Alessio Quaglino
8a20ce24d3
PiperOrigin-RevId: 916879634 Change-Id: Ib706909521b4f503b13904a34b0e29aefd4fa433
103 lines
3.7 KiB
XML
103 lines
3.7 KiB
XML
<!-- Copyright 2026 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>
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<include file="scene.xml"/>
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<option cone="elliptic" solver="CG" />
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<default>
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<default class="gripper">
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<geom type="box" size="0.02 0.15 0.02" rgba="0.5 0.5 0.5 1"
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solref="0.001 1" friction="2 0.1 0.1"/>
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<joint type="slide" axis="0 0 1" range="-1 1"/>
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<default class="finger">
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<geom size="0.01 0.06 0.03"/>
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<joint type="slide" range="0 0.1"/>
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</default>
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</default>
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</default>
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<worldbody>
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<body name="solid" pos=".32 0 .2">
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<flexcomp
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origin="0 0 0" count="8 2 12" cellcount="6 1 6"
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type="grid" name="soft_mesh" dim="3" spacing=".025 .05 .025"
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mass="0.43" radius="0.005" dof="trilinear" rgba="0.7 0.9 0.7 1">
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<edge equality="strain" solref="0.001 1"/>
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<contact selfcollide="none"
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internal="false"
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friction="2.0 0.5 0.01"
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solref="0.001 1"
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solimp="0.99 0.999 0.001"/>
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</flexcomp>
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</body>
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<body name="hollow" pos=".32 .45 .2">
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<flexcomp
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origin="0 0 0" count="8 2 12" cellcount="6 1 6"
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type="grid" name="soft_mesh_2" dim="3" spacing=".025 .05 .025"
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mass="0.43" radius="0.005" dof="trilinear" rgba="0.9 0.7 0.7 1">
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<elasticity young="1e4" poisson="0.3" damping="0" elastic2d="bend" thickness="0.03"/>
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<edge equality="strain" solref="0.001 1" solimp="0.99 0.999 0.001"/>
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<contact selfcollide="none"
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internal="false"
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friction="2.0 0.5 0.01"
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solref="0.001 1"
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solimp="0.99 0.999 0.001"/>
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</flexcomp>
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</body>
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<body name="gripper_solid" pos="0.2 0.45 0.2">
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<joint name="lift_solid" class="gripper"/>
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<geom class="gripper"/>
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<body name="left_finger_r" pos="0.05 -0.1 0" childclass="finger">
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<joint name="left_slide_r" axis="0 1 0"/>
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<geom rgba="0.8 0.2 0.2 1"/>
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</body>
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<body name="right_finger_r" pos="0.05 0.1 0" childclass="finger">
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<joint name="right_slide_r" axis="0 -1 0"/>
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<geom rgba="0.8 0.2 0.2 1"/>
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</body>
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</body>
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<body name="gripper_hollow" pos="0.2 0 0.2">
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<joint name="lift_hollow" class="gripper"/>
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<geom class="gripper"/>
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<body name="left_finger_s" pos="0.05 -0.1 0" childclass="finger">
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<joint name="left_slide_s" axis="0 1 0"/>
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<geom rgba="0.2 0.8 0.2 1"/>
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</body>
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<body name="right_finger_s" pos="0.05 0.1 0" childclass="finger">
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<joint name="right_slide_s" axis="0 -1 0"/>
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<geom rgba="0.2 0.8 0.2 1"/>
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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_slide_r" joint2="left_slide_r"/>
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<joint joint1="right_slide_s" joint2="left_slide_s"/>
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</equality>
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<actuator>
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<position name="lift_r" joint="lift_solid" kp="400" dampratio="1" ctrlrange="-1 1"/>
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<position name="grasp_r" joint="left_slide_r" kp="10" dampratio="1" ctrlrange="0 5"/>
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<position name="lift_s" joint="lift_hollow" kp="400" dampratio="1" ctrlrange="-1 1"/>
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<position name="grasp_s" joint="left_slide_s" kp="10" dampratio="1" ctrlrange="0 5"/>
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</actuator>
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</mujoco>
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