File size: 6,035 Bytes
e56b1dd | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 | <mujoco model="gen3">
<compiler angle="radian" meshdir="assets"/>
<option integrator="implicitfast"/>
<default>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2" rgba="0.75294 0.75294 0.75294 1"/>
</default>
<default class="collision">
<geom type="mesh" group="3"/>
</default>
<default class="large_actuator">
<position kp="2000" kv="100" forcerange="-105 105"/>
</default>
<default class="small_actuator">
<position kp="500" kv="50" forcerange="-52 52"/>
</default>
<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
</default>
<asset>
<mesh name="base_link" file="base_link.stl"/>
<mesh name="shoulder_link" file="shoulder_link.stl"/>
<mesh name="half_arm_1_link" file="half_arm_1_link.stl"/>
<mesh name="half_arm_2_link" file="half_arm_2_link.stl"/>
<mesh name="forearm_link" file="forearm_link.stl"/>
<mesh name="spherical_wrist_1_link" file="spherical_wrist_1_link.stl"/>
<mesh name="spherical_wrist_2_link" file="spherical_wrist_2_link.stl"/>
<mesh name="bracelet_with_vision_link" file="bracelet_with_vision_link.stl"/>
</asset>
<worldbody>
<body name="base_link">
<inertial pos="-0.000648 -0.000166 0.084487" quat="0.999294 0.00139618 -0.0118387 0.035636" mass="1.697"
diaginertia="0.00462407 0.00449437 0.00207755"/>
<geom class="visual" mesh="base_link"/>
<geom class="collision" mesh="base_link"/>
<body name="shoulder_link" pos="0 0 0.15643" quat="0 1 0 0">
<inertial pos="-2.3e-05 -0.010364 -0.07336" quat="0.707051 0.0451246 -0.0453544 0.704263" mass="1.3773"
diaginertia="0.00488868 0.00457 0.00135132"/>
<joint name="joint_1"/>
<geom class="visual" mesh="shoulder_link"/>
<geom class="collision" mesh="shoulder_link"/>
<body name="half_arm_1_link" pos="0 0.005375 -0.12838" quat="1 1 0 0">
<inertial pos="-4.4e-05 -0.09958 -0.013278" quat="0.482348 0.516286 -0.516862 0.483366" mass="1.1636"
diaginertia="0.0113017 0.011088 0.00102532"/>
<joint name="joint_2" range="-2.24 2.24"/>
<geom class="visual" mesh="half_arm_1_link"/>
<geom class="collision" mesh="half_arm_1_link"/>
<body name="half_arm_2_link" pos="0 -0.21038 -0.006375" quat="1 -1 0 0">
<inertial pos="-4.4e-05 -0.006641 -0.117892" quat="0.706144 0.0213722 -0.0209128 0.707437" mass="1.1636"
diaginertia="0.0111633 0.010932 0.00100671"/>
<joint name="joint_3"/>
<geom class="visual" mesh="half_arm_2_link"/>
<geom class="collision" mesh="half_arm_2_link"/>
<body name="forearm_link" pos="0 0.006375 -0.21038" quat="1 1 0 0">
<inertial pos="-1.8e-05 -0.075478 -0.015006" quat="0.483678 0.515961 -0.515859 0.483455" mass="0.9302"
diaginertia="0.00834839 0.008147 0.000598606"/>
<joint name="joint_4" range="-2.57 2.57"/>
<geom class="visual" mesh="forearm_link"/>
<geom class="collision" mesh="forearm_link"/>
<body name="spherical_wrist_1_link" pos="0 -0.20843 -0.006375" quat="1 -1 0 0">
<inertial pos="1e-06 -0.009432 -0.063883" quat="0.703558 0.0707492 -0.0707492 0.703558" mass="0.6781"
diaginertia="0.00165901 0.001596 0.000346988"/>
<joint name="joint_5"/>
<geom class="visual" mesh="spherical_wrist_1_link"/>
<geom class="collision" mesh="spherical_wrist_1_link"/>
<body name="spherical_wrist_2_link" pos="0 0.00017505 -0.10593" quat="1 1 0 0">
<inertial pos="1e-06 -0.045483 -0.00965" quat="0.44426 0.550121 -0.550121 0.44426" mass="0.6781"
diaginertia="0.00170087 0.001641 0.00035013"/>
<joint name="joint_6" range="-2.09 2.09"/>
<geom class="visual" mesh="spherical_wrist_2_link"/>
<geom class="collision" mesh="spherical_wrist_2_link"/>
<body name="bracelet_link" pos="0 -0.10593 -0.00017505" quat="1 -1 0 0">
<inertial pos="0.000281 0.011402 -0.029798" quat="0.394358 0.596779 -0.577293 0.393789" mass="0.5"
diaginertia="0.000657336 0.000587019 0.000320645"/>
<joint name="joint_7"/>
<geom class="visual" mesh="bracelet_with_vision_link"/>
<geom class="collision" mesh="bracelet_with_vision_link"/>
<camera name="wrist" pos="0 -0.05639 -0.058475" quat="0 0 0 1" fovy="41.83792730009236"
resolution="640 480"/>
<site name="pinch_site" pos="0 0 -0.061525" quat="0 1 0 0"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<position class="large_actuator" name="joint_1" joint="joint_1"/>
<position class="large_actuator" name="joint_2" joint="joint_2" ctrlrange="-2.2497294058206907 2.2497294058206907"/>
<position class="large_actuator" name="joint_3" joint="joint_3"/>
<position class="large_actuator" name="joint_4" joint="joint_4" ctrlrange="-2.5795966344476193 2.5795966344476193"/>
<position class="small_actuator" name="joint_5" joint="joint_5"/>
<position class="small_actuator" name="joint_6" joint="joint_6" ctrlrange="-2.0996310901491784 2.0996310901491784"/>
<position class="small_actuator" name="joint_7" joint="joint_7"/>
</actuator>
<!-- <keyframe>-->
<!-- <key name="home" qpos="0 0.26179939 3.14159265 -2.26892803 0 0.95993109 1.57079633"-->
<!-- ctrl="0 0.26179939 3.14159265 -2.26892803 0 0.95993109 1.57079633"/>-->
<!-- <key name="retract" qpos="0 -0.34906585 3.14159265 -2.54818071 0 -0.87266463 1.57079633"-->
<!-- ctrl="0 -0.34906585 3.14159265 -2.54818071 0 -0.87266463 1.57079633"/>-->
<!-- </keyframe>-->
</mujoco>
|