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Fisher-Wang Priosin commited on
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7eb2e47
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1 Parent(s): 6a0be57

Update robots/franka/mjcf/mjx_panda.xml (#5)

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- Update robots/franka/mjcf/mjx_panda.xml (7ccb389c166213694dc2224fb05864e3bb11e19d)


Co-authored-by: Mengfei Zhao <[email protected]>

Files changed (1) hide show
  1. robots/franka/mjcf/mjx_panda.xml +41 -43
robots/franka/mjcf/mjx_panda.xml CHANGED
@@ -1,6 +1,6 @@
1
- <mujoco model="panda">
2
  <compiler angle="radian" meshdir="assets" autolimits="true"/>
3
-
4
  <default>
5
  <default class="panda">
6
  <material specular="0.5" shininess="0.25"/>
@@ -17,7 +17,7 @@
17
  <default class="collision">
18
  <geom group="3" type="mesh" contype="0" conaffinity="0"/>
19
  <default class="primitive_collision">
20
- <geom group="3" type="box" contype="0" conaffinity="0"
21
  condim="3" solimp="0.99 0.995 0.01" solref="0.01 1" friction="1 0.005 0.0001"/>
22
  <default class="fingertip_pad_collision_1">
23
  <geom type="box" size="0.011 0.0075 0.01" pos="0 0.0185 0.011"/>
@@ -29,7 +29,7 @@
29
  <geom type="box" size="0.00875 0.0035 0.01175" pos="0 0.0159 0.02835" quat="1 0.25 0 0"/>
30
  </default>
31
  <default class="fingertip_pad_collision_4">
32
- <geom type="box" size="0.00875 0.0076 0.00825" pos="0 0.00758 0.04525" conaffinity="3"/>
33
  </default>
34
  </default>
35
  </default>
@@ -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"/>
@@ -132,20 +132,20 @@
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="joint1" damping="40"/>
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="joint2" range="-1.7628 1.7628" damping="40"/>
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" damping="40"/>
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"/>
@@ -153,29 +153,29 @@
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" damping="40"/>
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" damping="2"/>
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" damping="2"/>
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"/>
@@ -194,10 +194,10 @@
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" damping="2"/>
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"/>
@@ -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"/>
@@ -219,9 +219,9 @@
219
  class="collision" conaffinity="1" size="0.04 0.06"
220
  quat="1 1 0 0" pos="0 0 0.03"/>
221
  <site name="gripper" pos="0 0 0.1"/>
222
- <body name="left_finger" pos="0 0 0.0584">
223
  <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
224
- <joint name="finger_joint1" class="finger" damping="10"/>
225
  <geom mesh="finger_0" material="off_white" class="visual"/>
226
  <geom mesh="finger_1" material="black" class="visual"/>
227
  <geom mesh="finger_0" class="collision"/>
@@ -230,9 +230,9 @@
230
  <geom class="fingertip_pad_collision_3"/>
231
  <geom name="left_finger_pad" class="fingertip_pad_collision_4"/>
232
  </body>
233
- <body name="right_finger" pos="0 0 0.0584" quat="0 0 0 1">
234
  <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
235
- <joint name="finger_joint2" class="finger" damping="10"/>
236
  <geom mesh="finger_0" material="off_white" class="visual"/>
237
  <geom mesh="finger_1" material="black" class="visual"/>
238
  <geom mesh="finger_0" class="collision"/>
@@ -252,25 +252,23 @@
252
  </body>
253
  </worldbody>
254
 
255
- <equality>
256
- <joint joint1="finger_joint1" joint2="finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1"/>
257
- </equality>
 
 
 
 
258
 
259
  <actuator>
260
- <position class="panda" name="actuator1" joint="joint1" kp="1000" kv="20"
261
- ctrlrange="-2.8973 2.8973"/>
262
- <position class="panda" name="actuator2" joint="joint2" kp="1000" kv="20"
263
- ctrlrange="-1.7628 1.7628"/>
264
- <position class="panda" name="actuator3" joint="joint3" kp="750" kv="4"
265
- ctrlrange="-2.8973 2.8973"/>
266
- <position class="panda" name="actuator4" joint="joint4" kp="750" kv="4"
267
- ctrlrange="-3.0718 -0.0698"/>
268
- <position class="panda" name="actuator5" joint="joint5" kp="300" kv="2"
269
- forcerange="-12 12" ctrlrange="-2.8973 2.8973"/>
270
- <position class="panda" name="actuator6" joint="joint6" kp="300" kv="2" forcerange="-12 12"
271
- ctrlrange="-0.0175 3.7525"/>
272
- <position class="panda" name="actuator7" joint="joint7" kp="300" kv="2" forcerange="-12 12"/>
273
- <general class="panda" name="actuator8" joint="finger_joint1"
274
- ctrlrange="0 0.04" gainprm="350 0 0" biasprm="0 -350 -10" forcerange="-200 200"/>
275
  </actuator>
276
- </mujoco>
 
1
+ <mujoco model="franka">
2
  <compiler angle="radian" meshdir="assets" autolimits="true"/>
3
+ <option integrator="implicitfast"/>
4
  <default>
5
  <default class="panda">
6
  <material specular="0.5" shininess="0.25"/>
 
17
  <default class="collision">
18
  <geom group="3" type="mesh" contype="0" conaffinity="0"/>
19
  <default class="primitive_collision">
20
+ <geom group="3" type="box" contype="3" conaffinity="3"
21
  condim="3" solimp="0.99 0.995 0.01" solref="0.01 1" friction="1 0.005 0.0001"/>
22
  <default class="fingertip_pad_collision_1">
23
  <geom type="box" size="0.011 0.0075 0.01" pos="0 0.0185 0.011"/>
 
29
  <geom type="box" size="0.00875 0.0035 0.01175" pos="0 0.0159 0.02835" quat="1 0.25 0 0"/>
30
  </default>
31
  <default class="fingertip_pad_collision_4">
32
+ <geom type="box" size="0.00875 0.0076 0.00825" pos="0 0.00758 0.04525" contype="3" conaffinity="3"/>
33
  </default>
34
  </default>
35
  </default>
 
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" damping="40"/>
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" damping="40"/>
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" damping="40"/>
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"/>
 
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" damping="40"/>
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="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" damping="2"/>
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="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" damping="2"/>
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"/>
 
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" damping="2"/>
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"/>
 
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"/>
 
219
  class="collision" conaffinity="1" size="0.04 0.06"
220
  quat="1 1 0 0" pos="0 0 0.03"/>
221
  <site name="gripper" pos="0 0 0.1"/>
222
+ <body name="panda_left_finger" pos="0 0 0.0584">
223
  <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
224
+ <joint name="panda_finger_joint1" class="finger" damping="10"/>
225
  <geom mesh="finger_0" material="off_white" class="visual"/>
226
  <geom mesh="finger_1" material="black" class="visual"/>
227
  <geom mesh="finger_0" class="collision"/>
 
230
  <geom class="fingertip_pad_collision_3"/>
231
  <geom name="left_finger_pad" class="fingertip_pad_collision_4"/>
232
  </body>
233
+ <body name="panda_right_finger" pos="0 0 0.0584" quat="0 0 0 1">
234
  <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
235
+ <joint name="panda_finger_joint2" class="finger" damping="10"/>
236
  <geom mesh="finger_0" material="off_white" class="visual"/>
237
  <geom mesh="finger_1" material="black" class="visual"/>
238
  <geom mesh="finger_0" class="collision"/>
 
252
  </body>
253
  </worldbody>
254
 
255
+
256
+ <tendon>
257
+ <fixed name="split">
258
+ <joint joint="panda_finger_joint1" coef="0.5"/>
259
+ <joint joint="panda_finger_joint2" coef="0.5"/>
260
+ </fixed>
261
+ </tendon>
262
 
263
  <actuator>
264
+ <general name="panda_joint1" joint="panda_joint1" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" forcerange="-40 40"/>
265
+ <general name="panda_joint2" joint="panda_joint2" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" ctrlrange="-1.7628 1.7628" forcerange="-40 40"/>
266
+ <general name="panda_joint3" joint="panda_joint3" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" forcerange="-40 40"/>
267
+ <general name="panda_joint4" joint="panda_joint4" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" ctrlrange="-3.0718 -0.0698" forcerange="-40 40"/>
268
+ <general name="panda_joint5" joint="panda_joint5" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" forcerange="-40 40"/>
269
+ <general name="panda_joint6" joint="panda_joint6" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" ctrlrange="-0.0175 3.7525" forcerange="-40 40"/>
270
+ <general name="panda_joint7" joint="panda_joint7" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" forcerange="-40 40"/>
271
+ <general name="panda_finger_joint1" joint="panda_finger_joint1" biastype="affine" forcerange="-100 100" gainprm="250" biasprm="-5"/>
272
+ <general name="panda_finger_joint2" joint="panda_finger_joint2" biastype="affine" forcerange="-100 100" gainprm="250" biasprm="-5"/>
 
 
 
 
 
 
273
  </actuator>
274
+ </mujoco>