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| # ACT: Action Chunking with Transformers | ||
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| ### Project Website: https://tonyzhaozh.github.io/aloha/ | ||
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| This repo contains the implementation of ACT, together with 2 simulated environments: | ||
| Transfer Cube and Bimanual Insertion. You can train and evaluate ACT in sim (tested) or real (ongoing). | ||
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| ### Repo Structure | ||
| - ``imitate_episodes.py`` Train and Evaluate ACT | ||
| - ``policy.py`` An adaptor for ACT policy | ||
| - ``detr`` Model definitions of ACT, modified from DETR | ||
| - ``sim_env.py`` Mujoco + DM_Control environments with joint space control | ||
| - ``ee_sim_env.py`` Mujoco + DM_Control environments with EE space control | ||
| - ``scripted_policy.py`` Scripted policies for sim environments | ||
| - ``constants.py`` Constants shared across files | ||
| - ``utils.py`` Utils such as data loading and helper functions | ||
| - ``visualize_episodes.py`` Save videos from a .hdf5 dataset | ||
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| ### Installation | ||
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| conda create -n aloha python=3.8 | ||
| conda activate aloha | ||
| pip install torchvision | ||
| pip install torch | ||
| pip install pyquaternion | ||
| pip install pyyaml | ||
| pip install rospkg | ||
| pip install pexpect | ||
| pip install mujoco | ||
| pip install dm_control | ||
| pip install opencv-python | ||
| pip install matplotlib | ||
| pip install einops | ||
| pip install packaging | ||
| pip install h5py | ||
| pip install h5py_cache | ||
| cd act/detr && pip install -e . | ||
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| ### Example Usages | ||
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| To set up a new terminal, run: | ||
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| conda activate aloha | ||
| cd <path to act repo> | ||
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| ### Simulated experiments | ||
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| We use ``transfer_cube`` task in the examples below. Another option is ``insertion``. | ||
| To generated 50 episodes of scripted data, run: | ||
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| python3 record_sim_episodes.py \ | ||
| --task_name transfer_cube \ | ||
| --dataset_dir <data save dir> \ | ||
| --num_episodes 50 | ||
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| To can add the flag ``--onscreen_render`` to see real-time rendering. | ||
| To visualize the episode after it is collected, run | ||
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| python3 visualize_episodes.py --dataset_dir <data save dir> --episode_idx 0 | ||
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| To train ACT: | ||
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| # Transfer Cube task | ||
| python3 imitate_episodes.py \ | ||
| --dataset_dir <data save dir> \ | ||
| --ckpt_dir <ckpt dir> \ | ||
| --policy_class ACT --kl_weight 10 --chunk_size 100 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ | ||
| --task_name transfer_cube --seed 0 \ | ||
| --temporal_agg \ | ||
| --num_epochs 1000 --lr 1e-4 | ||
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| # Bimanual Insertion task | ||
| python3 imitate_episodes.py \ | ||
| --dataset_dir <data save dir> \ | ||
| --ckpt_dir <ckpt dir> \ | ||
| --policy_class ACT --kl_weight 10 --chunk_size 100 --hidden_dim 256 --batch_size 8 --dim_feedforward 2048 \ | ||
| --task_name insertion --seed 0 \ | ||
| --temporal_agg \ | ||
| --num_epochs 2000 --lr 1e-5 | ||
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| To evaluate the policy, run the same command but add ``--eval``. The success rate | ||
| should be around 85% for transfer cube, and around 50% for insertion. | ||
| Videos will be saved to ``<ckpt_dir>`` for each rollout. | ||
| You can also add ``--onscreen_render`` to see real-time rendering during evaluation. | ||
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| <mujoco> | ||
| <include file="scene.xml"/> | ||
| <include file="vx300s_dependencies.xml"/> | ||
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| <equality> | ||
| <weld body1="mocap_left" body2="vx300s_left/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" /> | ||
| <weld body1="mocap_right" body2="vx300s_right/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" /> | ||
| </equality> | ||
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| <worldbody> | ||
| <include file="vx300s_left.xml" /> | ||
| <include file="vx300s_right.xml" /> | ||
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| <body mocap="true" name="mocap_left" pos="0.095 0.50 0.425"> | ||
| <site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_left_site1" rgba="1 0 0 1"/> | ||
| <site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_left_site2" rgba="1 0 0 1"/> | ||
| <site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_left_site3" rgba="1 0 0 1"/> | ||
| </body> | ||
| <body mocap="true" name="mocap_right" pos="-0.095 0.50 0.425"> | ||
| <site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_right_site1" rgba="1 0 0 1"/> | ||
| <site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_right_site2" rgba="1 0 0 1"/> | ||
| <site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_right_site3" rgba="1 0 0 1"/> | ||
| </body> | ||
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| <body name="peg" pos="0.2 0.5 0.05"> | ||
| <joint name="red_peg_joint" type="free" frictionloss="0.01" /> | ||
| <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" /> | ||
| <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg" rgba="1 0 0 1" /> | ||
| </body> | ||
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| <body name="socket" pos="-0.2 0.5 0.05"> | ||
| <joint name="blue_socket_joint" type="free" frictionloss="0.01" /> | ||
| <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" /> | ||
| <!-- <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg_ref" rgba="1 0 0 1" />--> | ||
| <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 -0.02" size="0.06 0.018 0.002" type="box" name="socket-1" rgba="0 0 1 1" /> | ||
| <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 0.02" size="0.06 0.018 0.002" type="box" name="socket-2" rgba="0 0 1 1" /> | ||
| <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0.02 0" size="0.06 0.002 0.018" type="box" name="socket-3" rgba="0 0 1 1" /> | ||
| <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 -0.02 0" size="0.06 0.002 0.018" type="box" name="socket-4" rgba="0 0 1 1" /> | ||
| <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.04 0.01 0.01" type="box" name="pin" rgba="1 0 0 1" /> | ||
| </body> | ||
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| </worldbody> | ||
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| <actuator> | ||
| <position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200" user="1"/> | ||
| <position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200" user="1"/> | ||
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| <position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200" user="1"/> | ||
| <position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200" user="1"/> | ||
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| </actuator> | ||
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| <keyframe> | ||
| <key qpos="0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0.2 0.5 0.05 1 0 0 0 -0.2 0.5 0.05 1 0 0 0"/> | ||
| </keyframe> | ||
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| </mujoco> |
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| <mujoco> | ||
| <include file="scene.xml"/> | ||
| <include file="vx300s_dependencies.xml"/> | ||
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| <equality> | ||
| <weld body1="mocap_left" body2="vx300s_left/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" /> | ||
| <weld body1="mocap_right" body2="vx300s_right/gripper_link" solref="0.01 1" solimp=".25 .25 0.001" /> | ||
| </equality> | ||
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| <worldbody> | ||
| <include file="vx300s_left.xml" /> | ||
| <include file="vx300s_right.xml" /> | ||
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| <body mocap="true" name="mocap_left" pos="0.095 0.50 0.425"> | ||
| <site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_left_site1" rgba="1 0 0 1"/> | ||
| <site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_left_site2" rgba="1 0 0 1"/> | ||
| <site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_left_site3" rgba="1 0 0 1"/> | ||
| </body> | ||
| <body mocap="true" name="mocap_right" pos="-0.095 0.50 0.425"> | ||
| <site pos="0 0 0" size="0.003 0.003 0.03" type="box" name="mocap_right_site1" rgba="1 0 0 1"/> | ||
| <site pos="0 0 0" size="0.003 0.03 0.003" type="box" name="mocap_right_site2" rgba="1 0 0 1"/> | ||
| <site pos="0 0 0" size="0.03 0.003 0.003" type="box" name="mocap_right_site3" rgba="1 0 0 1"/> | ||
| </body> | ||
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| <body name="box" pos="0.2 0.5 0.05"> | ||
| <joint name="red_box_joint" type="free" frictionloss="0.01" /> | ||
| <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" /> | ||
| <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.02 0.02 0.02" type="box" name="red_box" rgba="1 0 0 1" /> | ||
| </body> | ||
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| </worldbody> | ||
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| <actuator> | ||
| <position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200" user="1"/> | ||
| <position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200" user="1"/> | ||
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| <position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200" user="1"/> | ||
| <position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200" user="1"/> | ||
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| </actuator> | ||
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| <keyframe> | ||
| <key qpos="0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0.2 0.5 0.05 1 0 0 0"/> | ||
| </keyframe> | ||
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| </mujoco> |
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| <mujoco> | ||
| <include file="scene.xml"/> | ||
| <include file="vx300s_dependencies.xml"/> | ||
| <worldbody> | ||
| <include file="vx300s_left.xml" /> | ||
| <include file="vx300s_right.xml" /> | ||
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| <body name="peg" pos="0.2 0.5 0.05"> | ||
| <joint name="red_peg_joint" type="free" frictionloss="0.01" /> | ||
| <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" /> | ||
| <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg" rgba="1 0 0 1" /> | ||
| </body> | ||
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| <body name="socket" pos="-0.2 0.5 0.05"> | ||
| <joint name="blue_socket_joint" type="free" frictionloss="0.01" /> | ||
| <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" /> | ||
| <!-- <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.06 0.01 0.01" type="box" name="red_peg_ref" rgba="1 0 0 1" />--> | ||
| <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 -0.02" size="0.06 0.018 0.002" type="box" name="socket-1" rgba="0 0 1 1" /> | ||
| <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0 0.02" size="0.06 0.018 0.002" type="box" name="socket-2" rgba="0 0 1 1" /> | ||
| <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 0.02 0" size="0.06 0.002 0.018" type="box" name="socket-3" rgba="0 0 1 1" /> | ||
| <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.05 0.001" pos="0 -0.02 0" size="0.06 0.002 0.018" type="box" name="socket-4" rgba="0 0 1 1" /> | ||
| <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.04 0.01 0.01" type="box" name="pin" rgba="1 0 0 1" /> | ||
| </body> | ||
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| </worldbody> | ||
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| <actuator> | ||
| <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/waist" kp="800" user="1" forcelimited="true" forcerange="-150 150"/> | ||
| <position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_left/shoulder" kp="1600" user="1" forcelimited="true" forcerange="-300 300"/> | ||
| <position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_left/elbow" kp="800" user="1" forcelimited="true" forcerange="-100 100"/> | ||
| <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/forearm_roll" kp="10" user="1" forcelimited="true" forcerange="-100 100"/> | ||
| <position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_left/wrist_angle" kp="50" user="1"/> | ||
| <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/wrist_rotate" kp="20" user="1"/> | ||
| <position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200" user="1"/> | ||
| <position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200" user="1"/> | ||
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| <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/waist" kp="800" user="1" forcelimited="true" forcerange="-150 150"/> | ||
| <position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_right/shoulder" kp="1600" user="1" forcelimited="true" forcerange="-300 300"/> | ||
| <position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_right/elbow" kp="800" user="1" forcelimited="true" forcerange="-100 100"/> | ||
| <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/forearm_roll" kp="10" user="1" forcelimited="true" forcerange="-100 100"/> | ||
| <position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_right/wrist_angle" kp="50" user="1"/> | ||
| <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/wrist_rotate" kp="20" user="1"/> | ||
| <position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200" user="1"/> | ||
| <position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200" user="1"/> | ||
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| </actuator> | ||
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| <keyframe> | ||
| <key qpos="0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0.2 0.5 0.05 1 0 0 0 -0.2 0.5 0.05 1 0 0 0"/> | ||
| </keyframe> | ||
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| </mujoco> |
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| <mujoco> | ||
| <include file="scene.xml"/> | ||
| <include file="vx300s_dependencies.xml"/> | ||
| <worldbody> | ||
| <include file="vx300s_left.xml" /> | ||
| <include file="vx300s_right.xml" /> | ||
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| <body name="box" pos="0.2 0.5 0.05"> | ||
| <joint name="red_box_joint" type="free" frictionloss="0.01" /> | ||
| <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" /> | ||
| <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.02 0.02 0.02" type="box" name="red_box" rgba="1 0 0 1" /> | ||
| </body> | ||
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| </worldbody> | ||
|
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| <actuator> | ||
| <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/waist" kp="800" user="1" forcelimited="true" forcerange="-150 150"/> | ||
| <position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_left/shoulder" kp="1600" user="1" forcelimited="true" forcerange="-300 300"/> | ||
| <position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_left/elbow" kp="800" user="1" forcelimited="true" forcerange="-100 100"/> | ||
| <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/forearm_roll" kp="10" user="1" forcelimited="true" forcerange="-100 100"/> | ||
| <position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_left/wrist_angle" kp="50" user="1"/> | ||
| <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/wrist_rotate" kp="20" user="1"/> | ||
| <position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200" user="1"/> | ||
| <position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200" user="1"/> | ||
|
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| <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/waist" kp="800" user="1" forcelimited="true" forcerange="-150 150"/> | ||
| <position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_right/shoulder" kp="1600" user="1" forcelimited="true" forcerange="-300 300"/> | ||
| <position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_right/elbow" kp="800" user="1" forcelimited="true" forcerange="-100 100"/> | ||
| <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/forearm_roll" kp="10" user="1" forcelimited="true" forcerange="-100 100"/> | ||
| <position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_right/wrist_angle" kp="50" user="1"/> | ||
| <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/wrist_rotate" kp="20" user="1"/> | ||
| <position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200" user="1"/> | ||
| <position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200" user="1"/> | ||
|
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| </actuator> | ||
|
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| <keyframe> | ||
| <key qpos="0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0 -0.96 1.16 0 -0.3 0 0.024 -0.024 0.2 0.5 0.05 1 0 0 0"/> | ||
| </keyframe> | ||
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| </mujoco> |
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| @@ -0,0 +1,39 @@ | ||
| <mujocoinclude> | ||
| <!-- <option timestep='0.0025' iterations="50" tolerance="1e-10" solver="Newton" jacobian="dense" cone="elliptic"/>--> | ||
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| <asset> | ||
| <mesh file="tabletop.stl" name="tabletop" scale="0.001 0.001 0.001"/> | ||
| </asset> | ||
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||
| <visual> | ||
| <map fogstart="1.5" fogend="5" force="0.1" znear="0.1"/> | ||
| <quality shadowsize="4096" offsamples="4"/> | ||
| <headlight ambient="0.4 0.4 0.4"/> | ||
| </visual> | ||
|
|
||
| <worldbody> | ||
| <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-1 -1 1' | ||
| dir='1 1 -1'/> | ||
| <light directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='1 -1 1' dir='-1 1 -1'/> | ||
| <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 1 1' | ||
| dir='0 -1 -1'/> | ||
|
|
||
| <body name="table" pos="0 .6 0"> | ||
| <geom group="1" mesh="tabletop" pos="0 0 0" type="mesh" conaffinity="1" contype="1" name="table" rgba="0.2 0.2 0.2 1" /> | ||
| </body> | ||
| <body name="midair" pos="0 .6 0.2"> | ||
| <site pos="0 0 0" size="0.01" type="sphere" name="midair" rgba="1 0 0 0"/> | ||
| </body> | ||
|
|
||
| <camera name="left_pillar" pos="-0.5 0.2 0.6" fovy="78" mode="targetbody" target="table"/> | ||
| <camera name="right_pillar" pos="0.5 0.2 0.6" fovy="78" mode="targetbody" target="table"/> | ||
| <camera name="main" pos="0 -0.2 0.4" fovy="78" mode="targetbody" target="midair"/> | ||
| <camera name="top" pos="0 0.6 0.8" fovy="78" mode="targetbody" target="table"/> | ||
| <camera name="angle" pos="0 0 0.6" fovy="78" mode="targetbody" target="table"/> | ||
| <camera name="front_close" pos="0 0.2 0.4" fovy="78" mode="targetbody" target="vx300s_left/camera_focus"/> | ||
|
|
||
| </worldbody> | ||
|
|
||
|
|
||
|
|
||
| </mujocoinclude> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| <mujocoinclude> | ||
| <compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5"/> | ||
| <asset> | ||
| <mesh name="vx300s_1_base" file="vx300s_1_base.stl" scale="0.001 0.001 0.001" /> | ||
| <mesh name="vx300s_2_shoulder" file="vx300s_2_shoulder.stl" scale="0.001 0.001 0.001" /> | ||
| <mesh name="vx300s_3_upper_arm" file="vx300s_3_upper_arm.stl" scale="0.001 0.001 0.001" /> | ||
| <mesh name="vx300s_4_upper_forearm" file="vx300s_4_upper_forearm.stl" scale="0.001 0.001 0.001" /> | ||
| <mesh name="vx300s_5_lower_forearm" file="vx300s_5_lower_forearm.stl" scale="0.001 0.001 0.001" /> | ||
| <mesh name="vx300s_6_wrist" file="vx300s_6_wrist.stl" scale="0.001 0.001 0.001" /> | ||
| <mesh name="vx300s_7_gripper" file="vx300s_7_gripper.stl" scale="0.001 0.001 0.001" /> | ||
| <mesh name="vx300s_8_gripper_prop" file="vx300s_8_gripper_prop.stl" scale="0.001 0.001 0.001" /> | ||
| <mesh name="vx300s_9_gripper_bar" file="vx300s_9_gripper_bar.stl" scale="0.001 0.001 0.001" /> | ||
| <mesh name="vx300s_10_gripper_finger_left" file="vx300s_10_custom_finger_left.stl" scale="0.001 0.001 0.001" /> | ||
| <mesh name="vx300s_10_gripper_finger_right" file="vx300s_10_custom_finger_right.stl" scale="0.001 0.001 0.001" /> | ||
| </asset> | ||
|
|
||
| </mujocoinclude> |
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