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<mujoco model="sawyer"> |
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<compiler angle="radian" meshdir="assets" inertiafromgeom="auto" inertiagrouprange="4 5"/> |
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<asset> |
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|
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<material name="xyz_col" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0.5"/> |
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|
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<mesh file="base.stl" name="base"/> |
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<mesh file="eGripperBase.stl" name="eGripperBase"/> |
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<mesh file="head.stl" name="head"/> |
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<mesh file="l0.stl" name="l0"/> |
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<mesh file="l1.stl" name="l1"/> |
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<mesh file="l2.stl" name="l2"/> |
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<mesh file="l3.stl" name="l3"/> |
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<mesh file="l4.stl" name="l4"/> |
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<mesh file="l5.stl" name="l5"/> |
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<mesh file="l6.stl" name="l6"/> |
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<mesh file="pedestal.stl" name="pedestal"/> |
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</asset> |
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<default> |
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<default class="xyz_base"> |
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<joint armature="0.001" damping="2" limited="true"/> |
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<geom conaffinity="0" contype="0" group="1" type="mesh"/> |
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<position ctrllimited="true" ctrlrange="0 1.57"/> |
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<default class="base_viz"> |
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<geom conaffinity="0" condim="4" contype="0" group="1" margin="0.001" solimp=".8 .9 .01" solref=".02 1" type="mesh"/> |
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</default> |
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<default class="base_col"> |
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<geom conaffinity="1" condim="4" contype="1" group="4" margin="0.001" material="xyz_col" solimp=".8 .9 .01" solref=".02 1"/> |
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</default> |
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</default> |
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</default> |
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<worldbody> |
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<camera pos="0 0.5 1.5" name="topview" /> |
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<camera name="corner" mode="fixed" pos="-1.1 -0.4 0.6" xyaxes="-1 1 0 -0.2 -0.2 -1"/> |
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<camera name="corner2" fovy="60" mode="fixed" pos="1.3 -0.2 1.1" euler="3.9 2.3 0.6"/> |
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<camera name="corner3" fovy="45" mode="fixed" pos="0.9 0 1.5" euler="3.5 2.7 1"/> |
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<body name="base" childclass="xyz_base" pos="0 0 0"> |
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<site name="basesite" pos="0 0 0" size="0.01" /> |
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<inertial pos="0 0 0" mass="0" diaginertia="0 0 0" /> |
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<body name="controller_box" pos="0 0 0"> |
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<inertial pos="-0.325 0 -0.38" mass="46.64" diaginertia="1.71363 1.27988 0.809981" /> |
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<geom size="0.11 0.2 0.265" pos="-0.325 0 -0.38" type="box" rgba="0.2 0.2 0.2 1"/> |
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</body> |
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<body name="pedestal_feet" pos="0 0 0"> |
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<inertial pos="-0.1225 0 -0.758" mass="167.09" diaginertia="8.16095 9.59375 15.0785" /> |
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<geom size="0.385 0.35 0.155" pos="-0.1225 0 -0.758" type="box" rgba="0.2 0.2 0.2 1" |
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contype="0" |
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conaffinity="0" |
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/> |
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</body> |
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<body name="torso" pos="0 0 0"> |
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<inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" /> |
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<geom size="0.05 0.05 0.05" type="box" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" /> |
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</body> |
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<body name="pedestal" pos="0 0 0"> |
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<inertial pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692" mass="60.864" diaginertia="6.0869 5.81635 4.20915" /> |
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<geom pos="0.26 0.345 -0.91488" quat="0.5 0.5 -0.5 -0.5" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="pedestal" /> |
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<geom size="0.18 0.31" pos="-0.02 0 -0.29" type="cylinder" rgba="0.2 0.2 0.2 0" /> |
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</body> |
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<body name="right_arm_base_link" pos="0 0 0"> |
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<inertial pos="-0.0006241 -2.8025e-05 0.065404" quat="-0.209285 0.674441 0.227335 0.670558" mass="2.0687" diaginertia="0.00740351 0.00681776 0.00672942" /> |
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="base" /> |
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<geom size="0.08 0.12" pos="0 0 0.12" type="cylinder" rgba="0.5 0.1 0.1 0" /> |
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<body name="right_l0" pos="0 0 0.08"> |
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<inertial pos="0.024366 0.010969 0.14363" quat="0.894823 0.00899958 -0.170275 0.412573" mass="5.3213" diaginertia="0.0651588 0.0510944 0.0186218" /> |
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<joint name="right_j0" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0503 3.0503" damping="10"/> |
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l0" /> |
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<body name="head" pos="0 0 0.2965"> |
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<inertial pos="0.0053207 -2.6549e-05 0.1021" quat="0.999993 7.08405e-05 -0.00359857 -0.000626247" mass="1.5795" diaginertia="0.0118334 0.00827089 0.00496574" /> |
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="head" /> |
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<body name="screen" pos="0.03 0 0.105" quat="0.5 0.5 0.5 0.5"> |
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<inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" /> |
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<geom size="0.12 0.07 0.001" type="box" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 0" /> |
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</body> |
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<body name="head_camera" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813"> |
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<inertial pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813" mass="0" diaginertia="0 0 0" /> |
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<site name="headsite" pos="0 0 0" size="0.01" /> |
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</body> |
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</body> |
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<body name="right_torso_itb" pos="-0.055 0 0.22" quat="0.707107 0 -0.707107 0"> |
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<inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" /> |
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</body> |
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<body name="right_l1" pos="0.081 0.05 0.237" quat="0.5 -0.5 0.5 0.5"> |
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<inertial pos="-0.0030849 -0.026811 0.092521" quat="0.424888 0.891987 0.132364 -0.0794296" mass="4.505" diaginertia="0.0224339 0.0221624 0.0097097" /> |
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<joint name="right_j1" pos="0 0 0" axis="0 0 1" |
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limited="true" range="-3.8 -0.5" |
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damping="10"/> |
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|
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l1" /> |
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|
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<body name="right_l2" pos="0 -0.14 0.1425" quat="0.707107 0.707107 0 0"> |
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<inertial pos="-0.00016044 -0.014967 0.13582" quat="0.707831 -0.0524761 0.0516007 0.702537" mass="1.745" diaginertia="0.0257928 0.025506 0.00292515" /> |
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<joint name="right_j2" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0426 3.0426" damping="10"/> |
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l2" /> |
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<geom size="0.06 0.17" pos="0 0 0.08" type="cylinder" rgba="0.5 0.1 0.1 0" /> |
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<body name="right_l3" pos="0 -0.042 0.26" quat="0.707107 -0.707107 0 0"> |
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<site name="armsite" pos="0 0 0" size="0.01" /> |
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<inertial pos="-0.0048135 -0.0281 -0.084154" quat="0.902999 0.385391 -0.0880901 0.168247" mass="2.5097" diaginertia="0.0102404 0.0096997 0.00369622" /> |
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|
<joint name="right_j3" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0439 3.0439" damping="10"/> |
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l3" /> |
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|
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<body name="right_l4" pos="0 -0.125 -0.1265" quat="0.707107 0.707107 0 0"> |
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<inertial pos="-0.0018844 0.0069001 0.1341" quat="0.803612 0.031257 -0.0298334 0.593582" mass="1.1136" diaginertia="0.0136549 0.0135493 0.00127353" /> |
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<joint name="right_j4" pos="0 0 0" axis="0 0 1" limited="true" range="-2.9761 2.9761" damping="10" /> |
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l4" /> |
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<geom size="0.045 0.15" pos="0 0 0.11" type="cylinder" rgba="0.5 0.1 0.1 0" /> |
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<body name="right_arm_itb" pos="-0.055 0 0.075" quat="0.707107 0 -0.707107 0"> |
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<inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" /> |
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</body> |
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<body name="right_l5" pos="0 0.031 0.275" quat="0.707107 -0.707107 0 0"> |
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<inertial pos="0.0061133 -0.023697 0.076416" quat="0.404076 0.9135 0.0473125 0.00158335" mass="1.5625" diaginertia="0.00474131 0.00422857 0.00190672" /> |
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<joint name="right_j5" pos="0 0 0" axis="0 0 1" limited="true" range="-2.9761 2.9761" damping="10"/> |
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l5" /> |
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|
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<body name="right_hand_camera" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0"> |
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<inertial pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0" mass="0" diaginertia="0 0 0" /> |
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</body> |
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<body name="right_wrist" pos="0 0 0.10541" quat="0.707107 0.707107 0 0"> |
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|
<inertial pos="0 0 0.10541" quat="0.707107 0.707107 0 0" mass="0" diaginertia="0 0 0" /> |
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</body> |
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<body name="right_l6" pos="0 -0.11 0.1053" quat="0.0616248 0.06163 -0.704416 0.704416"> |
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|
<inertial pos="-8.0726e-06 0.0085838 -0.0049566" quat="0.479044 0.515636 -0.513069 0.491322" mass="0.3292" diaginertia="0.000360258 0.000311068 0.000214974" /> |
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<joint name="right_j6" pos="0 0 0" axis="0 0 1" limited="true" range="-4.7124 4.7124" damping="10"/> |
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<geom type="mesh" contype="4" conaffinity="2" group="1" rgba="0.5 0.1 0.1 1" mesh="l6" /> |
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<geom size="0.055 0.025" pos="0 0.015 -0.01" type="cylinder" rgba="0.5 0.1 0.1 0" /> |
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<body name="right_hand" pos="0 0 0.0245" quat="0.707107 0 0 0.707107"> |
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|
<inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" /> |
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<geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.5 0.1 0.1 1" pos= "0 0 0.03" mesh="eGripperBase" /> |
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|
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<geom size="0.035 0.014" pos="0 0 0.015" type="cylinder" rgba="0 0 0 1"/> |
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|
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<body name="hand" pos="0 0 0.12" quat="-1 0 1 0"> |
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<camera name="behindGripper" mode="track" pos="0 0 -0.5" quat="0 1 0 0" fovy="60" /> |
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<camera name="gripperPOV" mode="track" pos="0 -0.1 0" quat="-1 -1.3 0 0" fovy="90" /> |
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|
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<site name="endEffector" pos="0.04 0 0" size="0.01" rgba='1 1 1 0' /> |
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<geom name="rail" type="box" pos="-0.05 0 0" density="7850" size="0.005 0.055 0.005" rgba="0.5 0.5 0.5 1.0" condim="3" friction="2 0.1 0.002" /> |
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|
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<body name="rightclaw" pos="0 -0.05 0" > |
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|
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<geom class="base_col" name="rightclaw_it" condim="4" margin="0.001" type="box" user="0" pos="0 0 0" size="0.045 0.003 0.015" rgba="1 1 1 1.0" /> |
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<joint name="r_close" pos="0 0 0" axis="0 1 0" range= "0 0.04" armature="100" damping="1000" limited="true" type="slide"/> |
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<site name="rightEndEffector" pos="0.045 0 0" size="0.01" rgba="1.0 0.0 0.0 1.0"/> |
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<body name="rightpad" pos ="0 .003 0" > |
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<geom name="rightpad_geom" condim="4" margin="0.001" type="box" user="0" pos="0 0 0" size="0.045 0.003 0.015" rgba="1 1 1 1.0" solimp="0.95 0.99 0.01" solref="0.01 1" friction="2 0.1 0.002" contype="1" conaffinity="1" mass="1"/> |
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</body> |
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</body> |
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<body name="leftclaw" pos="0 0.05 0"> |
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<geom class="base_col" name="leftclaw_it" condim="4" margin="0.001" type="box" user="0" pos="0 0 0" size="0.045 0.003 0.015" rgba="0 1 1 1.0" /> |
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<joint name="l_close" pos="0 0 0" axis="0 1 0" range= "-0.03 0" armature="100" damping="1000" limited="true" type="slide"/> |
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<site name="leftEndEffector" pos="0.045 0 0" size="0.01" rgba="1.0 0.0 0.0 1.0"/> |
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<body name="leftpad" pos ="0 -.003 0" > |
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<geom name="leftpad_geom" condim="4" margin="0.001" type="box" user="0" pos="0 0 0" size="0.045 0.003 0.015" rgba="0 1 1 1.0" solimp="0.95 0.99 0.01" solref="0.01 1" friction="2 0.1 0.002" contype="1" conaffinity="1" /> |
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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 name="right_l4_2" pos="0 0 0"> |
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|
<inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" /> |
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</body> |
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</body> |
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</body> |
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<body name="right_l2_2" pos="0 0 0"> |
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|
<inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" /> |
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</body> |
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</body> |
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<body name="right_l1_2" pos="0 0 0"> |
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|
<inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" /> |
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|
<geom size="0.07 0.07" pos="0 0 0.035" type="cylinder" rgba="0.2 0.2 0.2 0"/> |
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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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|
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<actuator> |
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<position name="right_j0" joint="right_j0" ctrlrange="-3.0503 3.0503"/> |
|
|
<position name="right_j1" joint="right_j1" ctrlrange="-3.8095 2.2736"/> |
|
|
<position name="right_j2" joint="right_j2" ctrlrange="-3.0426 3.0426"/> |
|
|
<position name="right_j3" joint="right_j3" ctrlrange="-3.0439 3.0439"/> |
|
|
<position name="right_j4" joint="right_j4" ctrlrange="-2.9761 2.9761"/> |
|
|
<position name="right_j5" joint="right_j5" ctrlrange="-2.9761 2.9761"/> |
|
|
<position name="right_j6" joint="right_j6" ctrlrange="-4.7124 4.7124"/> |
|
|
<position name="r_close" ctrllimited="true" ctrlrange="-1 1" joint="r_close" kp="400" user="1"/> |
|
|
<position name="l_close" ctrllimited="true" ctrlrange="-1 1" joint="l_close" kp="400" user="1"/> |
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|
</actuator> |
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</mujoco> |
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|
