44 lines
1.4 KiB
XML
44 lines
1.4 KiB
XML
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<mujoco model="tendon_finger">
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<compiler angle="radian" autolimits="true"/>
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<default>
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<geom type="capsule" size="0.01" rgba="0.8 0.6 0.4 1"/>
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<joint type="hinge" axis="0 1 0" range="-1.57 1.57" damping="0.1"/>
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<site size="0.005" rgba="1 0 0 1"/>
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</default>
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<worldbody>
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<light pos="0 0 1" dir="0 0 -1" diffuse="0.8 0.8 0.8"/>
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<geom type="plane" size="1 1 0.1" rgba="0.9 0.9 0.9 1"/>
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<body name="proximal_link" pos="0 0 0.5">
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<joint name="proximal_joint"/>
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<geom fromto="0 0 0 0 0 0.15" size="0.015"/>
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<site name="tendon_p1" pos="0 0.02 0.05"/>
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<site name="tendon_p2" pos="0 0.02 0.15"/>
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<body name="distal_link" pos="0 0 0.15">
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<joint name="distal_joint"/>
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<geom fromto="0 0 0 0 0 0.15" size="0.012"/>
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<site name="tendon_p3" pos="0 0.02 0.05"/>
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<site name="fingertip" pos="0 0 0.15"/>
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</body>
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</body>
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</worldbody>
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<tendon>
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<spatial name="finger_tendon" width="0.003" rgba="0.2 0.2 0.8 1">
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<site site="tendon_p1"/>
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<site site="tendon_p2"/>
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<site site="tendon_p3"/>
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</spatial>
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</tendon>
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<actuator>
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<!-- Tendon actuators for testing different control modes -->
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<position name="tendon_position" tendon="finger_tendon" kp="100" ctrlrange="-0.1 0.1"/>
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<velocity name="tendon_velocity" tendon="finger_tendon" kv="10" ctrlrange="-1 1"/>
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<motor name="tendon_effort" tendon="finger_tendon" ctrlrange="-10 10"/>
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</actuator>
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</mujoco>
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