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Additional joint constraints #1

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22 changes: 21 additions & 1 deletion assets/assets.xml
Original file line number Diff line number Diff line change
Expand Up @@ -50,10 +50,30 @@
<equality>
<joint joint1="robotiq_2f_85_right_driver_joint" joint2="robotiq_2f_85_left_driver_joint"/>
</equality>
<equality>
<joint joint1="robotiq_2f_85_right_driver_joint" joint2="robotiq_2f_85_right_spring_link_joint"/>
</equality>
<equality>
<joint joint1="robotiq_2f_85_right_driver_joint" joint2="robotiq_2f_85_right_follower_joint" polycoef="0 -1 0 0 0" />
</equality>
<equality>
<joint joint1="robotiq_2f_85_left_driver_joint" joint2="robotiq_2f_85_left_spring_link_joint"/>
</equality>
<equality>
<joint joint1="robotiq_2f_85_left_driver_joint" joint2="robotiq_2f_85_left_follower_joint" polycoef="0 -1 0 0 0" />
</equality>

<actuator>
<position name="robotiq_2f_85" joint="robotiq_2f_85_right_driver_joint" ctrlrange="0 1" ctrllimited="true"/>
<position name="robotiq_2f_85" joint="robotiq_2f_85_right_driver_joint" ctrlrange="0 1.0" ctrllimited="true"/>
</actuator>

<sensor>
<touch site="touch_sensor_left" name="touch_sensor_left" user="0 0 2"/>
<touch site="touch_sensor_right" name="touch_sensor_right" user="0 0 2"/>
<velocimeter site="palm_sensor_site" name="palm_velocimeter" />
<accelerometer site="palm_sensor_site" name="palm_accelerometer" />
</sensor>

<!-- ====== ACTUATION-Opt1: Individually actuated: Uses twice as many actuators than hardware ======-->
<!-- <actuator>
<position name="robotiq_2f_85_right" joint="robotiq_2f_85_right_driver_joint" ctrlrange="0 1" ctrllimited="true"/>
Expand Down
4 changes: 4 additions & 0 deletions assets/chain.xml
Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,8 @@
<body name="robotiq_2f_85" pos="0 0 0" childclass="robotiq2f85">
<geom mesh="robotiq-2f-base" />
<geom class="robotiq_col" type="mesh" mesh="robotiq-2f-base" euler="0 0 0"/>
<site name="palm_sensor_site" type="sphere" size="0.01" rgba="1 0 0 0" euler="0 0 0" pos="0 0 0" group="1"/>

<body name="robotiq_2f_85_right_driver" pos="0 0.0306011 0.054904">
<inertial pos="0 0.01575 0.05295" quat="0.738425 0.674335 0 0" mass="0.2" diaginertia="0.00043212 0.000431866 0.000360253" />
<joint name="robotiq_2f_85_right_driver_joint" range="0 0.834" />
Expand All @@ -30,6 +32,7 @@
<geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .036" axisangle="-.1 1 0 1.57"/>
<geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .028" axisangle="-.1 1 0 1.57"/>
<geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .019" axisangle="-.1 1 0 1.57"/>
<site name="touch_sensor_right" type="box" size="0.015 0.01 0.02" rgba="1 0 0 0" pos="0 -0.018 0.031" />
</body>
</body>
<body name="robotiq_2f_85_right_spring_link" pos="0 0.012 0.0614">
Expand Down Expand Up @@ -60,6 +63,7 @@
<geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .036" axisangle="-.1 1 0 1.57"/>
<geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .028" axisangle="-.1 1 0 1.57"/>
<geom class="robotiq_pad_col" type="capsule" size=".004 .008" pos="0 -.019 .019" axisangle="-.1 1 0 1.57"/>
<site name="touch_sensor_left" type="box" size="0.015 0.01 0.02" rgba="1 0 0 0" pos="0 -0.018 0.031" />
</body>
</body>
<body name="robotiq_2f_85_left_spring_link" pos="0 -0.012 0.0614" quat="0 0 0 1">
Expand Down