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Add mjx_2f85.xml model to robotiq_2f85_v4.
PiperOrigin-RevId: 716182252 Change-Id: Ife6cbe68da43b410309b486011de1a475075fd15
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,153 @@ | ||
| <mujoco model="robotiq_2f85"> | ||
| <compiler angle="radian" meshdir="assets" autolimits="true"/> | ||
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| <asset> | ||
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| <material name="metal" rgba="0.58 0.58 0.58 1"/> | ||
| <material name="silicone" rgba="0.1882 0.1882 0.1882 1"/> | ||
| <material name="black" rgba="0.149 0.149 0.149 1"/> | ||
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| <mesh file="base.stl"/> | ||
| <mesh file="base_coupling.stl"/> | ||
| <mesh file="c-a01-85-open.stl"/> | ||
| <mesh file="driver.stl"/> | ||
| <mesh file="coupler.stl"/> | ||
| <mesh file="spring_link.stl"/> | ||
| <mesh file="follower.stl"/> | ||
| <mesh file="tongue.stl"/> | ||
| </asset> | ||
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| <default> | ||
| <default class="2f85"> | ||
| <mesh scale="0.001 0.001 0.001"/> | ||
| <general biastype="affine"/> | ||
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| <joint axis="0 0 1"/> | ||
| <default class="driver"> | ||
| <joint range="0 0.9" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/> | ||
| </default> | ||
| <default class="follower"> | ||
| <joint range="-0.872664 0.9" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/> | ||
| </default> | ||
| <default class="spring_link"> | ||
| <joint range="-0.29670597283 0.9" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125"/> | ||
| </default> | ||
| <default class="coupler"> | ||
| <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/> | ||
| </default> | ||
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| <default class="visual"> | ||
| <geom type="mesh" contype="0" conaffinity="0" group="2" material="black"/> | ||
| </default> | ||
| <default class="collision"> | ||
| <geom group="3" type="mesh" contype="0" conaffinity="0"/> | ||
| <default class="pad_box1"> | ||
| <geom group="3" mass="1e-6" type="box" pos="0.043258 0 0.12" size="0.002 0.011 0.009375" | ||
| solimp="0.99 0.995 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1.0 0.55 0.55 1" conaffinity="3"/> | ||
| </default> | ||
| <default class="pad_box2"> | ||
| <geom group="3" mass="1e-6" type="box" pos="0.041258 0 0.12875" size="0.004 0.011 0.01875" | ||
| solimp="0.99 0.995 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="0.0 0.45 0.45 1" conaffinity="3"/> | ||
| </default> | ||
| </default> | ||
| </default> | ||
| </default> | ||
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| <worldbody> | ||
| <body name="base" childclass="2f85" quat="1 0 0 -1"> | ||
| <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 0 0 0" | ||
| diaginertia="0.000260285 0.000225381 0.000152708"/> | ||
| <geom class="visual" pos="0 0 0.0108" quat="0 0 0 1" mesh="base"/> | ||
| <geom class="visual" pos="0 0 0.004" quat="1 -1 0 0" mesh="base_coupling"/> | ||
| <geom class="visual" pos="0 0 0.0108" quat="1 0 0 0" material="metal" mesh="c-a01-85-open"/> | ||
| <geom name="hand_capsule" class="collision" type="capsule" conaffinity="1" size="0.04 0.06" rgba="1 1 1 0.3" pos="0 0 0.01"/> | ||
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| <!-- Left-hand side 4-bar linkage --> | ||
| <body name="left_driver" pos="-0.0306011 0.00475 0.0657045" quat="1 -1 0 0"> | ||
| <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" | ||
| diaginertia="1.72352e-06 1.60906e-06 3.22006e-07"/> | ||
| <joint name="left_driver_joint" class="driver"/> | ||
| <geom class="visual" pos="0.0306011 0.0549045 -0.0047" quat="1 1 0 0" material="metal" mesh="driver"/> | ||
| <body name="left_coupler" pos="-0.0314249 0.00453223 -0.0102" quat="0 0 0 1"> | ||
| <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" | ||
| diaginertia="4.16206e-06 3.52216e-06 8.88131e-07"/> | ||
| <geom class="visual" pos="-0.062026 -0.0503723 0.0055" quat="1 -1 0 0" mesh="coupler"/> | ||
| <geom name="left_coupler_col_1" class="pad_box2" pos="0.005 0.025 0.01" quat="1 1 -0.1 0" type="capsule" size="0.009 0.02"/> | ||
| <geom name="left_coupler_col_2" class="pad_box2" pos="0.005 0.025 0.001" quat="1 1 -0.1 0" type="capsule" size="0.009 0.02"/> | ||
| </body> | ||
| </body> | ||
| <body name="left_spring_link" pos="-0.0127 -0.012 0.07222" quat="1 -1 0 0"> | ||
| <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" | ||
| diaginertia="8.96853e-06 6.71733e-06 2.63931e-06"/> | ||
| <joint name="left_spring_link_joint" class="spring_link"/> | ||
| <geom class="visual" pos="0.0127 0.06142 0.01205" quat="1 1 0 0" type="mesh" mesh="spring_link"/> | ||
| <body name="left_follower" pos="-0.0382079 -0.0425003 0.00295" quat="0 -1 0 0"> | ||
| <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" | ||
| diaginertia="2.67415e-06 2.4559e-06 6.02031e-07"/> | ||
| <joint name="left_follower" class="follower"/> | ||
| <geom class="visual" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" type="mesh" mesh="follower"/> | ||
| <geom class="visual" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" type="mesh" material="metal" mesh="tongue"/> | ||
| <geom name="left_follower_pad2" class="pad_box2" type="capsule" size="0.009 0.012 0.008" pos="-0.0035 -0.002 -0.009" quat="1 1 0 0"/> | ||
| <body name="left_pad" pos="-0.0377897 -0.103916 -0.0091" quat="1 -1 0 0"> | ||
| <geom class="pad_box2" name="left_finger_pad"/> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| <!-- Right-hand side 4-bar linkage --> | ||
| <body name="right_driver" pos="0.0306011 -0.00475 0.0657045" quat="0 0 -1 1"> | ||
| <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" | ||
| diaginertia="1.72352e-06 1.60906e-06 3.22006e-07"/> | ||
| <joint name="right_driver_joint" class="driver"/> | ||
| <geom class="visual" pos="0.0306011 0.0549045 -0.0047" quat="1 1 0 0" material="metal" mesh="driver"/> | ||
| <body name="right_coupler" pos="-0.0314249 0.00453223 -0.0102" quat="0 0 0 1"> | ||
| <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" | ||
| diaginertia="4.16206e-06 3.52216e-06 8.88131e-07"/> | ||
| <geom class="visual" pos="-0.062026 -0.0503723 0.0055" quat="1 -1 0 0" mesh="coupler"/> | ||
| <geom name="right_coupler_col_1" class="pad_box2" pos="0.005 0.025 0.01" quat="1 1 -0.1 0" type="capsule" size="0.009 0.02"/> | ||
| <geom name="right_coupler_col_2" class="pad_box2" pos="0.005 0.025 0.001" quat="1 1 -0.1 0" type="capsule" size="0.009 0.02"/> | ||
| </body> | ||
| </body> | ||
| <body name="right_spring_link" pos="0.0127 0.012 0.07222" quat="0 0 -1 1"> | ||
| <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" | ||
| diaginertia="8.96853e-06 6.71733e-06 2.63931e-06"/> | ||
| <joint name="right_spring_link_joint" class="spring_link"/> | ||
| <geom class="visual" pos="0.0127 0.06142 0.01205" quat="1 1 0 0" mesh="spring_link"/> | ||
| <body name="right_follower" pos="-0.0382079 -0.0425003 0.00295" quat="0 -1 0 0"> | ||
| <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" | ||
| diaginertia="2.67415e-06 2.4559e-06 6.02031e-07"/> | ||
| <joint name="right_follower_joint" class="follower"/> | ||
| <geom class="visual" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" material="metal" mesh="tongue"/> | ||
| <geom class="visual" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" mesh="follower"/> | ||
| <geom name="right_follower_pad2" class="pad_box2" type="capsule" size="0.009 0.012 0.008" pos="-0.0035 -0.002 -0.009" quat="1 1 0 0"/> | ||
| <body name="right_pad" pos="-0.0377897 -0.103916 -0.0091" quat="1 -1 0 0"> | ||
| <geom class="pad_box2" name="right_finger_pad"/> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </worldbody> | ||
|
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| <contact> | ||
| <exclude body1="base" body2="left_driver"/> | ||
| <exclude body1="base" body2="right_driver"/> | ||
| <exclude body1="base" body2="left_spring_link"/> | ||
| <exclude body1="base" body2="right_spring_link"/> | ||
| <exclude body1="right_coupler" body2="right_follower"/> | ||
| <exclude body1="left_coupler" body2="left_follower"/> | ||
| </contact> | ||
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| <equality> | ||
| <connect anchor="-0.0179014 -0.00651468 0.0044" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1"/> | ||
| <connect anchor="-0.0179014 -0.00651468 0.0044" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1"/> | ||
| <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" | ||
| solref="0.005 1"/> | ||
| </equality> | ||
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| <actuator> | ||
| <general class="2f85" name="fingers_actuator" joint="left_driver_joint" forcerange="-5 5" ctrlrange="0 0.82" | ||
| gainprm="100 0 0" biasprm="0 -100 -10"/> | ||
| </actuator> | ||
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| </mujoco> |