1+ <mujoco model =" panda_hand"
2+ <compiler angle =" radian" meshdir =" assets" autolimits =" true"
3+
4+ <default >
5+ <default class =" panda"
6+ <material specular =" 0.5" shininess =" 0.25"
7+ <default class =" finger"
8+ <joint axis =" 0 1 0" type =" slide" range =" 0 0.04"
9+ </default >
10+ <default class =" visual"
11+ <geom type =" mesh" contype =" 0" conaffinity =" 0" group =" 2"
12+ </default >
13+ <default class =" collision"
14+ <geom group =" 3" type =" mesh" contype =" 0" conaffinity =" 0"
15+ <default class =" primitive_collision"
16+ <geom group =" 3" type =" box" contype =" 0" conaffinity =" 0"
17+ condim =" 3" solimp =" 0.99 0.995 0.01" solref =" 0.01 1" friction =" 1 0.005 0.0001"
18+ <default class =" fingertip_pad_collision_1"
19+ <geom type =" box" size =" 0.011 0.0075 0.01" pos =" 0 0.0185 0.011"
20+ </default >
21+ <default class =" fingertip_pad_collision_2"
22+ <geom type =" box" size =" 0.011 0.0044 0.0019" pos =" 0 0.0068 0.0022"
23+ </default >
24+ <default class =" fingertip_pad_collision_3"
25+ <geom type =" box" size =" 0.00875 0.0035 0.01175" pos =" 0 0.0159 0.02835" quat =" 1 0.25 0 0"
26+ </default >
27+ <default class =" fingertip_pad_collision_4"
28+ <geom type =" box" size =" 0.00875 0.0076 0.00825" pos =" 0 0.00758 0.04525" conaffinity =" 3"
29+ </default >
30+ </default >
31+ </default >
32+ </default >
33+ </default >
34+
35+ <asset >
36+ <material class =" panda" name =" white" rgba =" 1 1 1 1"
37+ <material class =" panda" name =" off_white" rgba =" 0.901961 0.921569 0.929412 1"
38+ <material class =" panda" name =" black" rgba =" 0.25 0.25 0.25 1"
39+
40+ <mesh name =" hand_c" file =" hand.stl"
41+ <mesh file =" hand_0.obj"
42+ <mesh file =" hand_1.obj"
43+ <mesh file =" hand_2.obj"
44+ <mesh file =" hand_3.obj"
45+ <mesh file =" hand_4.obj"
46+ <mesh file =" finger_0.obj"
47+ <mesh file =" finger_1.obj"
48+ </asset >
49+
50+ <worldbody >
51+ <body name =" hand" pos =" 0 0 0.107" quat =" 0.9238795 0 0 -0.3826834"
52+ <inertial mass =" 0.73" pos =" -0.01 0 0.03" diaginertia =" 0.001 0.0025 0.0017"
53+ <geom mesh =" hand_0" material =" off_white" class =" visual"
54+ <geom mesh =" hand_1" material =" black" class =" visual"
55+ <geom mesh =" hand_2" material =" black" class =" visual"
56+ <geom mesh =" hand_3" material =" white" class =" visual"
57+ <geom mesh =" hand_4" material =" off_white" class =" visual"
58+ <geom mesh =" hand_c" class =" collision"
59+ <geom name =" hand_capsule" type =" capsule"
60+ class =" collision" conaffinity =" 1" size =" 0.04 0.06"
61+ quat =" 1 1 0 0" pos =" 0 0 0.03"
62+ <site name =" gripper" pos =" 0 0 0.1"
63+ <body name =" left_finger" pos =" 0 0 0.0584"
64+ <inertial mass =" 0.015" pos =" 0 0 0" diaginertia =" 2.375e-6 2.375e-6 7.5e-7"
65+ <joint name =" finger_joint1" class =" finger" damping =" 10"
66+ <geom mesh =" finger_0" material =" off_white" class =" visual"
67+ <geom mesh =" finger_1" material =" black" class =" visual"
68+ <geom mesh =" finger_0" class =" collision"
69+ <geom class =" fingertip_pad_collision_1"
70+ <geom class =" fingertip_pad_collision_2"
71+ <geom class =" fingertip_pad_collision_3"
72+ <geom name =" left_finger_pad" class =" fingertip_pad_collision_4"
73+ </body >
74+ <body name =" right_finger" pos =" 0 0 0.0584" quat =" 0 0 0 1"
75+ <inertial mass =" 0.015" pos =" 0 0 0" diaginertia =" 2.375e-6 2.375e-6 7.5e-7"
76+ <joint name =" finger_joint2" class =" finger" damping =" 10"
77+ <geom mesh =" finger_0" material =" off_white" class =" visual"
78+ <geom mesh =" finger_1" material =" black" class =" visual"
79+ <geom mesh =" finger_0" class =" collision"
80+ <geom class =" fingertip_pad_collision_1"
81+ <geom class =" fingertip_pad_collision_2"
82+ <geom class =" fingertip_pad_collision_3"
83+ <geom name =" right_finger_pad" class =" fingertip_pad_collision_4"
84+ </body >
85+ </body >
86+ </worldbody >
87+
88+ <equality >
89+ <joint joint1 =" finger_joint1" joint2 =" finger_joint2" solimp =" 0.95 0.99 0.001" solref =" 0.005 1"
90+ </equality >
91+
92+ <actuator >
93+ <general class =" panda" name =" actuator8" joint =" finger_joint1"
94+ ctrlrange =" 0 0.04" gainprm =" 350 0 0" biasprm =" 0 -350 -10" forcerange =" -200 200"
95+ </actuator >
96+ </mujoco >
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