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New urdf model for pamy2 #7

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ca0da20
new urdf model for pamy2
Jan 7, 2025
e4abc52
change muscle positions such that higher agonist pressure decreases j…
Jan 10, 2025
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Binary file added config/pam_mujoco/models/mesh/Base.stl
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Binary file added config/pam_mujoco/models/mesh/J1.stl
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Binary file added config/pam_mujoco/models/mesh/J2.stl
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0 ...els/igus/RL-50_Rotaryeinheit_abkupfer.stl → ...els/mesh/RL-50_Rotaryeinheit_abkupfer.stl
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0 config/pam_mujoco/models/igus/igus_base.stl → config/pam_mujoco/models/mesh/igus_base.stl
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0 ...pam_mujoco/models/igus/igus_base_move.stl → ...pam_mujoco/models/mesh/igus_base_move.stl
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0 config/pam_mujoco/models/igus/igus_move.stl → config/pam_mujoco/models/mesh/igus_move.stl
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0 ...dung-Tischtennisschlaeger_Butterfly-1.stl → ...dung-Tischtennisschlaeger_Butterfly-1.stl
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0 ...eger_anbindung-igus_anbindung_extra-1.stl → ...eger_anbindung-igus_anbindung_extra-1.stl
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114 changes: 61 additions & 53 deletions config/pam_mujoco/models/robot_templates/pamy2/body_template.xml
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49 changes: 26 additions & 23 deletions config/pam_mujoco/models/robot_templates/pamy2/body_template_no_muscles.xml
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Original file line number Diff line number Diff line change
@@ -1,28 +1,31 @@
<robot>
<geom pos="0.0 0.0 0.0" name="?id?_frame" type="box" size="0.1 0.1 0.001" rgba=".35 .8 .4 1" solref="0.03 0.06"/>
<body name="?id?_arm">
<body>
<joint type="hinge" name="?id?_joint_base_rotation" axis="0 0 1" frictionloss="114.0189" solreffriction="0.5" solimpfriction="0.75294" limited="true" range="-89.8 89.8" solreflimit="0.003" solimplimit="1"/>
<geom type = "mesh" mesh="RL-50_Rotaryeinheit_abkupfer" rgba = "0.20 0.20 0.20 1" zaxis="-1 0 0" pos = "0.037 -0.037 0" mass="0.03"/>
<geom type = "mesh" mesh="RL-50_Rotaryeinheit_abkupfer" rgba = "0.20 0.20 0.20 1" xyaxes="0 0 1 0 -1 0" pos = "-0.0375 0.0375 0.0" mass="0.03"/>
<body pos = "0 0.0 0.075">
<geom name="?id?_dummy_cylinder_for_tendon_wrapping_2" type = "cylinder" pos="0 0.0 0.0" size="0.037 0.01" zaxis="0 1 0" rgba="1 0 0 0" mass="0.000001"/>
<joint type="hinge" name="?id?_dof2" axis="0 1 0" frictionloss="111.0899" solreffriction="0.075396" solimpfriction="0.65317" limited="true" range="-89.8 89.8" solreflimit="0.003" solimplimit="1"/>
<geom type = "mesh" mesh="igus_move" rgba = "0.20 0.20 0.20 1.0" zaxis="0 0 -1" pos = "-0.04 0.0366 0.065" mass="0.03"/>
<geom type = "cylinder" size="0.013 0.1425" pos="0 0 0.17262" zaxis="0 0 1" rgba="0.95 0.95 0.95 1.0" mass="0.14822"/>
<geom type = "mesh" mesh="igus_base_move" rgba = "0.20 0.20 0.20 1.0" pos="-0.036 -0.0325 0.411371" zaxis="0 1 0" mass="0.03"/>
<site name="?id?_center_joint_1_2" type="sphere" size=".04 0 0" rgba="1 0 1 0.2"/>
<body pos="0 0 0.36742">
<joint type="hinge" name="?id?_dof3" axis="0 1 0" frictionloss="7.7682" solreffriction="0.5" solimpfriction="0.65914" limited="true" range="-89.8 89.8" solreflimit="0.003" solimplimit="1"/>
<geom type = "mesh" mesh="igus_move" rgba = "0.20 0.20 0.20 1.0" zaxis="0 0 -1" pos = "-0.04 0.0366 0.065" mass="0.03"/>
<body pos="0 0 -0.395">
<joint type="hinge" name="?id?_dof4" axis="0 0 1" pos="0 0 0" frictionloss="111.9529" solreffriction="0.38711" solimpfriction="2.5699" limited="true" range="-89.8 89.8" solreflimit="0.003" solimplimit="1"/>
<geom type = "cylinder" size="0.013 0.105" pos="0 0 0.54" zaxis="0 0 1" rgba="0.95 0.95 0.95 1.0" mass="0.11402"/>
<geom name="?id?_racket_handle" type = "mesh" mesh="schlaeger_anbindung-igus_anbindung_extra-1" rgba="0.99 0.99 0.99 1" zaxis = "0 -1 0" pos ="-0.075 0.016 0.615" mass="0.02"/>
<geom name="?id?_racket" type = "mesh" mesh="schlaeger_anbindung-Tischtennisschlaeger_Butterfly-1" rgba="0.7 0.05 0.05 1" pos="-0.075 0.016 0.615" zaxis = "0 -1 0" mass="0.66342"/>
<site name="?id?_center_joint_3_4" pos="0 0 0.395" type="sphere" size=".04 0 0" rgba="1 0 1 0.2"/>
<!-- Base -->
<body name="?id?_arm">
<inertial pos="0.00014182603956811 -0.000217286489393455 -0.00245784885203652" mass="1.27071929199471" fullinertia="0.00567536540229646 0.00316590205030147 0.00872411416268657 -3.34745090158655E-05 9.94071247612805E-09 5.24827445642418E-08"/>
<geom name="?id?_frame" type="mesh" mesh="Base" rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" mass="0"/>
<!-- J1 -->
<body pos="0 0 0.01" euler="180 0 0">
<joint type="hinge" name="?id?_joint_base_rotation" axis="0 0 -1" frictionloss="114.0189" solreffriction="0.5" solimpfriction="0.75294" limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
<inertial pos="0.000130781333923981 0.000395087107960899 -2.30204502387789E-05" mass="0.884595751651612" fullinertia="0.000957184766492343 0.000943127481202976 0.00166205903985012 7.26525656006142E-08 2.16679898461153E-07 -2.0945043536217E-07"/>
<geom type="mesh" mesh="J1" rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" mass="0"/>
<!-- J2 -->
<body pos="0 0 -0.064" euler="180 0 180"> <!-- was: euler="180 0 -180"-->
<inertial pos="-0.00318822226425911 -0.00156350715458152 0.187131602669781" mass="0.747221805509099" fullinertia="0.00183751261065788 0.00194288763095422 0.000201104761524309 9.36914048087975E-07 2.8551485268662E-05 4.04806959268614E-06"/>
<geom type="mesh" mesh="J2" rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" mass="0"/>
<joint type="hinge" name="?id?_dof2" axis="0 -1 0" frictionloss="111.0899" solreffriction="0.075396" solimpfriction="0.65317" limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
<!-- J3 -->
<body pos="0 0 0.39986" euler="180 0 180">
<joint type="hinge" name="?id?_dof3" axis="0 -1 0" frictionloss="7.7682" solreffriction="0.5" solimpfriction="0.65914" limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
<inertial pos="0.000476084514538831 -0.00627422416764544 -0.0180864211606709" mass="0.310581849393537" fullinertia="0.000170712877571993 0.00023028333846519 9.14283413127416E-05 6.39009188619916E-08 2.17211789062173E-06 -1.54349521030329E-06"/>
<geom type="mesh" mesh="J3" rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" mass="0"/>
<!-- J4 -->
<body euler="180 0 0"> <!-- was: euler="-180 -1 0"-->
<joint type="hinge" name="?id?_dof4" axis="0 0 1" pos="0 0 0" frictionloss="27.7682" solreffriction="0.38711" solimpfriction="2.5699" limited="true" range="-85.0 85.0" solreflimit="0.003" solimplimit="1"/>
<geom type="mesh" mesh="J4" rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" mass="0"/>
<inertial pos="-7.76532889874594E-05 0.000224318522056323 0.278462053726287" mass="0.538421831235413" fullinertia="0.00115973040414782 0.00165716877599009 0.000528448429186829 1.77245727732792E-08 1.36310388287712E-08 6.87618492418858E-08"/>
<geom name="?id?_racket" type = "mesh" mesh="schlaeger_anbindung-Tischtennisschlaeger_Butterfly-1" rgba="0.7 0.05 0.05 1" pos="-0.075 0.057 0.211" zaxis = "0 -1 0" mass="0.66342"/>
</body>
</body>
</body>
</body>
</body>
</body>
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12 changes: 6 additions & 6 deletions config/pam_mujoco/models/robot_templates/tendon_template.xml
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Expand Up @@ -14,7 +14,7 @@
<geom geom="?id?_dummy_cylinder_for_tendon_wrapping_1"/>
<site site="?id?_tendon_1_base_rot_connection"/>
</spatial>
<spatial name = "?id?_tendon_3" width="0.001" rgba="0.7 0.4 0.4 0.2" limited="true" range="0.0 0.88194" damping="418.6191" solreflimit="0.005" solimplimit="1" stiffness="218205.4346">
<spatial name = "?id?_tendon_3" width="0.001" rgba="0.7 0.4 0.4 0.2" limited="true" range="0.0 0.95594" damping="418.6191" solreflimit="0.005" solimplimit="1" stiffness="218205.4346">
<site site="?id?_muscle_3_moving_end"/>
<site site="?id?_muscle_3_tendon_horizontal_point"/>
<site site="?id?_center_joint_1_2"/>
Expand All @@ -24,7 +24,7 @@
<geom geom="?id?_dummy_cylinder_for_tendon_wrapping_2"/>
<site site="?id?_tendon_4_base_rot_connection"/>
</spatial>
<spatial name = "?id?_tendon_4" width="0.001" rgba="0.7 0.4 0.4 0.2" limited="true" range="0.0 0.95594" damping="418.6191" solreflimit="0.005" solimplimit="1" stiffness="218205.4346">
<spatial name = "?id?_tendon_4" width="0.001" rgba="0.7 0.4 0.4 0.2" limited="true" range="0.0 0.88194" damping="418.6191" solreflimit="0.005" solimplimit="1" stiffness="218205.4346">
<site site="?id?_muscle_4_moving_end"/>
<site site="?id?_muscle_4_tendon_horizontal_point"/>
<site site="?id?_center_joint_1_2"/>
Expand All @@ -34,7 +34,7 @@
<geom geom="?id?_dummy_cylinder_for_tendon_wrapping_2"/>
<site site="?id?_tendon_3_base_rot_connection"/>
</spatial>
<spatial name = "?id?_tendon_5" width="0.001" rgba="0.7 0.4 0.4 0.2" limited="true" range="0.0 1.293" damping="418.6191" solreflimit="0.005" solimplimit="1" stiffness="218205.4346">
<spatial name = "?id?_tendon_5" width="0.001" rgba="0.7 0.4 0.4 0.2" limited="true" range="0.0 1.467" damping="418.6191" solreflimit="0.005" solimplimit="1" stiffness="218205.4346">
<site site="?id?_muscle_5_moving_end"/>
<site site="?id?_muscle_5_tendon_horizontal_point"/>
<site site="?id?_center_joint_1_2"/>
Expand All @@ -45,7 +45,7 @@
<geom geom="?id?_dummy_cylinder_for_tendon_wrapping_3"/>
<site site="?id?_tendon_6_base_rot_connection"/>
</spatial>
<spatial name = "?id?_tendon_6" width="0.001" rgba="0.7 0.4 0.4 0.2" limited="true" range="0.0 1.367" damping="418.6191" solreflimit="0.005" solimplimit="1" stiffness="218205.4346">
<spatial name = "?id?_tendon_6" width="0.001" rgba="0.7 0.4 0.4 0.2" limited="true" range="0.0 1.393" damping="418.6191" solreflimit="0.005" solimplimit="1" stiffness="218205.4346">
<site site="?id?_muscle_6_moving_end"/>
<site site="?id?_muscle_6_tendon_horizontal_point"/>
<site site="?id?_center_joint_1_2"/>
Expand All @@ -56,7 +56,7 @@
<geom geom="?id?_dummy_cylinder_for_tendon_wrapping_3"/>
<site site="?id?_tendon_5_base_rot_connection"/>
</spatial>
<spatial name = "?id?_tendon_7" width="0.001" rgba="0.7 0.4 0.4 0.2" limited="true" range="0.0 1.3016" damping="418.6191" solreflimit="0.005" solimplimit="1" stiffness="218205.4346">
<spatial name = "?id?_tendon_7" width="0.001" rgba="0.7 0.4 0.4 0.2" limited="true" range="0.0 1.6356" damping="418.6191" solreflimit="0.005" solimplimit="1" stiffness="218205.4346">
<site site="?id?_muscle_7_moving_end"/>
<site site="?id?_muscle_7_tendon_horizontal_point"/>
<site site="?id?_center_joint_1_2"/>
Expand All @@ -67,7 +67,7 @@
<geom geom="?id?_dummy_cylinder_for_tendon_wrapping_4"/>
<site site="?id?_tendon_8_base_rot_connection"/>
</spatial>
<spatial name = "?id?_tendon_8" width="0.001" rgba="0.7 0.4 0.4 0.2" limited="true" range="0.0 1.3756" damping="418.6191" solreflimit="0.005" solimplimit="1" stiffness="218205.4346">
<spatial name = "?id?_tendon_8" width="0.001" rgba="0.7 0.4 0.4 0.2" limited="true" range="0.0 1.5616" damping="418.6191" solreflimit="0.005" solimplimit="1" stiffness="218205.4346">
<site site="?id?_muscle_8_moving_end"/>
<site site="?id?_muscle_8_tendon_horizontal_point"/>
<site site="?id?_center_joint_1_2"/>
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9 changes: 7 additions & 2 deletions config/pam_mujoco/models/template.xml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
<mujoco>
<compiler coordinate="local" meshdir="$models_path$/igus/" angle="degree"/>
<compiler coordinate="local" meshdir="$models_path$/mesh/" angle="degree"/>
<size njmax="6000" nconmax="6000"/>
<option gravity="0 0 -9.81" integrator="RK4" timestep="$timestep$" density="1.2" collision="predefined">
<flag gravity="enable" contact="enable" passive="enable"/>
Expand All @@ -13,7 +13,12 @@
<mesh file="igus_base_move.stl" scale="0.001 0.001 0.001"/>
<mesh file="igus_move.stl" scale="0.001 0.001 0.001"/>
<mesh file="schlaeger_anbindung-igus_anbindung_extra-1.stl" scale="0.001 0.001 0.001"/>
<mesh file="schlaeger_anbindung-Tischtennisschlaeger_Butterfly-1.stl" scale="0.001 0.001 0.001"/>
<mesh file="schlaeger_anbindung-Tischtennisschlaeger_Butterfly-1.stl" scale="0.001 0.001 0.0035"/>
<mesh file="Base.stl" scale="1.0 1.0 1.0"/>
<mesh file="J1.stl" scale="1.0 1.0 1.0"/>
<mesh file="J2.stl" scale="1.0 1.0 1.0"/>
<mesh file="J3.stl" scale="1.0 1.0 1.0"/>
<mesh file="J4.stl" scale="1.0 1.0 1.0"/>
</asset>
<worldbody>
<light diffuse="1.5 1.5 1.5" pos="0 0 8.0" dir="0 0 -1"/>
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