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jaco_hand.xml
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63 lines (58 loc) · 2.7 KB
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<mujoco model="jaco_hand">
<compiler angle="radian" meshdir="meshes_decimated/"/>
<include file="common.xml"/>
<asset>
<mesh name="hand_3finger_main" file="hand_3finger_main.stl"/>
<mesh name="hand_3finger_insert" file="hand_3finger_insert.stl"/>
<mesh name="finger_proximal" file="finger_proximal.stl"/>
<mesh name="finger_distal" file="finger_distal.stl"/>
</asset>
<default>
<geom type="mesh" material="dark_gray" condim="3" contype="3" conaffinity="2"/>
<joint type="hinge" limited="true" range="0.15 1.35" frictionloss="0.1" armature="0.1" damping="0.75"/>
<default class="finger">
<geom type="mesh" material="light_gray" condim="4"/>
<default class="finger_proximal">
<geom mesh="finger_proximal" mass="0.0255204"/>
</default>
<default class="finger_distal">
<geom mesh="finger_distal" mass="0.0132655"/>
</default>
</default>
</default>
<worldbody>
<body name="hand" quat="0. 0.70710678118 0.70710678118 0.">
<site name="gripsite" pos="0 -0.0001 -.159" quat="0 0.70710678118 0.70710678118 0"/>
<site name="pinchsite" pos="0.015 0.0024 -0.193" quat="0 0.70710678118 0.70710678118 0"/>
<geom name="link_6_main" mesh="hand_3finger_main" mass="0.54719"/>
<geom name="link_6_insert" mesh="hand_3finger_insert" material="light_gray" mass="0"/>
<body name="b_finger_1" pos="0.00279 0.03126 -0.11467" quat="0.24396 -0.63159 -0.38818 0.62521" childclass="finger_proximal">
<joint name="finger_1"/>
<geom name="finger_knuckle_1"/>
<body name="b_finger_tip_1" pos="0.044 -0.003 0" childclass="finger_distal">
<geom name="finger_tip_1"/>
</body>
</body>
<body name="b_finger_2" pos="-0.02226 -0.02707 -0.11482" quat="0.601679 -0.254671 0.659653 -0.37146" childclass="finger_proximal">
<joint name="finger_2"/>
<geom name="finger_knuckle_2"/>
<body name="b_finger_tip_2" pos="0.044 -0.003 0" childclass="finger_distal">
<geom name="finger_tip_2"/>
</body>
</body>
<body name="b_finger_3" pos="0.02226 -0.02707 -0.11482" quat="0.659653 -0.37146 0.601679 -0.254671" childclass="finger_proximal">
<joint name="finger_3"/>
<geom name="finger_knuckle_3"/>
<body name="b_finger_tip_3" pos="0.044 -0.003 0" childclass="finger_distal">
<geom name="finger_tip_3"/>
</body>
</body>
</body>
</worldbody>
<!-- Prevents contacts between the hand and the fingers when the hand is a direct child of the worldbody. -->
<contact>
<exclude body1='hand' body2='b_finger_1'/>
<exclude body1='hand' body2='b_finger_2'/>
<exclude body1='hand' body2='b_finger_3'/>
</contact>
</mujoco>