Datasets:

Kashu7100
/

eden_assets

@@ -1,4 +1,14 @@
-<mujoco model="Dual_wrist_camera">
   <compiler angle="radian" meshdir="assets" autolimits="true"/>
   <option cone="elliptic" impratio="10"/>
@@ -44,9 +54,10 @@
       </default>
       <default class="collision">
         <geom type="mesh" group="3"/>
-        <default class="pad_sphere">
-          <geom mass="1e-6" type="sphere" size="0.00155" friction="0.65"
-            solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.5 0.5 0.5 1"/>
         </default>
       </default>
     </default>
@@ -90,11 +101,7 @@
           <geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" type="mesh"  mesh="follower"/>
           <geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" type="mesh"  mesh="tongue"/>
           <body name="left_pad" pos="-0.0377897 -0.103916 -0.0091" quat="1 -1 0 0" >
-            <geom class="pad_sphere" name="left_pad_sphere_1" pos="0.044258 -0.009 0.1165"/>
-            <geom class="pad_sphere" name="left_pad_sphere_2" pos="0.044258 0.009 0.1165"/>
-            <geom class="pad_sphere" name="left_pad_sphere_3" pos="0.044258 0 0.1305"/>
-            <geom class="pad_sphere" name="left_pad_sphere_4" pos="0.044258 -0.009 0.1445"/>
-            <geom class="pad_sphere" name="left_pad_sphere_5" pos="0.044258 0.009 0.1445"/>
           </body>
         </body>
       </body>
@@ -127,11 +134,7 @@
           <geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0"   mesh="tongue"/>
           <geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0"   mesh="follower"/>
           <body name="right_pad" pos="-0.0377897 -0.103916 -0.0091"   quat="1 -1 0 0" >
-            <geom class="pad_sphere" name="right_pad_sphere_1" pos="0.044258 -0.009 0.1165"/>
-            <geom class="pad_sphere" name="right_pad_sphere_2" pos="0.044258 0.009 0.1165"/>
-            <geom class="pad_sphere" name="right_pad_sphere_3" pos="0.044258 0 0.1305"/>
-            <geom class="pad_sphere" name="right_pad_sphere_4" pos="0.044258 -0.009 0.1445"/>
-            <geom class="pad_sphere" name="right_pad_sphere_5" pos="0.044258 0.009 0.1445"/>
           </body>
         </body>
       </body>
@@ -147,12 +150,6 @@
     <exclude body1="left_coupler" body2="left_follower"/>
   </contact>
-  <!--
-    This adds stability to the model by having a tendon that distributes the forces between both
-    joints, such that the equality constraint doesn't have to do that much work in order to equalize
-    both joints. Since both joints share the same sign, we split the force between both equally by
-    setting coef=0.485
-  -->
   <tendon>
     <fixed name="split">
       <joint joint="right_driver_joint" coef="0.485"/>
@@ -167,17 +164,8 @@
     solref="0.005 1"/>
   </equality>
-  <!--
-    The general actuator below is a customized position actuator (with some damping) where
-    gainprm[0] != kp (see http://mujoco.org/book/modeling.html#position).
-    The reason why gainprm[0] != kp is because the control input range has to be re-scaled to
-    [0, 255]. The joint range is currently set at [0, 0.8], the control range is [0, 255] and
-    kp = 100. Tau = Kp * scale * control_input - Kp * error, max(Kp * scale * control_input) = 0.8,
-    hence scale = 0.8 * 100 / 255
-  -->
   <actuator>
     <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255"
       gainprm="0.3137255 0 0" biasprm="0 -100 -10"/>
   </actuator>
-</mujoco>

+<mujoco model="2f85_grip">
+  <!--
+    Robotiq 2F85 variant tuned for stable grasping. Differs from 2f85.xml only in
+    the finger-pad collision geometry: the original models each silicone pad as 5
+    tiny spheres (radius 1.55 mm, friction 0.65), which make point contacts on a
+    flat object face and let a grasped object pivot/slip. Here each pad is a single
+    flat box matching the pad surface, with higher friction — a box-vs-box face
+    contact resists rotation, giving a stable parallel-jaw grasp. (Genesis uses a
+    scalar slide-friction model; condim 6 is set for MuJoCo correctness but Genesis
+    only consumes the slide term.)
+  -->
   <compiler angle="radian" meshdir="assets" autolimits="true"/>
   <option cone="elliptic" impratio="10"/>
       </default>
       <default class="collision">
         <geom type="mesh" group="3"/>
+        <!-- Flat silicone pad: box face contact + high friction for a stable grip. -->
+        <default class="pad_box">
+          <geom mass="1e-6" type="box" size="0.0016 0.0095 0.0145" friction="1.2 0.01 0.001"
+            condim="6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.9 0.5 0.2 1"/>
         </default>
       </default>
     </default>
           <geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" type="mesh"  mesh="follower"/>
           <geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" type="mesh"  mesh="tongue"/>
           <body name="left_pad" pos="-0.0377897 -0.103916 -0.0091" quat="1 -1 0 0" >
+            <geom class="pad_box" name="left_pad_box" pos="0.044258 0 0.1305"/>
           </body>
         </body>
       </body>
           <geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0"   mesh="tongue"/>
           <geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0"   mesh="follower"/>
           <body name="right_pad" pos="-0.0377897 -0.103916 -0.0091"   quat="1 -1 0 0" >
+            <geom class="pad_box" name="right_pad_box" pos="0.044258 0 0.1305"/>
           </body>
         </body>
       </body>
     <exclude body1="left_coupler" body2="left_follower"/>
   </contact>
   <tendon>
     <fixed name="split">
       <joint joint="right_driver_joint" coef="0.485"/>
     solref="0.005 1"/>
   </equality>
   <actuator>
     <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255"
       gainprm="0.3137255 0 0" biasprm="0 -100 -10"/>
   </actuator>
+</mujoco>