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<mujoco model="ufactory_lite6"> |
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<compiler angle="radian" meshdir="assets" autolimits="true"/> |
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<option integrator="implicitfast"/> |
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<default> |
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<default class="lite6"> |
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<geom type="mesh"/> |
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<joint axis="0 0 1" damping="1" armature="0.1"/> |
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<position kp="2000" kv="200"/> |
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<default class="size1"> |
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<position forcerange="-50 50"/> |
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</default> |
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<default class="size2"> |
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<position forcerange="-32 32"/> |
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</default> |
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<default class="size3"> |
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<position forcerange="-20 20"/> |
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</default> |
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<default class="visual"> |
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<geom contype="0" conaffinity="0" group="2" material="white"/> |
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</default> |
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<default class="collision"> |
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<geom group="3" mass="0" density="0"/> |
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</default> |
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<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/> |
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</default> |
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</default> |
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<asset> |
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<material name="white" rgba="1 1 1 1"/> |
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<material name="silver" rgba=".753 .753 .753 1"/> |
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<mesh file="visual/link_base.stl"/> |
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<mesh file="visual/link1.stl"/> |
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<mesh file="visual/link2.stl"/> |
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<mesh file="visual/link3.stl"/> |
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<mesh file="visual/link4.stl"/> |
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<mesh file="visual/link5.stl"/> |
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<mesh file="visual/link6.stl"/> |
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<mesh name="link_base_c" file="collision/link_base.stl"/> |
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<mesh name="link1_c" file="collision/link1.stl"/> |
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<mesh name="link2_c" file="collision/link2.stl"/> |
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<mesh name="link3_c" file="collision/link3.stl"/> |
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<mesh name="link4_c" file="collision/link4.stl"/> |
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<mesh name="link5_c" file="collision/link5.stl"/> |
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<mesh name="link6_c" file="collision/link6.stl"/> |
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</asset> |
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<worldbody> |
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<body name="link_base" childclass="lite6"> |
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<inertial pos="-0.00829545 3.26357e-05 0.0631195" mass="1.65394" diaginertia="0 0 0"/> |
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<geom class="visual" mesh="link_base"/> |
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<geom name="link_base_c" class="collision" mesh="link_base_c"/> |
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<body name="link1" pos="0 0 0.2435"> |
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<inertial pos="-0.00036 0.04195 -0.0025" quat="0.608059 0.792349 -0.0438707 0.0228718" mass="1.411" |
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diaginertia="0.00145276 0.00135275 0.000853355"/> |
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<joint name="joint1" range="-6.28319 6.28319"/> |
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<geom class="visual" mesh="link1"/> |
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<geom name="link1_c" class="collision" mesh="link1_c"/> |
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<body name="link2" quat="-1 1 1 1"> |
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<inertial pos="0.179 0 0.0584" quat="0.417561 0.571619 0.569585 0.417693" mass="1.34" |
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diaginertia="0.00560971 0.0052152 0.00122018"/> |
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<joint name="joint2" range="-2.61799 2.61799"/> |
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<geom class="visual" mesh="link2"/> |
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<geom name="link2_c" class="collision" mesh="link2_c"/> |
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<body name="link3" pos="0.2002 0 0" quat="-2.59734e-06 -0.707105 -0.707108 -2.59735e-06"> |
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<inertial pos="0.072 -0.0357 -0.001" quat="0.128259 0.662963 -0.167256 0.71837" mass="0.953" |
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diaginertia="0.0018521 0.00175546 0.000703807"/> |
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<joint name="joint3" range="-0.061087 5.23599"/> |
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<geom class="visual" mesh="link3"/> |
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<geom name="link3_c" class="collision" mesh="link3_c"/> |
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<body name="link4" pos="0.087 -0.22761 0" quat="0.707105 0.707108 0 0"> |
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<inertial pos="-0.002 -0.0285 -0.0813" quat="0.975248 0.22109 0.00203498 -0.00262178" mass="1.284" |
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diaginertia="0.00370503 0.00349091 0.00109586"/> |
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<joint name="joint4" range="-6.28319 6.28319"/> |
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<geom class="visual" mesh="link4"/> |
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<geom name="link4_c" class="collision" mesh="link4_c"/> |
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<body name="link5" quat="1 1 0 0"> |
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<inertial pos="0 0.01 0.0019" quat="0.71423 0.696388 -0.0531933 0.0456997" mass="0.804" |
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diaginertia="0.000567553 0.000529266 0.000507681"/> |
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<joint name="joint5" range="-2.1642 2.1642"/> |
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<geom class="visual" mesh="link5"/> |
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<geom name="link5_c" class="collision" mesh="link5_c"/> |
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<body name="link6" pos="0 0.0625 0" quat="1 -1 0 0"> |
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<inertial pos="0 -0.00194 -0.0102" quat="-0.0376023 0.704057 0.0446838 0.707738" mass="0.13" |
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diaginertia="0.000148148 8.57757e-05 7.71412e-05"/> |
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<joint name="joint6" range="-6.28319 6.28319"/> |
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<geom class="visual" mesh="link6" material="silver"/> |
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<geom name="link6_c" class="collision" mesh="link6_c"/> |
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<site name="attachment_site"/> |
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</body> |
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</body> |
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</body> |
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</body> |
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</body> |
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</body> |
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</body> |
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</worldbody> |
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<actuator> |
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<position name="joint1" joint="joint1" class="size1" ctrlrange="-6.28319 6.28319"/> |
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<position name="joint2" joint="joint2" class="size1" ctrlrange="-2.61799 2.61799"/> |
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<position name="joint3" joint="joint3" class="size2" ctrlrange="-0.061087 5.23599"/> |
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<position name="joint4" joint="joint4" class="size2" ctrlrange="-6.28319 6.28319"/> |
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<position name="joint5" joint="joint5" class="size2" ctrlrange="-2.1642 2.1642"/> |
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<position name="joint6" joint="joint6" class="size3" ctrlrange="-6.28319 6.28319"/> |
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</actuator> |
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</mujoco> |
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