Hugging Face's logo

Datasets:
RoboVerseOrg
/
roboverse_data

Tasks:
Robotics
ArXiv:
License:
Dataset card Files
xet
Community
47
Priosin commited on
Commit
023eac3
·
verified ·
1 Parent(s): 0dfa868

Update robots/franka/mjcf/mjx_panda.xml

Browse files
Files changed (1) hide show
  1. robots/franka/mjcf/mjx_panda.xml +54 -59
robots/franka/mjcf/mjx_panda.xml CHANGED
@@ -1,12 +1,13 @@
1
  <mujoco model="franka">
2
  <compiler angle="radian" meshdir="assets" autolimits="true" />
3
 
 
 
4
  <default>
5
  <default class="panda">
6
  <material specular="0.5" shininess="0.25" />
7
  <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
8
  <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
9
- <position forcerange="-100 100" />
10
  <default class="finger">
11
  <joint axis="0 1 0" type="slide" range="0 0.04" />
12
  </default>
@@ -15,22 +16,21 @@
15
  <geom type="mesh" contype="0" conaffinity="0" group="2" />
16
  </default>
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" />
24
- </default>
25
- <default class="fingertip_pad_collision_2">
26
- <geom type="box" size="0.011 0.0044 0.0019" pos="0 0.0068 0.0022" />
27
- </default>
28
- <default class="fingertip_pad_collision_3">
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>
36
  </default>
@@ -135,17 +135,17 @@
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" />
@@ -156,7 +156,7 @@
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" />
@@ -165,7 +165,7 @@
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" />
@@ -175,7 +175,7 @@
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" />
@@ -197,7 +197,7 @@
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" />
@@ -215,31 +215,29 @@
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
- <geom name="hand_capsule" type="capsule"
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" />
228
  <geom class="fingertip_pad_collision_1" />
229
  <geom class="fingertip_pad_collision_2" />
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" />
239
  <geom class="fingertip_pad_collision_1" />
240
  <geom class="fingertip_pad_collision_2" />
241
  <geom class="fingertip_pad_collision_3" />
242
- <geom name="right_finger_pad" class="fingertip_pad_collision_4" />
 
243
  </body>
244
  </body>
245
  </body>
@@ -252,36 +250,33 @@
252
  </body>
253
  </worldbody>
254
 
 
 
 
 
 
 
255
 
256
  <actuator>
257
- <position name="panda_joint1" joint="panda_joint1" kp="1000" kv="20"
258
- ctrlrange="-2.8973 2.8973" />
259
- <position name="panda_joint2" joint="panda_joint2" kp="1000" kv="20"
260
- ctrlrange="-1.7628 1.7628" />
261
- <position name="panda_joint3" joint="panda_joint3" kp="750" kv="4"
262
- ctrlrange="-2.8973 2.8973" />
263
- <position name="panda_joint4" joint="panda_joint4" kp="750" kv="4"
264
- ctrlrange="-3.0718 -0.0698" />
265
- <position name="panda_joint5" joint="panda_joint5" kp="300" kv="2"
266
- forcerange="-12 12" ctrlrange="-2.8973 2.8973" />
267
- <position name="panda_joint6" joint="panda_joint6" kp="300" kv="2" forcerange="-12 12"
268
- ctrlrange="-0.0175 3.7525" />
269
- <position name="panda_joint7" joint="panda_joint7" kp="300" kv="2" forcerange="-12 12" />
270
- <position name="panda_finger1" joint="panda_finger_joint1"
 
271
  kp="200" kv="5"
272
  ctrlrange="0 0.04" forcerange="-200 200" />
273
- <position name="panda_finger2" joint="panda_finger_joint2"
274
  kp="200" kv="5"
275
  ctrlrange="0 0.04" forcerange="-200 200" />
276
- <!-- <general name="panda_finger1" joint="panda_finger_joint1"
277
- ctrlrange="0 0.04" gainprm="350 0 0" biasprm="0 -350 -10" forcerange="-200 200" />
278
- <general name="panda_finger2" joint="panda_finger_joint2"
279
- ctrlrange="0 0.04" gainprm="350 0 0" biasprm="0 -350 -10" forcerange="-200 200" /> -->
280
-
281
  </actuator>
282
-
283
- <contact>
284
- <exclude body1="panda_link0" body2="panda_link1" />
285
- </contact>
286
-
287
  </mujoco>
 
1
  <mujoco model="franka">
2
  <compiler angle="radian" meshdir="assets" autolimits="true" />
3
 
4
+ <option integrator="implicitfast" />
5
+
6
  <default>
7
  <default class="panda">
8
  <material specular="0.5" shininess="0.25" />
9
  <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
10
  <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
 
11
  <default class="finger">
12
  <joint axis="0 1 0" type="slide" range="0 0.04" />
13
  </default>
 
16
  <geom type="mesh" contype="0" conaffinity="0" group="2" />
17
  </default>
18
  <default class="collision">
19
+ <geom type="mesh" group="3" />
20
+ <default class="fingertip_pad_collision_1">
21
+ <geom type="box" size="0.0085 0.004 0.0085" pos="0 0.0055 0.0445" />
22
+ </default>
23
+ <default class="fingertip_pad_collision_2">
24
+ <geom type="box" size="0.003 0.002 0.003" pos="0.0055 0.002 0.05" />
25
+ </default>
26
+ <default class="fingertip_pad_collision_3">
27
+ <geom type="box" size="0.003 0.002 0.003" pos="-0.0055 0.002 0.05" />
28
+ </default>
29
+ <default class="fingertip_pad_collision_4">
30
+ <geom type="box" size="0.003 0.002 0.0035" pos="0.0055 0.002 0.0395" />
31
+ </default>
32
+ <default class="fingertip_pad_collision_5">
33
+ <geom type="box" size="0.003 0.002 0.0035" pos="-0.0055 0.002 0.0395" />
 
34
  </default>
35
  </default>
36
  </default>
 
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" />
151
  <geom mesh="link3_0" material="white" class="visual" />
 
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" />
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" />
 
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" />
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" />
 
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" />
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" />
 
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" />
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" />
 
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" />
222
  <geom mesh="finger_1" material="black" class="visual" />
223
  <geom mesh="finger_0" class="collision" />
224
  <geom class="fingertip_pad_collision_1" />
225
  <geom class="fingertip_pad_collision_2" />
226
  <geom class="fingertip_pad_collision_3" />
227
+ <geom class="fingertip_pad_collision_4" />
228
+ <geom class="fingertip_pad_collision_5" />
229
  </body>
230
+ <body name="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" />
234
  <geom mesh="finger_1" material="black" class="visual" />
235
  <geom mesh="finger_0" class="collision" />
236
  <geom class="fingertip_pad_collision_1" />
237
  <geom class="fingertip_pad_collision_2" />
238
  <geom class="fingertip_pad_collision_3" />
239
+ <geom class="fingertip_pad_collision_4" />
240
+ <geom class="fingertip_pad_collision_5" />
241
  </body>
242
  </body>
243
  </body>
 
250
  </body>
251
  </worldbody>
252
 
253
+ <tendon>
254
+ <fixed name="split">
255
+ <joint joint="panda_finger_joint1" coef="0.5" />
256
+ <joint joint="panda_finger_joint2" coef="0.5" />
257
+ </fixed>
258
+ </tendon>
259
 
260
  <actuator>
261
+ <general name="panda_joint1" joint="panda_joint1" biastype="affine" gainprm="10000 0 0"
262
+ biasprm="0 -10000 -250" forcerange="-40 40" />
263
+ <general name="panda_joint2" joint="panda_joint2" biastype="affine" gainprm="10000 0 0"
264
+ biasprm="0 -10000 -250" ctrlrange="-1.7628 1.7628" forcerange="-40 40" />
265
+ <general name="panda_joint3" joint="panda_joint3" biastype="affine" gainprm="10000 0 0"
266
+ biasprm="0 -10000 -250" forcerange="-40 40" />
267
+ <general name="panda_joint4" joint="panda_joint4" biastype="affine" gainprm="10000 0 0"
268
+ biasprm="0 -10000 -250" ctrlrange="-3.0718 -0.0698" forcerange="-40 40" />
269
+ <general name="panda_joint5" joint="panda_joint5" biastype="affine" gainprm="10000 0 0"
270
+ biasprm="0 -10000 -250" forcerange="-40 40" />
271
+ <general name="panda_joint6" joint="panda_joint6" biastype="affine" gainprm="10000 0 0"
272
+ biasprm="0 -10000 -250" ctrlrange="-0.0175 3.7525" forcerange="-40 40" />
273
+ <general name="panda_joint7" joint="panda_joint7" biastype="affine" gainprm="10000 0 0"
274
+ biasprm="0 -10000 -250" forcerange="-40 40" />
275
+ <position name="panda_finger_joint1" joint="panda_finger_joint1"
276
  kp="200" kv="5"
277
  ctrlrange="0 0.04" forcerange="-200 200" />
278
+ <position name="panda_finger_joint2" joint="panda_finger_joint2"
279
  kp="200" kv="5"
280
  ctrlrange="0 0.04" forcerange="-200 200" />
 
 
 
 
 
281
  </actuator>
 
 
 
 
 
282
  </mujoco>