Update robots/franka/mjcf/mjx_panda.xml

robots/franka/mjcf/mjx_panda.xml

@@ -1,282 +1,157 @@
 <mujoco model="franka">
   <compiler angle="radian" meshdir="assets" autolimits="true" />
 
-  <option integrator="implicitfast" />
+
 
   <default>
     <default class="panda">
       <material specular="0.5" shininess="0.25" />
       <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
       <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+      <position forcerange="-100 100" />
       <default class="finger">
         <joint axis="0 1 0" type="slide" range="0 0.04" />
       </default>
-
-      <default class="visual">
         <geom type="mesh" contype="0" conaffinity="0" group="2" />
       </default>
       <default class="collision">
-        <geom type="mesh" group="3" />
-        <default class="fingertip_pad_collision_1">
-          <geom type="box" size="0.0085 0.004 0.0085" pos="0 0.0055 0.0445" />
-        </default>
-        <default class="fingertip_pad_collision_2">
-          <geom type="box" size="0.003 0.002 0.003" pos="0.0055 0.002 0.05" />
-        </default>
-        <default class="fingertip_pad_collision_3">
-          <geom type="box" size="0.003 0.002 0.003" pos="-0.0055 0.002 0.05" />
-        </default>
-        <default class="fingertip_pad_collision_4">
-          <geom type="box" size="0.003 0.002 0.0035" pos="0.0055 0.002 0.0395" />
-        </default>
-        <default class="fingertip_pad_collision_5">
-          <geom type="box" size="0.003 0.002 0.0035" pos="-0.0055 0.002 0.0395" />
+        <geom group="3" type="mesh" contype="0" conaffinity="0" />
+        <default class="primitive_collision">
+          <geom group="3" type="box" contype="0" conaffinity="0"
+            condim="3" solimp="0.99 0.995 0.01" solref="0.01 1" friction="1 0.005 0.0001" />
+          <default class="fingertip_pad_collision_1">
+            <geom type="box" size="0.011 0.0075 0.01" pos="0 0.0185 0.011" />
+          </default>
+          <default class="fingertip_pad_collision_2">
+            <geom type="box" size="0.011 0.0044 0.0019" pos="0 0.0068 0.0022" />
+          </default>
+          <default class="fingertip_pad_collision_3">
+            <geom type="box" size="0.00875 0.0035 0.01175" pos="0 0.0159 0.02835" quat="1 0.25 0 0" />
+          </default>
+          <default class="fingertip_pad_collision_4">
+            <geom type="box" size="0.00875 0.0076 0.00825" pos="0 0.00758 0.04525" conaffinity="3" />
+          </default>
         </default>
       </default>
     </default>
-  </default>
-
-  <asset>
-    <material class="panda" name="white" rgba="1 1 1 1" />
-    <material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1" />
-    <material class="panda" name="black" rgba="0.25 0.25 0.25 1" />
-    <material class="panda" name="green" rgba="0 1 0 1" />
-    <material class="panda" name="light_blue" rgba="0.039216 0.541176 0.780392 1" />
-
-    <!-- Collision meshes -->
-    <mesh name="link0_c" file="link0.stl" />
-    <mesh name="link1_c" file="link1.stl" />
-    <mesh name="link2_c" file="link2.stl" />
-    <mesh name="link3_c" file="link3.stl" />
-    <mesh name="link4_c" file="link4.stl" />
-    <mesh name="link5_c0" file="link5_collision_0.obj" />
-    <mesh name="link5_c1" file="link5_collision_1.obj" />
-    <mesh name="link5_c2" file="link5_collision_2.obj" />
-    <mesh name="link6_c" file="link6.stl" />
-    <mesh name="link7_c" file="link7.stl" />
-    <mesh name="hand_c" file="hand.stl" />
-
-    <!-- Visual meshes -->
-    <mesh file="link0_0.obj" />
-    <mesh file="link0_1.obj" />
-    <mesh file="link0_2.obj" />
-    <mesh file="link0_3.obj" />
-    <mesh file="link0_4.obj" />
-    <mesh file="link0_5.obj" />
-    <mesh file="link0_7.obj" />
-    <mesh file="link0_8.obj" />
-    <mesh file="link0_9.obj" />
-    <mesh file="link0_10.obj" />
-    <mesh file="link0_11.obj" />
-    <mesh file="link1.obj" />
-    <mesh file="link2.obj" />
-    <mesh file="link3_0.obj" />
-    <mesh file="link3_1.obj" />
-    <mesh file="link3_2.obj" />
-    <mesh file="link3_3.obj" />
-    <mesh file="link4_0.obj" />
-    <mesh file="link4_1.obj" />
-    <mesh file="link4_2.obj" />
-    <mesh file="link4_3.obj" />
-    <mesh file="link5_0.obj" />
-    <mesh file="link5_1.obj" />
-    <mesh file="link5_2.obj" />
-    <mesh file="link6_0.obj" />
-    <mesh file="link6_1.obj" />
-    <mesh file="link6_2.obj" />
-    <mesh file="link6_3.obj" />
-    <mesh file="link6_4.obj" />
-    <mesh file="link6_5.obj" />
-    <mesh file="link6_6.obj" />
-    <mesh file="link6_7.obj" />
-    <mesh file="link6_8.obj" />
-    <mesh file="link6_9.obj" />
-    <mesh file="link6_10.obj" />
-    <mesh file="link6_11.obj" />
-    <mesh file="link6_12.obj" />
-    <mesh file="link6_13.obj" />
-    <mesh file="link6_14.obj" />
-    <mesh file="link6_15.obj" />
-    <mesh file="link6_16.obj" />
-    <mesh file="link7_0.obj" />
-    <mesh file="link7_1.obj" />
-    <mesh file="link7_2.obj" />
-    <mesh file="link7_3.obj" />
-    <mesh file="link7_4.obj" />
-    <mesh file="link7_5.obj" />
-    <mesh file="link7_6.obj" />
-    <mesh file="link7_7.obj" />
-    <mesh file="hand_0.obj" />
-    <mesh file="hand_1.obj" />
-    <mesh file="hand_2.obj" />
-    <mesh file="hand_3.obj" />
-    <mesh file="hand_4.obj" />
-    <mesh file="finger_0.obj" />
-    <mesh file="finger_1.obj" />
-  </asset>
-
-  <worldbody>
-    <light name="top" pos="0 0 2" mode="trackcom" />
-    <body name="panda_link0" childclass="panda">
-      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
-        fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
-      <geom mesh="link0_0" material="off_white" class="visual" />
-      <geom mesh="link0_1" material="black" class="visual" />
-      <geom mesh="link0_2" material="off_white" class="visual" />
-      <geom mesh="link0_3" material="black" class="visual" />
-      <geom mesh="link0_4" material="off_white" class="visual" />
-      <geom mesh="link0_5" material="black" class="visual" />
-      <geom mesh="link0_7" material="white" class="visual" />
-      <geom mesh="link0_8" material="white" class="visual" />
-      <geom mesh="link0_9" material="black" class="visual" />
-      <geom mesh="link0_10" material="off_white" class="visual" />
-      <geom mesh="link0_11" material="white" class="visual" />
-      <geom mesh="link0_c" class="collision" />
       <body name="panda_link1" pos="0 0 0.333">
         <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
           fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
-        <joint name="panda_joint1" />
+        <joint name="panda_joint1" damping="40" />
         <geom material="white" mesh="link1" class="visual" />
         <geom mesh="link1_c" class="collision" />
         <body name="panda_link2" quat="1 -1 0 0">
           <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495"
             fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
-          <joint name="panda_joint2" range="-1.7628 1.7628" />
+          <joint name="panda_joint2" range="-1.7628 1.7628" damping="40" />
           <geom material="white" mesh="link2" class="visual" />
           <geom mesh="link2_c" class="collision" />
           <body name="panda_link3" pos="0 -0.316 0" quat="1 1 0 0">
-            <joint name="panda_joint3" />
+            <joint name="panda_joint3" damping="40" />
             <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2"
               fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
             <geom mesh="link3_0" material="white" class="visual" />
-            <geom mesh="link3_1" material="white" class="visual" />
-            <geom mesh="link3_2" material="white" class="visual" />
-            <geom mesh="link3_3" material="black" class="visual" />
-            <geom mesh="link3_c" class="collision" />
             <body name="panda_link4" pos="0.0825 0 0" quat="1 1 0 0">
               <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2"
                 fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
-              <joint name="panda_joint4" range="-3.0718 -0.0698" />
+              <joint name="panda_joint4" range="-3.0718 -0.0698" damping="40" />
               <geom mesh="link4_0" material="white" class="visual" />
               <geom mesh="link4_1" material="white" class="visual" />
               <geom mesh="link4_2" material="black" class="visual" />
-              <geom mesh="link4_3" material="white" class="visual" />
-              <geom mesh="link4_c" class="collision" />
               <body name="panda_link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
                 <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2"
                   fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
-                <joint name="panda_joint5" />
+                <joint name="panda_joint5" damping="2" />
                 <geom mesh="link5_0" material="black" class="visual" />
                 <geom mesh="link5_1" material="white" class="visual" />
                 <geom mesh="link5_2" material="white" class="visual" />
-                <geom mesh="link5_c0" class="collision" />
-                <geom mesh="link5_c1" class="collision" />
-                <geom mesh="link5_c2" class="collision" />
                 <body name="panda_link6" quat="1 1 0 0">
                   <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2"
                     fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
-                  <joint name="panda_joint6" range="-0.0175 3.7525" />
+                  <joint name="panda_joint6" range="-0.0175 3.7525" damping="2" />
                   <geom mesh="link6_0" material="off_white" class="visual" />
                   <geom mesh="link6_1" material="white" class="visual" />
                   <geom mesh="link6_2" material="black" class="visual" />
-                  <geom mesh="link6_3" material="white" class="visual" />
-                  <geom mesh="link6_4" material="white" class="visual" />
-                  <geom mesh="link6_5" material="white" class="visual" />
-                  <geom mesh="link6_6" material="white" class="visual" />
-                  <geom mesh="link6_7" material="light_blue" class="visual" />
-                  <geom mesh="link6_8" material="light_blue" class="visual" />
-                  <geom mesh="link6_9" material="black" class="visual" />
-                  <geom mesh="link6_10" material="black" class="visual" />
-                  <geom mesh="link6_11" material="white" class="visual" />
-                  <geom mesh="link6_12" material="green" class="visual" />
-                  <geom mesh="link6_13" material="white" class="visual" />
-                  <geom mesh="link6_14" material="black" class="visual" />
-                  <geom mesh="link6_15" material="black" class="visual" />
-                  <geom mesh="link6_16" material="white" class="visual" />
-                  <geom mesh="link6_c" class="collision" />
                   <body name="panda_link7" pos="0.088 0 0" quat="1 1 0 0">
                     <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2"
                       fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
-                    <joint name="panda_joint7" />
+                    <joint name="panda_joint7" damping="2" />
                     <geom mesh="link7_0" material="white" class="visual" />
                     <geom mesh="link7_1" material="black" class="visual" />
                     <geom mesh="link7_2" material="black" class="visual" />
-                    <geom mesh="link7_3" material="black" class="visual" />
-                    <geom mesh="link7_4" material="black" class="visual" />
-                    <geom mesh="link7_5" material="black" class="visual" />
-                    <geom mesh="link7_6" material="black" class="visual" />
-                    <geom mesh="link7_7" material="white" class="visual" />
-                    <geom mesh="link7_c" class="collision" />
-                    <body name="panda_hand" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834">
-                      <inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017" />
-                      <geom mesh="hand_0" material="off_white" class="visual" />
-                      <geom mesh="hand_1" material="black" class="visual" />
-                      <geom mesh="hand_2" material="black" class="visual" />
                       <geom mesh="hand_3" material="white" class="visual" />
                       <geom mesh="hand_4" material="off_white" class="visual" />
                       <geom mesh="hand_c" class="collision" />
-                      <body name="panda_leftfinger" pos="0 0 0.0584">
+                      <geom name="hand_capsule" type="capsule"
+                        class="collision" conaffinity="1" size="0.04 0.06"
+                        quat="1 1 0 0" pos="0 0 0.03" />
+                      <site name="gripper" pos="0 0 0.1" />
+                      <body name="panda_left_finger" pos="0 0 0.0584">
                         <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7" />
-                        <joint name="panda_finger_joint1" class="finger" />
+                        <joint name="panda_finger_joint1" class="finger" damping="10" />
                         <geom mesh="finger_0" material="off_white" class="visual" />
                         <geom mesh="finger_1" material="black" class="visual" />
                         <geom mesh="finger_0" class="collision" />
                         <geom class="fingertip_pad_collision_1" />
                         <geom class="fingertip_pad_collision_2" />
                         <geom class="fingertip_pad_collision_3" />
-                        <geom class="fingertip_pad_collision_4" />
-                        <geom class="fingertip_pad_collision_5" />
+                        <geom name="left_finger_pad" class="fingertip_pad_collision_4" />
+
                       </body>
-                      <body name="panda_rightfinger" pos="0 0 0.0584" quat="0 0 0 1">
+                      <body name="panda_right_finger" pos="0 0 0.0584" quat="0 0 0 1">
                         <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7" />
-                        <joint name="panda_finger_joint2" class="finger" />
+                        <joint name="panda_finger_joint2" class="finger" damping="10" />
                         <geom mesh="finger_0" material="off_white" class="visual" />
                         <geom mesh="finger_1" material="black" class="visual" />
                         <geom mesh="finger_0" class="collision" />
                         <geom class="fingertip_pad_collision_1" />
                         <geom class="fingertip_pad_collision_2" />
                         <geom class="fingertip_pad_collision_3" />
-                        <geom class="fingertip_pad_collision_4" />
-                        <geom class="fingertip_pad_collision_5" />
+                        <geom name="right_finger_pad" class="fingertip_pad_collision_4" />
+
                       </body>
                     </body>
                   </body>
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
     </body>
   </worldbody>
 
-  <tendon>
-    <fixed name="split">
-      <joint joint="panda_finger_joint1" coef="0.5" />
-      <joint joint="panda_finger_joint2" coef="0.5" />
-    </fixed>
-  </tendon>
+
+
+
+
+
+
 
   <actuator>
-    <general name="panda_joint1" joint="panda_joint1" biastype="affine" gainprm="10000 0 0"
-      biasprm="0 -10000 -250" forcerange="-40 40" />
-    <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" />
-    <general name="panda_joint3" joint="panda_joint3" biastype="affine" gainprm="10000 0 0"
-      biasprm="0 -10000 -250" forcerange="-40 40" />
-    <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" />
-    <general name="panda_joint5" joint="panda_joint5" biastype="affine" gainprm="10000 0 0"
-      biasprm="0 -10000 -250" forcerange="-40 40" />
-    <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" />
-    <general name="panda_joint7" joint="panda_joint7" biastype="affine" gainprm="10000 0 0"
-      biasprm="0 -10000 -250" forcerange="-40 40" />
-    <position name="panda_finger_joint1" joint="panda_finger_joint1"
+    <position name="panda_joint1" joint="panda_joint1" kp="1000" kv="20"
+      ctrlrange="-2.8973 2.8973" />
+    <position name="panda_joint2" joint="panda_joint2" kp="1000" kv="20"
+      ctrlrange="-1.7628 1.7628" />
+    <position name="panda_joint3" joint="panda_joint3" kp="750" kv="4"
+      ctrlrange="-2.8973 2.8973" />
+    <position name="panda_joint4" joint="panda_joint4" kp="750" kv="4"
+      ctrlrange="-3.0718 -0.0698" />
+    <position name="panda_joint5" joint="panda_joint5" kp="300" kv="2"
+      forcerange="-12 12" ctrlrange="-2.8973 2.8973" />
+    <position name="panda_joint6" joint="panda_joint6" kp="300" kv="2" forcerange="-12 12"
+      ctrlrange="-0.0175 3.7525" />
+    <position name="panda_joint7" joint="panda_joint7" kp="300" kv="2" forcerange="-12 12" />
+    <position name="panda_finger1" joint="panda_finger_joint1"
+
       kp="200" kv="5"
       ctrlrange="0 0.04" forcerange="-200 200" />
-    <position name="panda_finger_joint2" joint="panda_finger_joint2"
+    <position name="panda_finger2" joint="panda_finger_joint2"
       kp="200" kv="5"
       ctrlrange="0 0.04" forcerange="-200 200" />
+    <!-- <general name="panda_finger1" joint="panda_finger_joint1"
+      ctrlrange="0 0.04" gainprm="350 0 0" biasprm="0 -350 -10" forcerange="-200 200" />
+    <general name="panda_finger2"   joint="panda_finger_joint2"
+          ctrlrange="0 0.04" gainprm="350 0 0" biasprm="0 -350 -10" forcerange="-200 200" /> -->
+
   </actuator>
+
+  <contact>
+    <exclude body1="panda_link0" body2="panda_link1" />
+  </contact>
+
 </mujoco>