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Fix fingertip
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@HoangGiang93
HoangGiang93 committed Nov 23, 2024
1 parent 6b52c6d commit 8a07f58
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Showing 9 changed files with 357 additions and 2,216 deletions.
Binary file modified ...iverse/resources/robots/franka_robotics/panda/mjcf/assets/UCX_fingertip_001.stl
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Binary file modified ...iverse/resources/robots/franka_robotics/panda/mjcf/assets/UCX_fingertip_002.stl
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Binary file modified ...iverse/resources/robots/franka_robotics/panda/mjcf/assets/UCX_fingertip_003.stl
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Binary file modified ...iverse/resources/robots/franka_robotics/panda/mjcf/assets/UCX_fingertip_004.stl
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Binary file modified ...iverse/resources/robots/franka_robotics/panda/mjcf/assets/UCX_fingertip_005.stl
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2,501 changes: 321 additions & 2,180 deletions multiverse/resources/robots/franka_robotics/panda/mjcf/assets/fingertip.obj
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24 changes: 12 additions & 12 deletions multiverse/resources/robots/franka_robotics/panda/mjcf/panda_ext.xml
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<asset>
<!-- Visual meshes -->
<mesh name="fingertip_1" file="fingertip.obj"/>
<mesh name="fingertip_2" file="fingertip.obj" scale="-1 1 1"/>
<mesh name="fingertip_1" file="fingertip.obj" scale="-1 1 1"/>
<mesh name="fingertip_2" file="fingertip.obj"/>

<!-- Collision meshes -->
<mesh name="fingertip_1_001" file="UCX_fingertip_001.stl"/>
<mesh name="fingertip_1_002" file="UCX_fingertip_002.stl"/>
<mesh name="fingertip_1_003" file="UCX_fingertip_003.stl"/>
<mesh name="fingertip_1_004" file="UCX_fingertip_004.stl"/>
<mesh name="fingertip_1_005" file="UCX_fingertip_005.stl"/>
<mesh name="fingertip_1_001" file="UCX_fingertip_001.stl" scale="-1 1 1"/>
<mesh name="fingertip_1_002" file="UCX_fingertip_002.stl" scale="-1 1 1"/>
<mesh name="fingertip_1_003" file="UCX_fingertip_003.stl" scale="-1 1 1"/>
<mesh name="fingertip_1_004" file="UCX_fingertip_004.stl" scale="-1 1 1"/>
<mesh name="fingertip_1_005" file="UCX_fingertip_005.stl" scale="-1 1 1"/>

<mesh name="fingertip_2_001" file="UCX_fingertip_001.stl" scale="-1 1 1"/>
<mesh name="fingertip_2_002" file="UCX_fingertip_002.stl" scale="-1 1 1"/>
<mesh name="fingertip_2_003" file="UCX_fingertip_003.stl" scale="-1 1 1"/>
<mesh name="fingertip_2_004" file="UCX_fingertip_004.stl" scale="-1 1 1"/>
<mesh name="fingertip_2_005" file="UCX_fingertip_005.stl" scale="-1 1 1"/>
<mesh name="fingertip_2_001" file="UCX_fingertip_001.stl"/>
<mesh name="fingertip_2_002" file="UCX_fingertip_002.stl"/>
<mesh name="fingertip_2_003" file="UCX_fingertip_003.stl"/>
<mesh name="fingertip_2_004" file="UCX_fingertip_004.stl"/>
<mesh name="fingertip_2_005" file="UCX_fingertip_005.stl"/>
</asset>

<default>
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24 changes: 12 additions & 12 deletions multiverse/resources/robots/franka_robotics/panda/mjcf/panda_ext_with_pos_control.xml
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Expand Up @@ -5,21 +5,21 @@

<asset>
<!-- Visual meshes -->
<mesh name="fingertip_1" file="fingertip.obj"/>
<mesh name="fingertip_2" file="fingertip.obj" scale="-1 1 1"/>
<mesh name="fingertip_1" file="fingertip.obj" scale="-1 1 1"/>
<mesh name="fingertip_2" file="fingertip.obj"/>

<!-- Collision meshes -->
<mesh name="fingertip_1_001" file="UCX_fingertip_001.stl"/>
<mesh name="fingertip_1_002" file="UCX_fingertip_002.stl"/>
<mesh name="fingertip_1_003" file="UCX_fingertip_003.stl"/>
<mesh name="fingertip_1_004" file="UCX_fingertip_004.stl"/>
<mesh name="fingertip_1_005" file="UCX_fingertip_005.stl"/>
<mesh name="fingertip_1_001" file="UCX_fingertip_001.stl" scale="-1 1 1"/>
<mesh name="fingertip_1_002" file="UCX_fingertip_002.stl" scale="-1 1 1"/>
<mesh name="fingertip_1_003" file="UCX_fingertip_003.stl" scale="-1 1 1"/>
<mesh name="fingertip_1_004" file="UCX_fingertip_004.stl" scale="-1 1 1"/>
<mesh name="fingertip_1_005" file="UCX_fingertip_005.stl" scale="-1 1 1"/>

<mesh name="fingertip_2_001" file="UCX_fingertip_001.stl" scale="-1 1 1"/>
<mesh name="fingertip_2_002" file="UCX_fingertip_002.stl" scale="-1 1 1"/>
<mesh name="fingertip_2_003" file="UCX_fingertip_003.stl" scale="-1 1 1"/>
<mesh name="fingertip_2_004" file="UCX_fingertip_004.stl" scale="-1 1 1"/>
<mesh name="fingertip_2_005" file="UCX_fingertip_005.stl" scale="-1 1 1"/>
<mesh name="fingertip_2_001" file="UCX_fingertip_001.stl"/>
<mesh name="fingertip_2_002" file="UCX_fingertip_002.stl"/>
<mesh name="fingertip_2_003" file="UCX_fingertip_003.stl"/>
<mesh name="fingertip_2_004" file="UCX_fingertip_004.stl"/>
<mesh name="fingertip_2_005" file="UCX_fingertip_005.stl"/>
</asset>

<default>
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24 changes: 12 additions & 12 deletions multiverse/resources/robots/franka_robotics/panda/mjcf/panda_ext_with_vel_control.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,21 +5,21 @@

<asset>
<!-- Visual meshes -->
<mesh name="fingertip_1" file="fingertip.obj"/>
<mesh name="fingertip_2" file="fingertip.obj" scale="-1 1 1"/>
<mesh name="fingertip_1" file="fingertip.obj" scale="-1 1 1"/>
<mesh name="fingertip_2" file="fingertip.obj"/>

<!-- Collision meshes -->
<mesh name="fingertip_1_001" file="UCX_fingertip_001.stl"/>
<mesh name="fingertip_1_002" file="UCX_fingertip_002.stl"/>
<mesh name="fingertip_1_003" file="UCX_fingertip_003.stl"/>
<mesh name="fingertip_1_004" file="UCX_fingertip_004.stl"/>
<mesh name="fingertip_1_005" file="UCX_fingertip_005.stl"/>
<mesh name="fingertip_1_001" file="UCX_fingertip_001.stl" scale="-1 1 1"/>
<mesh name="fingertip_1_002" file="UCX_fingertip_002.stl" scale="-1 1 1"/>
<mesh name="fingertip_1_003" file="UCX_fingertip_003.stl" scale="-1 1 1"/>
<mesh name="fingertip_1_004" file="UCX_fingertip_004.stl" scale="-1 1 1"/>
<mesh name="fingertip_1_005" file="UCX_fingertip_005.stl" scale="-1 1 1"/>

<mesh name="fingertip_2_001" file="UCX_fingertip_001.stl" scale="-1 1 1"/>
<mesh name="fingertip_2_002" file="UCX_fingertip_002.stl" scale="-1 1 1"/>
<mesh name="fingertip_2_003" file="UCX_fingertip_003.stl" scale="-1 1 1"/>
<mesh name="fingertip_2_004" file="UCX_fingertip_004.stl" scale="-1 1 1"/>
<mesh name="fingertip_2_005" file="UCX_fingertip_005.stl" scale="-1 1 1"/>
<mesh name="fingertip_2_001" file="UCX_fingertip_001.stl"/>
<mesh name="fingertip_2_002" file="UCX_fingertip_002.stl"/>
<mesh name="fingertip_2_003" file="UCX_fingertip_003.stl"/>
<mesh name="fingertip_2_004" file="UCX_fingertip_004.stl"/>
<mesh name="fingertip_2_005" file="UCX_fingertip_005.stl"/>
</asset>

<default>
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