Yuval Tassa
f712eed4ce
PiperOrigin-RevId: 917817500 Change-Id: Ia3bd5e52e7c2eaa3f70c81352d82c130b1d357f6
90 lines
3.1 KiB
XML
90 lines
3.1 KiB
XML
<mujoco>
|
|
<include file="scene.xml"/>
|
|
|
|
<option cone="elliptic" solver="CG" sleep_tolerance=".01">
|
|
<flag sleep="enable"/>
|
|
</option>
|
|
|
|
<default>
|
|
<default class="gripper">
|
|
<geom type="box" size="0.02 0.15 0.02" rgba="0.5 0.5 0.5 1"
|
|
solref="0.001 1" friction="2 0.1 0.1"/>
|
|
<joint type="slide" axis="0 0 1" range="-1 1"/>
|
|
<default class="finger">
|
|
<geom size="0.01 0.06 0.03"/>
|
|
<joint type="slide" range="0 0.1"/>
|
|
</default>
|
|
</default>
|
|
</default>
|
|
|
|
<worldbody>
|
|
<body name="gripper_solid" pos="0.2 0.45 0.2">
|
|
<joint name="lift_solid" class="gripper"/>
|
|
<geom class="gripper"/>
|
|
<body name="left_finger_r" pos="0.05 -0.1 0" childclass="finger">
|
|
<joint name="left_slide_r" axis="0 1 0"/>
|
|
<geom rgba="0.8 0.2 0.2 1"/>
|
|
</body>
|
|
<body name="right_finger_r" pos="0.05 0.1 0" childclass="finger">
|
|
<joint name="right_slide_r" axis="0 -1 0"/>
|
|
<geom rgba="0.8 0.2 0.2 1"/>
|
|
</body>
|
|
</body>
|
|
|
|
<body name="gripper_hollow" pos="0.2 0 0.2">
|
|
<joint name="lift_hollow" class="gripper"/>
|
|
<geom class="gripper"/>
|
|
<body name="left_finger_s" pos="0.05 -0.1 0" childclass="finger">
|
|
<joint name="left_slide_s" axis="0 1 0"/>
|
|
<geom rgba="0.2 0.8 0.2 1"/>
|
|
</body>
|
|
<body name="right_finger_s" pos="0.05 0.1 0" childclass="finger">
|
|
<joint name="right_slide_s" axis="0 -1 0"/>
|
|
<geom rgba="0.2 0.8 0.2 1"/>
|
|
</body>
|
|
</body>
|
|
|
|
<body name="solid" pos=".32 0 .2">
|
|
<flexcomp
|
|
origin="0 0 0" count="8 2 12" cellcount="2 1 2"
|
|
type="grid" name="soft_mesh" dim="3" spacing=".025 .05 .025"
|
|
mass="0.43" radius="0.005" dof="trilinear" rgba="0.7 0.9 0.7 1">
|
|
<edge equality="strain" solref="0.001 1"/>
|
|
<contact selfcollide="none"
|
|
internal="false"
|
|
friction="2.0 0.5 0.01"
|
|
solref="0.001 1"
|
|
solimp="0.99 0.999 0.001"/>
|
|
</flexcomp>
|
|
</body>
|
|
|
|
<body name="hollow" pos=".32 .45 .2">
|
|
<flexcomp
|
|
origin="0 0 0" count="8 2 12" cellcount="2 1 2"
|
|
type="grid" name="soft_mesh_2" dim="3" spacing=".025 .05 .025"
|
|
mass="0.43" radius="0.005" dof="trilinear" rgba="0.9 0.7 0.7 1">
|
|
<elasticity young="1e5" poisson="0.3" damping="0" elastic2d="bend" thickness="0.03"/>
|
|
<edge equality="strain" solref="0.001 1" solimp="0.99 0.999 0.001"/>
|
|
<contact selfcollide="none"
|
|
internal="false"
|
|
friction="2.0 0.5 0.01"
|
|
solref="0.001 1"
|
|
solimp="0.99 0.999 0.001"/>
|
|
</flexcomp>
|
|
</body>
|
|
</worldbody>
|
|
|
|
<equality>
|
|
<joint joint1="right_slide_r" joint2="left_slide_r"/>
|
|
<joint joint1="right_slide_s" joint2="left_slide_s"/>
|
|
</equality>
|
|
|
|
<actuator>
|
|
<position name="lift_r" joint="lift_solid" kp="400" dampratio="1" ctrlrange="-1 1"/>
|
|
<position name="grasp_r" joint="left_slide_r" kp="10" dampratio="1" ctrlrange="0 5"/>
|
|
|
|
<position name="lift_s" joint="lift_hollow" kp="400" dampratio="1" ctrlrange="-1 1"/>
|
|
<position name="grasp_s" joint="left_slide_s" kp="10" dampratio="1" ctrlrange="0 5"/>
|
|
</actuator>
|
|
</mujoco>
|