Adding a custom Allegro Hand #729
Description
Hi, I am trying to add in the Allegro hand from Mujoco Menagerie.
I copied the XML file from: https://github.com/google-deepmind/mujoco_menagerie/blob/main/wonik_allegro/README.md
But then I received several errors when trying to load the model into a simulation. I edited the XML until I did not receive any errors and the simulation loaded. However, the model now only shows one finger. Would you be able to help me with this? The XML file is below
<!-- Visual Defaults -->
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="1" material="black"/>
</default>
<default class="palm_visual">
<geom mesh="base_link"/>
</default>
<default class="base_visual">
<geom mesh="link_0.0"/>
</default>
<default class="proximal_visual">
<geom mesh="link_1.0"/>
</default>
<default class="medial_visual">
<geom mesh="link_2.0"/>
</default>
<default class="distal_visual">
<geom mesh="link_3.0"/>
</default>
<default class="fingertip_visual">
<geom pos="0 0 0.0267" material="white" mesh="link_3.0_tip"/>
</default>
<default class="thumbtip_visual">
<geom pos="0 0 0.0423" material="white" mesh="link_15.0_tip"/>
</default>
<!-- Collision Defaults -->
<default class="collision">
<geom group="3" type="box" mass="0"/>
</default>
<default class="palm_collision">
<geom size="0.0204 0.0565 0.0475" pos="-0.0093 0 -0.0475"/>
</default>
<default class="base_collision">
<geom size="0.0098 0.01375 0.0082" pos="0 0 0.0082"/>
</default>
<default class="thumb_base_collision">
<geom size="0.0179 0.017 0.02275" pos="-0.0179 0.009 0.0145"/>
</default>
<default class="proximal_collision">
<geom size="0.0098 0.01375 0.027" pos="0 0 0.027"/>
</default>
<default class="thumb_proximal_collision">
<geom size="0.0098 0.01375 0.00885" pos="0 0 0.00885"/>
</default>
<default class="medial_collision">
<geom size="0.0098 0.01375 0.0192" pos="0 0 0.0192"/>
</default>
<default class="thumb_medial_collision">
<geom size="0.0098 0.01375 0.0257" pos="0 0 0.0257"/>
</default>
<default class="distal_collision">
<geom size="0.0098 0.01375 0.008" pos="0 0 0.008"/>
</default>
<default class="thumb_distal_collision">
<geom size="0.0098 0.01375 0.0157" pos="0 0 0.0157"/>
</default>
<default class="fingertip_collision">
<geom type="capsule" size="0.012 0.01" pos="0 0 0.019"/>
</default>
<default class="thumbtip_collision">
<geom type="capsule" size="0.012 0.008" pos="0 0 0.035"/>
</default>
<!-- Joint/Class Configs -->
<default class="base">
<joint axis="0 0 1" range="-0.47 0.47"/>
<position ctrlrange="-0.47 0.47"/>
</default>
<default class="proximal">
<joint range="-0.196 1.61"/>
<position ctrlrange="-0.196 1.61"/>
</default>
<default class="medial">
<joint range="-0.174 1.709"/>
<position ctrlrange="-0.174 1.709"/>
</default>
<default class="distal">
<joint range="-0.227 1.618"/>
<position ctrlrange="-0.227 1.618"/>
</default>
<default class="thumb_base">
<joint axis="-1 0 0" range="0.263 1.396"/>
<position ctrlrange="0.263 1.396"/>
</default>
<default class="thumb_proximal">
<joint axis="0 0 1" range="-0.105 1.163"/>
<position ctrlrange="-0.105 1.163"/>
</default>
<default class="thumb_medial">
<joint range="-0.189 1.644"/>
<position ctrlrange="-0.189 1.644"/>
</default>
<default class="thumb_distal">
<joint range="-0.162 1.719"/>
<position ctrlrange="-0.162 1.719"/>
</default>
<mesh name="base_link" file="meshes/allegro_right/base_link.stl"/>
<mesh name="link_0.0" file="meshes/allegro_right/link_0.0.stl"/>
<mesh name="link_1.0" file="meshes/allegro_right/link_1.0.stl"/>
<mesh name="link_2.0" file="meshes/allegro_right/link_2.0.stl"/>
<mesh name="link_3.0" file="meshes/allegro_right/link_3.0.stl"/>
<mesh name="link_3.0_tip" file="meshes/allegro_right/link_3.0_tip.stl"/>
<mesh name="link_12.0_right" file="meshes/allegro_right/link_12.0_right.stl"/>
<mesh name="link_13.0" file="meshes/allegro_right/link_13.0.stl"/>
<mesh name="link_14.0" file="meshes/allegro_right/link_14.0.stl"/>
<mesh name="link_15.0" file="meshes/allegro_right/link_15.0.stl"/>
<mesh name="link_15.0_tip" file="meshes/allegro_right/link_15.0_tip.stl"/>
<body name="palm" quat="0 1 0 1" class="allegro_right">
<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>
<geom class="palm_visual" mesh="base_link"/>
<geom class="palm_collision"/>
<!-- First finger -->
<body name="ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
<joint name="ffj0" class="base"/>
<geom class="base_visual"/>
<geom class="base_collision"/>
<body name="ff_proximal" pos="0 0 0.0164">
<joint name="ffj1" class="proximal"/>
<geom class="proximal_visual"/>
<geom class="proximal_collision"/>
<body name="ff_medial" pos="0 0 0.054">
<joint name="ffj2" class="medial"/>
<geom class="medial_visual"/>
<geom class="medial_collision"/>
<body name="ff_distal" pos="0 0 0.0384">
<joint name="ffj3" class="distal"/>
<geom class="distal_visual"/>
<geom class="distal_collision"/>
<body name="ff_tip">
<geom class="fingertip_visual"/>
<geom class="fingertip_collision"/>
</body>
</body>
</body>
</body>
</body>
<!-- Middle finger -->
<body name="mf_base" pos="0 0 0.0007">
<joint name="mfj0" class="base"/>
<geom class="base_visual"/>
<geom class="base_collision"/>
<body name="mf_proximal" pos="0 0 0.0164">
<joint name="mfj1" class="proximal"/>
<geom class="proximal_visual"/>
<geom class="proximal_collision"/>
<body name="mf_medial" pos="0 0 0.054">
<joint name="mfj2" class="medial"/>
<geom class="medial_visual"/>
<geom class="medial_collision"/>
<body name="mf_distal" pos="0 0 0.0384">
<joint name="mfj3" class="distal"/>
<geom class="distal_visual"/>
<geom class="distal_collision"/>
<body name="mf_tip">
<geom class="fingertip_visual"/>
<geom class="fingertip_collision"/>
</body>
</body>
</body>
</body>
</body>
<!-- Ring finger -->
<body name="rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
<joint name="rfj0" class="base"/>
<geom class="base_visual"/>
<geom class="base_collision"/>
<body name="rf_proximal" pos="0 0 0.0164">
<joint name="rfj1" class="proximal"/>
<geom class="proximal_visual"/>
<geom class="proximal_collision"/>
<body name="rf_medial" pos="0 0 0.054">
<joint name="rfj2" class="medial"/>
<geom class="medial_visual"/>
<geom class="medial_collision"/>
<body name="rf_distal" pos="0 0 0.0384">
<joint name="rfj3" class="distal"/>
<geom class="distal_visual"/>
<geom class="distal_collision"/>
<body name="rf_tip">
<geom class="fingertip_visual"/>
<geom class="fingertip_collision"/>
</body>
</body>
</body>
</body>
</body>
<!-- Thumb -->
<body name="th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
<joint name="thj0" class="thumb_base"/>
<geom class="visual" mesh="link_12.0_right"/>
<geom class="thumb_base_collision"/>
<body name="th_proximal" pos="-0.027 0.005 0.0399">
<joint name="thj1" class="thumb_proximal"/>
<geom class="visual" mesh="link_13.0"/>
<geom class="thumb_proximal_collision"/>
<body name="th_medial" pos="0 0 0.0177">
<joint name="thj2" class="thumb_medial"/>
<geom class="visual" mesh="link_14.0"/>
<geom class="thumb_medial_collision"/>
<body name="th_distal" pos="0 0 0.0514">
<joint name="thj3" class="thumb_distal"/>
<geom class="visual" mesh="link_15.0"/>
<geom class="thumb_distal_collision"/>
<body name="th_tip">
<geom class="thumbtip_visual"/>
<geom class="thumbtip_collision"/>
</body>
</body>
</body>
</body>
</body>
</body>