change franka mjcf's body names to align with usd

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Files changed (1) hide show
  1. robots/franka/mjcf/panda.xml +11 -11
robots/franka/mjcf/panda.xml CHANGED
@@ -117,7 +117,7 @@
117
 
118
  <worldbody>
119
  <light name="top" pos="0 0 2" mode="trackcom"/>
120
- <body name="link0" childclass="panda">
121
  <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
122
  fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6"/>
123
  <geom mesh="link0_0" material="off_white" class="visual"/>
@@ -132,19 +132,19 @@
132
  <geom mesh="link0_10" material="off_white" class="visual"/>
133
  <geom mesh="link0_11" material="white" class="visual"/>
134
  <geom mesh="link0_c" class="collision"/>
135
- <body name="link1" pos="0 0 0.333">
136
  <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
137
  fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169"/>
138
  <joint name="panda_joint1"/>
139
  <geom material="white" mesh="link1" class="visual"/>
140
  <geom mesh="link1_c" class="collision"/>
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="panda_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="panda_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"/>
@@ -153,7 +153,7 @@
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="panda_joint4" range="-3.0718 -0.0698"/>
@@ -162,7 +162,7 @@
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="panda_joint5"/>
@@ -172,7 +172,7 @@
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="panda_joint6" range="-0.0175 3.7525"/>
@@ -194,7 +194,7 @@
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="panda_joint7"/>
@@ -207,7 +207,7 @@
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"/>
@@ -215,7 +215,7 @@
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="panda_finger_joint1" class="finger"/>
221
  <geom mesh="finger_0" material="off_white" class="visual"/>
@@ -227,7 +227,7 @@
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="panda_finger_joint2" class="finger"/>
233
  <geom mesh="finger_0" material="off_white" class="visual"/>
 
117
 
118
  <worldbody>
119
  <light name="top" pos="0 0 2" mode="trackcom"/>
120
+ <body name="panda_link0" childclass="panda">
121
  <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
122
  fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6"/>
123
  <geom mesh="link0_0" material="off_white" class="visual"/>
 
132
  <geom mesh="link0_10" material="off_white" class="visual"/>
133
  <geom mesh="link0_11" material="white" class="visual"/>
134
  <geom mesh="link0_c" class="collision"/>
135
+ <body name="panda_link1" pos="0 0 0.333">
136
  <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
137
  fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169"/>
138
  <joint name="panda_joint1"/>
139
  <geom material="white" mesh="link1" class="visual"/>
140
  <geom mesh="link1_c" class="collision"/>
141
+ <body name="panda_link2" quat="1 -1 0 0">
142
  <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495"
143
  fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4"/>
144
  <joint name="panda_joint2" range="-1.7628 1.7628"/>
145
  <geom material="white" mesh="link2" class="visual"/>
146
  <geom mesh="link2_c" class="collision"/>
147
+ <body name="panda_link3" pos="0 -0.316 0" quat="1 1 0 0">
148
  <joint name="panda_joint3"/>
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"/>
 
153
  <geom mesh="link3_2" material="white" class="visual"/>
154
  <geom mesh="link3_3" material="black" class="visual"/>
155
  <geom mesh="link3_c" class="collision"/>
156
+ <body name="panda_link4" pos="0.0825 0 0" quat="1 1 0 0">
157
  <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2"
158
  fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3"/>
159
  <joint name="panda_joint4" range="-3.0718 -0.0698"/>
 
162
  <geom mesh="link4_2" material="black" class="visual"/>
163
  <geom mesh="link4_3" material="white" class="visual"/>
164
  <geom mesh="link4_c" class="collision"/>
165
+ <body name="panda_link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
166
  <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2"
167
  fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4"/>
168
  <joint name="panda_joint5"/>
 
172
  <geom mesh="link5_c0" class="collision"/>
173
  <geom mesh="link5_c1" class="collision"/>
174
  <geom mesh="link5_c2" class="collision"/>
175
+ <body name="panda_link6" quat="1 1 0 0">
176
  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2"
177
  fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4"/>
178
  <joint name="panda_joint6" range="-0.0175 3.7525"/>
 
194
  <geom mesh="link6_15" material="black" class="visual"/>
195
  <geom mesh="link6_16" material="white" class="visual"/>
196
  <geom mesh="link6_c" class="collision"/>
197
+ <body name="panda_link7" pos="0.088 0 0" quat="1 1 0 0">
198
  <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2"
199
  fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4"/>
200
  <joint name="panda_joint7"/>
 
207
  <geom mesh="link7_6" material="black" class="visual"/>
208
  <geom mesh="link7_7" material="white" class="visual"/>
209
  <geom mesh="link7_c" class="collision"/>
210
+ <body name="panda_hand" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834">
211
  <inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/>
212
  <geom mesh="hand_0" material="off_white" class="visual"/>
213
  <geom mesh="hand_1" material="black" class="visual"/>
 
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="panda_leftfinger" 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="panda_finger_joint1" class="finger"/>
221
  <geom mesh="finger_0" material="off_white" class="visual"/>
 
227
  <geom class="fingertip_pad_collision_4"/>
228
  <geom class="fingertip_pad_collision_5"/>
229
  </body>
230
+ <body name="panda_rightfinger" 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="panda_finger_joint2" class="finger"/>
233
  <geom mesh="finger_0" material="off_white" class="visual"/>