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Merge pull request #567 from xieleo5/DexMimicGen
DexMimicGen GR1 + fourier hand assets update
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,196 @@ | ||
| <mujoco model="fourier left hand"> | ||
| <statistic center="0.3 0 0.4" extent="1"/> | ||
| <compiler angle="radian" meshdir="./" autolimits="true"/> | ||
|
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||
| <visual> | ||
| <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/> | ||
| <rgba haze="0.15 0.25 0.35 1"/> | ||
| <global azimuth="120" elevation="20"/> | ||
| </visual> | ||
|
|
||
| <default> | ||
| <joint damping="1"/> | ||
| <muscle ctrllimited="true" ctrlrange="0 100"/> | ||
| <motor ctrllimited="true" ctrlrange="-3 3" gear="1"/> | ||
| <position ctrllimited="true" kp="10"/> | ||
| </default> | ||
|
|
||
| <asset> | ||
| <mesh name="L_hand_base_link_vis" file="meshes/fourier_hands/L_hand_base_link.STL"/> | ||
| <mesh name="L_hand_base_link_col" file="meshes/fourier_hands/L_hand_base_link.STL"/> | ||
|
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||
| <mesh name="L_thumb_proximal_base_link_vis" file="meshes/fourier_hands/L_thumb_proximal_base_link.STL"/> | ||
| <mesh name="L_thumb_proximal_base_link_col" file="meshes/fourier_hands/L_thumb_proximal_base_link.STL"/> | ||
|
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||
| <mesh name="L_thumb_proximal_link_vis" file="meshes/fourier_hands/L_thumb_proximal_link.STL"/> | ||
| <mesh name="L_thumb_proximal_link_col" file="meshes/fourier_hands/L_thumb_proximal_link.STL"/> | ||
|
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||
| <mesh name="L_thumb_distal_link_vis" file="meshes/fourier_hands/L_thumb_distal_link.STL"/> | ||
| <mesh name="L_thumb_distal_link_col" file="meshes/fourier_hands/L_thumb_distal_link.STL"/> | ||
|
|
||
| <mesh name="L_index_proximal_link_vis" file="meshes/fourier_hands/L_index_proximal_link.STL"/> | ||
| <mesh name="L_index_proximal_link_col" file="meshes/fourier_hands/L_index_proximal_link.STL"/> | ||
|
|
||
| <mesh name="L_index_intermediate_link_vis" file="meshes/fourier_hands/L_index_intermediate_link.STL"/> | ||
| <mesh name="L_index_intermediate_link_col" file="meshes/fourier_hands/L_index_intermediate_link.STL"/> | ||
|
|
||
| <mesh name="L_middle_proximal_link_vis" file="meshes/fourier_hands/L_middle_proximal_link.STL"/> | ||
| <mesh name="L_middle_proximal_link_col" file="meshes/fourier_hands/L_middle_proximal_link.STL"/> | ||
|
|
||
| <mesh name="L_middle_intermediate_link_vis" file="meshes/fourier_hands/L_middle_intermediate_link.STL"/> | ||
| <mesh name="L_middle_intermediate_link_col" file="meshes/fourier_hands/L_middle_intermediate_link.STL"/> | ||
|
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||
| <mesh name="L_ring_proximal_link_vis" file="meshes/fourier_hands/L_ring_proximal_link.STL"/> | ||
| <mesh name="L_ring_proximal_link_col" file="meshes/fourier_hands/L_ring_proximal_link.STL"/> | ||
|
|
||
| <mesh name="L_ring_intermediate_link_vis" file="meshes/fourier_hands/L_ring_intermediate_link.STL"/> | ||
| <mesh name="L_ring_intermediate_link_col" file="meshes/fourier_hands/L_ring_intermediate_link.STL"/> | ||
|
|
||
| <mesh name="L_pinky_proximal_link_vis" file="meshes/fourier_hands/L_pinky_proximal_link.STL"/> | ||
| <mesh name="L_pinky_proximal_link_col" file="meshes/fourier_hands/L_pinky_proximal_link.STL"/> | ||
|
|
||
| <mesh name="L_pinky_intermediate_link_vis" file="meshes/fourier_hands/L_pinky_intermediate_link.STL"/> | ||
| <mesh name="L_pinky_intermediate_link_col" file="meshes/fourier_hands/L_pinky_intermediate_link.STL"/> | ||
|
|
||
| <material name="site_left_hand" rgba="0.1882 0.1882 0.1882 0"/> | ||
|
|
||
| <material name="l_base_material" rgba="0 0 0 1"/> | ||
| <material name="l_thumb_material" rgba="0 0 0 1"/> | ||
| <material name="l_index_material" rgba="0 0 0 1"/> | ||
| <material name="l_middle_material" rgba="0 0 0 1"/> | ||
| <material name="l_ring_material" rgba="0 0 0 1"/> | ||
| <material name="l_pinky_material" rgba="0 0 0 1"/> | ||
|
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||
| <material name="l_thumb_distal_material" rgba="0 0 0 1"/> | ||
| </asset> | ||
|
|
||
| <worldbody> | ||
| <body name="left_hand" pos="0 0 0" quat="0.7071068 0 0 -0.7071068"> | ||
| <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0" type="sphere" group="1"/> | ||
| <inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/> | ||
| <body name="eef" pos="0 0 0" quat="0.707 0. -0.707 0."> | ||
| <site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 1 0 1" type="sphere" group="2"/> | ||
| <site name="ee_x" pos="0.1 0 0" size="0.005 .1" quat="0.707105 0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1"/> | ||
| <site name="ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1"/> | ||
| <site name="ee_z" pos="0 0 0.1" size="0.005 .1" quat="1 0 0 0" rgba="0 0 1 0" type="cylinder" group="1"/> | ||
| <!-- This site was added for visualization. --> | ||
| <site name="grip_site_cylinder" pos="0 0 0" quat="-0.5 -0.5 -0.5 0.5" size="0.005 0.5" rgba="0 1 0 0.3" type="cylinder" group="1"/> | ||
| </body> | ||
|
|
||
| <!-- Palm --> | ||
| <body name="l_palm" pos="0 0 0"> | ||
| <geom name="l_palm_vis" type="mesh" material="l_base_material" mesh="L_hand_base_link_vis" group="1" contype="0" conaffinity="0"/> | ||
| <geom name="l_palm_col" type="mesh" mass="0.1" mesh="L_hand_base_link_col"/> | ||
|
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||
| <!-- Thumb --> | ||
| <body name="l_thumb" pos="0. 0. 0."> | ||
| <body name="L_thumb_proximal_base_link" pos="0.022 -0.015498 -0.025093" quat="1 0 -6.105e-06 0"> | ||
| <joint name="L_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 -1" range="0 1.74" actuatorfrcrange="-10 10" damping="1"/> | ||
| <geom name="L_thumb_proximal_base_link_vis" type="mesh" material="l_thumb_material" mesh="L_thumb_proximal_base_link_vis" group="1" contype="0" conaffinity="0"/> | ||
| <geom name="L_thumb_proximal_base_link_col" type="mesh" mass="0.1" mesh="L_thumb_proximal_base_link_col"/> | ||
| <body name="L_thumb_proximal_link" pos="0.02175 0 0" quat="0.707141 -0.707073 0 0"> | ||
| <site name="site_L_thumb_proximal_link" size="0.01" material="site_left_hand"/> | ||
| <joint name="L_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="0 1.22" actuatorfrcrange="-10 10" damping="1"/> | ||
| <geom name="L_thumb_proximal_link_vis" type="mesh" material="l_thumb_material" mesh="L_thumb_proximal_link_vis" group="1" contype="0" conaffinity="0"/> | ||
| <geom name="L_thumb_proximal_link_col" type="mesh" mass="0.1" mesh="L_thumb_proximal_link_col"/> | ||
| <body name="L_thumb_distal_link" pos="0.061549 0.0074616 0" quat="1 0 0 6.105e-06"> | ||
| <site name="site_L_thumb_distal_link" size="0.01" material="site_left_hand"/> | ||
| <joint name="L_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.23" actuatorfrcrange="-10 10" damping="1"/> | ||
| <geom name="L_thumb_distal_link_vis" type="mesh" material="l_thumb_material" mesh="L_thumb_distal_link_vis" group="1" contype="0" conaffinity="0"/> | ||
| <geom name="L_thumb_distal_link_col" type="mesh" mass="0.1" mesh="L_thumb_distal_link_col"/> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| <!-- End of Thumb --> | ||
|
|
||
| <!-- Index --> | ||
| <body name="l_index" pos="0 0 0"> | ||
| <body name="L_index_proximal_link" pos="0.026869 -0.012293 -0.095989" quat="0.725387 2.48047e-05 0.688341 2.35323e-05"> | ||
| <site name="site_L_index_proximal_link" size="0.01" material="site_left_hand"/> | ||
| <joint name="L_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.57" actuatorfrcrange="-10 10" damping="1"/> | ||
| <geom name="L_index_proximal_link_vis" type="mesh" material="l_index_material" mesh="L_index_proximal_link_vis" group="1" contype="0" conaffinity="0"/> | ||
| <geom name="L_index_proximal_link_col" type="mesh" mass="0.1" mesh="L_index_proximal_link_col"/> | ||
| <body name="L_index_intermediate_link" pos="0.031532 -0.0054551 0" quat="1 0 0 -3.4128e-05"> | ||
| <site name="site_L_index_intermediate_link" size="0.01" material="site_left_hand"/> | ||
| <joint name="L_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.74" actuatorfrcrange="-10 10" damping="1"/> | ||
| <geom name="L_index_intermediate_link_vis" type="mesh" material="l_index_material" mesh="L_index_intermediate_link_vis" group="1" contype="0" conaffinity="0"/> | ||
| <geom name="L_index_intermediate_link_col" type="mesh" mass="0.1" mesh="L_index_intermediate_link_col"/> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| <!-- End of Index --> | ||
|
|
||
| <!-- Middle --> | ||
| <body name="l_middle" pos="0 0 0"> | ||
| <body name="L_middle_proximal_link" pos="0.0085012 -0.012293 -0.097993" quat="0.707113 3.35258e-05 0.707101 3.35258e-05"> | ||
| <site name="site_L_middle_proximal_link" size="0.01" material="site_left_hand"/> | ||
| <joint name="L_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.57" actuatorfrcrange="-10 10" damping="1"/> | ||
| <geom name="L_middle_proximal_link_vis" type="mesh" material="l_middle_material" mesh="L_middle_proximal_link_vis" group="1" contype="0" conaffinity="0"/> | ||
| <geom name="L_middle_proximal_link_col" type="mesh" mass="0.1" mesh="L_middle_proximal_link_col"/> | ||
| <body name="L_middle_intermediate_link" pos="0.031662 -0.0046408 0" quat="1 0 0 -3.4175e-05"> | ||
| <site name="site_L_middle_intermediate_link" size="0.01" material="site_left_hand"/> | ||
| <joint name="L_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.74" actuatorfrcrange="-10 10" damping="1"/> | ||
| <geom name="L_middle_intermediate_link_vis" type="mesh" material="l_middle_material" mesh="L_middle_intermediate_link_vis" group="1" contype="0" conaffinity="0"/> | ||
| <geom name="L_middle_intermediate_link_col" type="mesh" mass="0.1" mesh="L_middle_intermediate_link_col"/> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| <!-- End of Middle --> | ||
|
|
||
| <!-- Ring --> | ||
| <body name="l_ring" pos="0 0 0"> | ||
| <body name="L_ring_proximal_link" pos="-0.00996 -0.012293 -0.097938" quat="0.688341 2.39435e-05 0.725387 2.39435e-05"> | ||
| <site name="site_L_ring_proximal_link" size="0.01" material="site_left_hand"/> | ||
| <joint name="L_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.57" actuatorfrcrange="-10 10" damping="1"/> | ||
| <geom name="L_ring_proximal_link_vis" type="mesh" material="l_ring_material" mesh="L_ring_proximal_link_vis" group="1" contype="0" conaffinity="0"/> | ||
| <geom name="L_ring_proximal_link_col" type="mesh" mass="0.1" mesh="L_ring_proximal_link_col"/> | ||
| <body name="L_ring_intermediate_link" pos="0.031532 -0.0054551 0" quat="1 0 0 -3.4128e-05"> | ||
| <site name="site_L_ring_intermediate_link" size="0.01" material="site_left_hand"/> | ||
| <joint name="L_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.74" actuatorfrcrange="-10 10" damping="1"/> | ||
| <geom name="L_ring_intermediate_link_vis" type="mesh" material="l_ring_material" mesh="L_ring_intermediate_link_vis" group="1" contype="0" conaffinity="0"/> | ||
| <geom name="L_ring_intermediate_link_col" type="mesh" mass="0.1" mesh="L_ring_intermediate_link_col"/> | ||
| </body> | ||
| </body> | ||
| </body> | ||
|
|
||
| <!-- Pinky finger --> | ||
| <body name="l_pinky" pos="0 0 0"> | ||
| <body name="L_pinky_proximal_link" pos="-0.028227 -0.012293 -0.096013" quat="0.669139 2.56274e-05 0.743137 2.56274e-05"> | ||
| <site name="site_L_pinky_proximal_link" size="0.01" material="site_left_hand"/> | ||
| <joint name="L_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.57" actuatorfrcrange="-10 10" damping="1"/> | ||
| <geom name="L_pinky_proximal_link_vis" type="mesh" material="l_pinky_material" mesh="L_pinky_proximal_link_vis" group="1" contype="0" conaffinity="0"/> | ||
| <geom name="L_pinky_proximal_link_col" type="mesh" mass="0.1" mesh="L_pinky_proximal_link_col"/> | ||
| <body name="L_pinky_intermediate_link" pos="0.031338 -0.0064763 0" quat="1 0 0 -3.3988e-05"> | ||
| <site name="site_L_pinky_intermediate_link" size="0.01" material="site_left_hand"/> | ||
| <joint name="L_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.74" actuatorfrcrange="-10 10" damping="1"/> | ||
| <geom name="L_pinky_intermediate_link_vis" type="mesh" material="l_pinky_material" mesh="L_pinky_intermediate_link_vis" group="1" contype="0" conaffinity="0"/> | ||
| <geom name="L_pinky_intermediate_link_col" type="mesh" mass="0.1" mesh="L_pinky_intermediate_link_col"/> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| <!-- End of Pinky finger --> | ||
| </body> | ||
| <!-- End of Palm --> | ||
| </body> | ||
| </worldbody> | ||
|
|
||
| <actuator> | ||
| <position joint="L_pinky_intermediate_joint" name="L_pinky_intermediate_joint_drive" ctrlrange="0 1.74" kp="2" forcelimited="true" forcerange="-20 20"/> | ||
| <position joint="L_pinky_proximal_joint" name="L_pinky_proximal_joint_drive" ctrlrange="0 1.57" kp="2" forcelimited="true" forcerange="-20 20"/> | ||
| <position joint="L_ring_intermediate_joint" name="L_ring_intermediate_joint_drive" ctrlrange="0 1.74" kp="2" forcelimited="true" forcerange="-20 20"/> | ||
| <position joint="L_ring_proximal_joint" name="L_ring_proximal_joint_drive" ctrlrange="0 1.57" kp="2" forcelimited="true" forcerange="-20 20"/> | ||
| <position joint="L_middle_intermediate_joint" name="L_middle_intermediate_joint_drive" ctrlrange="0 1.74" kp="2" forcelimited="true" forcerange="-20 20"/> | ||
| <position joint="L_middle_proximal_joint" name="L_middle_proximal_joint_drive" ctrlrange="0 1.57" kp="2" forcelimited="true" forcerange="-20 20"/> | ||
| <position joint="L_index_intermediate_joint" name="L_index_intermediate_joint_drive" ctrlrange="0 1.74" kp="2" forcelimited="true" forcerange="-20 20"/> | ||
| <position joint="L_index_proximal_joint" name="L_index_proximal_joint_drive" ctrlrange="0 1.57" kp="2" forcelimited="true" forcerange="-20 20"/> | ||
| <position joint="L_thumb_distal_joint" name="L_thumb_distal_joint_drive" ctrlrange="0 1.23" kp="2" forcelimited="true" forcerange="-20 20"/> | ||
| <position joint="L_thumb_proximal_pitch_joint" name="L_thumb_proximal_pitch_joint_drive" ctrlrange="0 1.22" kp="2" forcelimited="true" forcerange="-20 20"/> | ||
| <position joint="L_thumb_proximal_yaw_joint" name="L_thumb_proximal_yaw_joint_drive" ctrlrange="0 1.74" kp="4" forcelimited="true" forcerange="-20 20"/> | ||
| </actuator> | ||
|
|
||
| <sensor> | ||
| <force name="force_ee" site="ft_frame"/> | ||
| <torque name="torque_ee" site="ft_frame"/> | ||
| </sensor> | ||
| </mujoco> |
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