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Add mjx_panda_nohand.xml.
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PiperOrigin-RevId: 715743887
Change-Id: I266295a795e8d2706362253e77bade7660583cee
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@copybara-github
DeepMind authored and copybara-github committed Jan 15, 2025
1 parent 832d908 commit 680740f
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211 changes: 211 additions & 0 deletions franka_emika_panda/mjx_panda_nohand.xml
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<mujoco model="panda">
<compiler angle="radian" meshdir="assets" autolimits="true"/>

<default>
<default class="panda">
<material specular="0.5" shininess="0.25"/>
<joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
<general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
<position forcerange="-100 100"/>
<default class="finger">
<joint axis="0 1 0" type="slide" range="0 0.04"/>
</default>

<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2"/>
</default>
<default class="collision">
<geom group="3" type="mesh" contype="0" conaffinity="0"/>
</default>
</default>
</default>

<asset>
<material class="panda" name="white" rgba="1 1 1 1"/>
<material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
<material class="panda" name="black" rgba="0.25 0.25 0.25 1"/>
<material class="panda" name="green" rgba="0 1 0 1"/>
<material class="panda" name="light_blue" rgba="0.039216 0.541176 0.780392 1"/>

<!-- Collision meshes -->
<mesh name="link0_c" file="link0.stl"/>
<mesh name="link1_c" file="link1.stl"/>
<mesh name="link2_c" file="link2.stl"/>
<mesh name="link3_c" file="link3.stl"/>
<mesh name="link4_c" file="link4.stl"/>
<mesh name="link5_c0" file="link5_collision_0.obj"/>
<mesh name="link5_c1" file="link5_collision_1.obj"/>
<mesh name="link5_c2" file="link5_collision_2.obj"/>
<mesh name="link6_c" file="link6.stl"/>
<mesh name="link7_c" file="link7.stl"/>

<!-- Visual meshes -->
<mesh file="link0_0.obj"/>
<mesh file="link0_1.obj"/>
<mesh file="link0_2.obj"/>
<mesh file="link0_3.obj"/>
<mesh file="link0_4.obj"/>
<mesh file="link0_5.obj"/>
<mesh file="link0_7.obj"/>
<mesh file="link0_8.obj"/>
<mesh file="link0_9.obj"/>
<mesh file="link0_10.obj"/>
<mesh file="link0_11.obj"/>
<mesh file="link1.obj"/>
<mesh file="link2.obj"/>
<mesh file="link3_0.obj"/>
<mesh file="link3_1.obj"/>
<mesh file="link3_2.obj"/>
<mesh file="link3_3.obj"/>
<mesh file="link4_0.obj"/>
<mesh file="link4_1.obj"/>
<mesh file="link4_2.obj"/>
<mesh file="link4_3.obj"/>
<mesh file="link5_0.obj"/>
<mesh file="link5_1.obj"/>
<mesh file="link5_2.obj"/>
<mesh file="link6_0.obj"/>
<mesh file="link6_1.obj"/>
<mesh file="link6_2.obj"/>
<mesh file="link6_3.obj"/>
<mesh file="link6_4.obj"/>
<mesh file="link6_5.obj"/>
<mesh file="link6_6.obj"/>
<mesh file="link6_7.obj"/>
<mesh file="link6_8.obj"/>
<mesh file="link6_9.obj"/>
<mesh file="link6_10.obj"/>
<mesh file="link6_11.obj"/>
<mesh file="link6_12.obj"/>
<mesh file="link6_13.obj"/>
<mesh file="link6_14.obj"/>
<mesh file="link6_15.obj"/>
<mesh file="link6_16.obj"/>
<mesh file="link7_0.obj"/>
<mesh file="link7_1.obj"/>
<mesh file="link7_2.obj"/>
<mesh file="link7_3.obj"/>
<mesh file="link7_4.obj"/>
<mesh file="link7_5.obj"/>
<mesh file="link7_6.obj"/>
<mesh file="link7_7.obj"/>
</asset>

<worldbody>
<light name="top" pos="0 0 2" mode="trackcom"/>
<body name="link0" childclass="panda">
<inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6"/>
<geom mesh="link0_0" material="off_white" class="visual"/>
<geom mesh="link0_1" material="black" class="visual"/>
<geom mesh="link0_2" material="off_white" class="visual"/>
<geom mesh="link0_3" material="black" class="visual"/>
<geom mesh="link0_4" material="off_white" class="visual"/>
<geom mesh="link0_5" material="black" class="visual"/>
<geom mesh="link0_7" material="white" class="visual"/>
<geom mesh="link0_8" material="white" class="visual"/>
<geom mesh="link0_9" material="black" class="visual"/>
<geom mesh="link0_10" material="off_white" class="visual"/>
<geom mesh="link0_11" material="white" class="visual"/>
<geom mesh="link0_c" class="collision"/>
<body name="link1" pos="0 0 0.333">
<inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169"/>
<joint name="joint1" damping="40"/>
<geom material="white" mesh="link1" class="visual"/>
<geom mesh="link1_c" class="collision"/>
<body name="link2" quat="1 -1 0 0">
<inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495"
fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4"/>
<joint name="joint2" range="-1.7628 1.7628" damping="40"/>
<geom material="white" mesh="link2" class="visual"/>
<geom mesh="link2_c" class="collision"/>
<body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
<joint name="joint3" damping="40"/>
<inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2"
fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2"/>
<geom mesh="link3_0" material="white" class="visual"/>
<geom mesh="link3_1" material="white" class="visual"/>
<geom mesh="link3_2" material="white" class="visual"/>
<geom mesh="link3_3" material="black" class="visual"/>
<geom mesh="link3_c" class="collision"/>
<body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
<inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2"
fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3"/>
<joint name="joint4" range="-3.0718 -0.0698" damping="40"/>
<geom mesh="link4_0" material="white" class="visual"/>
<geom mesh="link4_1" material="white" class="visual"/>
<geom mesh="link4_2" material="black" class="visual"/>
<geom mesh="link4_3" material="white" class="visual"/>
<geom mesh="link4_c" class="collision"/>
<body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
<inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2"
fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4"/>
<joint name="joint5" damping="2"/>
<geom mesh="link5_0" material="black" class="visual"/>
<geom mesh="link5_1" material="white" class="visual"/>
<geom mesh="link5_2" material="white" class="visual"/>
<geom mesh="link5_c0" class="collision"/>
<geom mesh="link5_c1" class="collision"/>
<geom mesh="link5_c2" class="collision"/>
<body name="link6" quat="1 1 0 0">
<inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2"
fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4"/>
<joint name="joint6" range="-0.0175 3.7525" damping="2"/>
<geom mesh="link6_0" material="off_white" class="visual"/>
<geom mesh="link6_1" material="white" class="visual"/>
<geom mesh="link6_2" material="black" class="visual"/>
<geom mesh="link6_3" material="white" class="visual"/>
<geom mesh="link6_4" material="white" class="visual"/>
<geom mesh="link6_5" material="white" class="visual"/>
<geom mesh="link6_6" material="white" class="visual"/>
<geom mesh="link6_7" material="light_blue" class="visual"/>
<geom mesh="link6_8" material="light_blue" class="visual"/>
<geom mesh="link6_9" material="black" class="visual"/>
<geom mesh="link6_10" material="black" class="visual"/>
<geom mesh="link6_11" material="white" class="visual"/>
<geom mesh="link6_12" material="green" class="visual"/>
<geom mesh="link6_13" material="white" class="visual"/>
<geom mesh="link6_14" material="black" class="visual"/>
<geom mesh="link6_15" material="black" class="visual"/>
<geom mesh="link6_16" material="white" class="visual"/>
<geom mesh="link6_c" class="collision"/>
<body name="link7" pos="0.088 0 0" quat="1 1 0 0">
<inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2"
fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4"/>
<joint name="joint7" damping="2"/>
<geom mesh="link7_0" material="white" class="visual"/>
<geom mesh="link7_1" material="black" class="visual"/>
<geom mesh="link7_2" material="black" class="visual"/>
<geom mesh="link7_3" material="black" class="visual"/>
<geom mesh="link7_4" material="black" class="visual"/>
<geom mesh="link7_5" material="black" class="visual"/>
<geom mesh="link7_6" material="black" class="visual"/>
<geom mesh="link7_7" material="white" class="visual"/>
<geom mesh="link7_c" class="collision"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>

<actuator>
<position class="panda" name="actuator1" joint="joint1" kp="1000" kv="20"
ctrlrange="-2.8973 2.8973"/>
<position class="panda" name="actuator2" joint="joint2" kp="1000" kv="20"
ctrlrange="-1.7628 1.7628"/>
<position class="panda" name="actuator3" joint="joint3" kp="750" kv="4"
ctrlrange="-2.8973 2.8973"/>
<position class="panda" name="actuator4" joint="joint4" kp="750" kv="4"
ctrlrange="-3.0718 -0.0698"/>
<position class="panda" name="actuator5" joint="joint5" kp="300" kv="2"
forcerange="-12 12" ctrlrange="-2.8973 2.8973"/>
<position class="panda" name="actuator6" joint="joint6" kp="300" kv="2" forcerange="-12 12"
ctrlrange="-0.0175 3.7525"/>
<position class="panda" name="actuator7" joint="joint7" kp="300" kv="2" forcerange="-12 12"/>
</actuator>
</mujoco>

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