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Commit cddfcba7 authored by jeo65286's avatar jeo65286
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Edit mjcf files: change sites

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1 merge request!2Resolve "Simulator implementation"
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model/fr3_hand.xml
+ 4
− 4
View file @ cddfcba7
...@@ -167,19 +167,19 @@ ...@@ -167,19 +167,19 @@
<geom mesh="link7_2" material="white" class="visual"/> <geom mesh="link7_2" material="white" class="visual"/>
<geom mesh="link7_3" material="black" class="visual"/> <geom mesh="link7_3" material="black" class="visual"/>
<geom name="fr3_link7_collision" class="collision" mesh="link7_coll"/> <geom name="fr3_link7_collision" class="collision" mesh="link7_coll"/>
<site name="joint7_site" pos="0 0 0" size="0.03" rgba="0 0.9 0.9 0.5"/> <!-- <site name="joint7_site" pos="0 0 0" size="0.03" rgba="0 0.9 0.9 0.5"/> -->
<site name="attachment_site" pos="0 0 0.107" size="0.03" rgba="0.9 0.9 0 0.5"/> <site name="flange_site" pos="0 0 0.107" size="0.03" rgba="0.9 0 0 0.5"/>
<!-- Add Hand & Finger Body --> <!-- Add Hand & Finger Body -->
<!-- <body name="hand" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834"> -->
<body name="hand" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834"> <body name="hand" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834">
<inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/> <inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/>
<site name ="hand_site" type="sphere" pos="-0.01 0 0.03" size="0.03" rgba="0 0.9 0 1.0" />
<site name ="tcp_site" type="sphere" pos="0 0 0.1034" size="0.03" rgba="0 0 0.9 0.5" />
<geom mesh="hand_0" material="off_white" class="visual"/> <geom mesh="hand_0" material="off_white" class="visual"/>
<geom mesh="hand_1" material="black" class="visual"/> <geom mesh="hand_1" material="black" class="visual"/>
<geom mesh="hand_2" material="black" class="visual"/> <geom mesh="hand_2" material="black" class="visual"/>
<geom mesh="hand_3" material="white" class="visual"/> <geom mesh="hand_3" material="white" class="visual"/>
<geom mesh="hand_4" material="off_white" class="visual"/> <geom mesh="hand_4" material="off_white" class="visual"/>
<geom mesh="hand_c" class="collision"/> <geom mesh="hand_c" class="collision"/>
<site name ="end_effector" type="sphere" pos="0 0 0.1" size="0.03" rgba="0.9 0 0.9 0.5" />
<body name="left_finger" pos="0 0 0.0584"> <body name="left_finger" pos="0 0 0.0584">
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/> <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
<joint name="finger_joint1" class="finger"/> <joint name="finger_joint1" class="finger"/>
......
model/scene.xml
+ 9
− 9
View file @ cddfcba7
...@@ -38,14 +38,14 @@ ...@@ -38,14 +38,14 @@
<jointvel name="joint6_vel" joint="fr3_joint6" noise="50e-9"/> <jointvel name="joint6_vel" joint="fr3_joint6" noise="50e-9"/>
<jointvel name="joint7_vel" joint="fr3_joint7" noise="50e-9"/> <jointvel name="joint7_vel" joint="fr3_joint7" noise="50e-9"/>
<framepos name="ee_pos" objtype="site" objname="attachment_site" /> <!-- 14, 15, 16 --> <framepos name="ee_pos" objtype="site" objname="tcp_site" /> <!-- 14, 15, 16 -->
<framequat name="ee_quat" objtype="site" objname="attachment_site" /> <!-- 17, 18, 19, 20 --> <framequat name="ee_quat" objtype="site" objname="tcp_site" /> <!-- 17, 18, 19, 20 -->
<framelinvel name="ee_linvel" objtype="site" objname="attachment_site" /> <!-- 21, 22, 23 --> <framelinvel name="ee_linvel" objtype="site" objname="tcp_site" /> <!-- 21, 22, 23 -->
<frameangvel name="ee_angvel" objtype="site" objname="attachment_site" /> <!-- 24, 25, 26 --> <frameangvel name="ee_angvel" objtype="site" objname="tcp_site" /> <!-- 24, 25, 26 -->
<framelinacc name="ee_linacc" objtype="site" objname="attachment_site" /> <!-- 27, 28, 29 --> <framelinacc name="ee_linacc" objtype="site" objname="tcp_site" /> <!-- 27, 28, 29 -->
<frameangacc name="ee_angacc" objtype="site" objname="attachment_site" /> <!-- 30, 31, 32 --> <frameangacc name="ee_angacc" objtype="site" objname="tcp_site" /> <!-- 30, 31, 32 -->
<force site="end_effector" name="ee_force" noise="0" /> <!-- 33,34,35 --> <force site="hand_site" name="hand_force" noise="0" /> <!-- 33,34,35 -->
<torque site="end_effector" name="ee_torque" noise="0" /> <!-- 36,37,38 --> <torque site="hand_site" name="hand_torque" noise="0" /> <!-- 36,37,38 -->
</sensor> </sensor>
</mujoco> </mujoco>
src/main.cc
+ 1
− 1
View file @ cddfcba7
...@@ -36,7 +36,7 @@ ...@@ -36,7 +36,7 @@
#include "ros1_mujoco_interface.hpp" #include "ros1_mujoco_interface.hpp"
std::shared_ptr<MuJoCoRosOneInterface::MuJoCoControlCommand> joint_cmd_ptr; std::shared_ptr<MuJoCoRosOneInterface::MuJoCoControlCommand> joint_cmd_ptr;
std::shared_ptr<MuJoCoRosOneInterface::MuJoCoGuiCommand> gui_cmd_ptr; std::shared_ptr<MuJoCoRosOneInterface::MuJoCoGuiCommand> gui_cmd_ptr;
bool is_perturb_on = true; bool is_perturb_on = false;
#define MUJOCO_PLUGIN_DIR "mujoco_plugin" #define MUJOCO_PLUGIN_DIR "mujoco_plugin"
......
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