Alessio Quaglino
ee6f4837f3
This requires the user to explicitly specify an origin. PiperOrigin-RevId: 712483526 Change-Id: Ie316a5eccb676bb918d4bb746795019145c10f5b
67 lines
2.7 KiB
XML
67 lines
2.7 KiB
XML
<!-- Copyright 2024 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco model="Gripper">
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<include file="scene.xml"/>
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<option cone="elliptic" impratio="10" integrator="implicitfast"/>
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<worldbody>
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<body name="hand" pos="0 0 .37">
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<joint name="lift" type="slide" range="0 1"/>
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<geom type="box" size=".2 .1 .05" rgba=".2 .2 .2 1"/>
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<body name="right_gripper">
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<joint name="right" type="slide" axis="-1 0 0"/>
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<geom type="box" size=".02 .1 .15" pos=".18 0 -.2" rgba=".2 .2 .2 1"/>
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<flexcomp type="mesh" file="cap.obj" pos=".16 0 -.25" dim="3" euler="0 -90 0"
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origin="0 0 0" radius=".001" rgba="0 .7 .7 1" mass=".5" name="left">
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<edge equality="true"/>
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<contact selfcollide="none" internal="false" contype="2" conaffinity="2"/>
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<pin id="0 2 3 4 5 6 7 9 11 13 15 17 19 41 45 46 50 53 57 58 61 176 177 179 180 184 185
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187 188 192 193 195 196 200 201 203 204 208 209 211 212 214 215 216 217"/>
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</flexcomp>
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</body>
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<body name="left_gripper">
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<joint name="left" type="slide" axis="1 0 0"/>
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<geom type="box" size=".02 .1 .15" pos="-.18 0 -.2" rgba=".2 .2 .2 1"/>
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<flexcomp type="mesh" file="cap.obj" pos="-.16 0 -.25" dim="3" euler="0 90 0"
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origin="0 0 0" radius=".001" rgba="0 .7 .7 1" mass=".5" name="right">
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<edge equality="true"/>
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<contact selfcollide="none" internal="false" contype="2" conaffinity="2"/>
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<pin id="0 2 3 4 5 6 7 9 11 13 15 17 19 41 45 46 50 53 57 58 61 176 177 179 180 184 185
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187 188 192 193 195 196 200 201 203 204 208 209 211 212 214 215 216 217"/>
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</flexcomp>
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</body>
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</body>
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</worldbody>
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<equality>
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<joint joint1="right" joint2="left"/>
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</equality>
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<tendon>
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<fixed name="grasp">
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<joint joint="right" coef="1"/>
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<joint joint="left" coef="1"/>
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</fixed>
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</tendon>
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<actuator>
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<position name="lift" joint="lift" kp="600" dampratio="1" ctrlrange="0 1"/>
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<position name="grasp" tendon="grasp" kp="200" dampratio="1" ctrlrange="0 1"/>
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</actuator>
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</mujoco>
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