| <mujoco model="ARX L5"> |
| <compiler angle="radian" meshdir="assets"/> |
|
|
| <option integrator="implicitfast" cone="elliptic" impratio="10"/> |
|
|
| <default> |
| <default class="arx_l5"> |
| <joint frictionloss="0.3" armature="0.005"/> |
| <position inheritrange="1" forcerange="-100 100"/> |
| <default class="finger"> |
| <joint frictionloss="0" type="slide"/> |
| <position forcerange="-10 10"/> |
| </default> |
| <default class="visual"> |
| <geom group="2" type="mesh" contype="0" conaffinity="0" density="0"/> |
| </default> |
| <default class="collision"> |
| <geom group="3" type="capsule"/> |
| </default> |
| </default> |
| </default> |
|
|
| <asset> |
| <material name="black_mat" rgba="0.1 0.1 0.1 1"/> |
|
|
| <mesh name="base_link" file="base_link.obj"/> |
| <mesh name="link1" file="link1.obj"/> |
| <mesh name="link2" file="link2.obj"/> |
| <mesh name="link3" file="link3.obj"/> |
| <mesh name="link4" file="link4.obj"/> |
| <mesh name="link5" file="link5.obj"/> |
| <mesh name="link6" file="link6.obj"/> |
| <mesh name="link7" file="link7.obj"/> |
| <mesh name="link8" file="link8.obj"/> |
| <mesh name="camera" file="camera.obj"/> |
| </asset> |
|
|
| <worldbody> |
| <light mode="targetbodycom" target="link8" pos="1 0 1"/> |
| <body name="base_link"> |
| <geom mesh="base_link" material="black_mat" class="visual"/> |
| <geom mesh="base_link" class="collision"/> |
| <body name="link1" pos="0 0 0.0565"> |
| <inertial pos="0.0050395 -0.0077407 0.020897" quat="0.632157 0.714526 -0.263733 0.142391" mass="0.096804" |
| diaginertia="0.000118945 9.40205e-05 4.70346e-05"/> |
| <joint name="joint1" axis="0 0 1" range="-3.14 3.14"/> |
| <geom mesh="link1" material="black_mat" class="visual"/> |
| <geom mesh="link1" class="collision"/> |
| <body name="link2" pos="0.02 0 0.047"> |
| <inertial pos="-0.12992 -0.0011822 -2.6366e-05" quat="0.501263 0.501263 0.498734 0.498734" mass="1.1988" |
| diaginertia="0.0164704 0.01646 0.000649595"/> |
| <joint name="joint2" axis="0 1 0" range="0 3.14"/> |
| <geom mesh="link2" material="black_mat" class="visual"/> |
| <geom mesh="link2" class="collision"/> |
| <body name="link3" pos="-0.264 0 0" quat="-3.67321e-06 -1 0 0"> |
| <inertial pos="0.16181 0.0011723 -0.05455" quat="0.518857 0.484372 0.465704 0.52848" mass="0.84082" |
| diaginertia="0.0084909 0.00841207 0.000747034"/> |
| <joint name="joint3" axis="0 1 0" range="0 3.14"/> |
| <geom mesh="link3" material="black_mat" class="visual"/> |
| <geom mesh="link3" class="collision"/> |
| <geom type="box" size="0.062 0.001 0.01" pos="0.112 -0.025 -0.06" rgba="1 0 0 1" class="visual"/> |
| <geom type="box" size="0.062 0.001 0.01" pos="0.112 0.023 -0.06" rgba="1 0 0 1" class="visual"/> |
| <body name="link4" pos="0.245 -5e-05 -0.06"> |
| <inertial pos="0.041751 0.0054236 -0.03337" quat="0.919386 -0.0641253 0.311071 -0.23206" mass="0.12432" |
| diaginertia="0.000303193 0.000235316 0.000101491"/> |
| <joint name="joint4" axis="0 1 0" range="-1.7 1.7"/> |
| <geom mesh="link4" material="black_mat" class="visual"/> |
| <geom mesh="link4" class="collision"/> |
| <body name="link5" pos="0.073914 5e-05 -0.083391"> |
| <inertial pos="-8.3435e-05 -1.5428e-05 0.052216" quat="0.998247 0 -0.0591776 0" mass="0.63601" |
| diaginertia="0.000848329 0.00082 0.000251671"/> |
| <joint name="joint5" axis="0 0 1" range="-1.7 1.7"/> |
| <geom mesh="link5" material="black_mat" class="visual"/> |
| <geom mesh="link5" class="collision"/> |
| <body name="link6" pos="0.025286 0 0.083391" quat="-3.67321e-06 1 0 0"> |
| <inertial pos="0.041697 2.4368e-05 0.00014464" quat="0.5 0.5 -0.5 0.5" mass="0.44089" |
| diaginertia="0.0005 0.00038 0.00028"/> |
| <joint name="joint6" axis="1 0 0" range="-3.14 3.14"/> |
| <geom mesh="link6" material="black_mat" class="visual"/> |
| <geom mesh="link6" class="collision"/> |
| <geom mesh="camera" pos="0.06 0 -0.01" quat="-1 0 0 1" material="black_mat" class="visual"/> |
| <geom mesh="camera" pos="0.06 0 -0.01" quat="-1 0 0 1" class="collision"/> |
| <camera name="wrist_cam" pos="0.0475 0 0.075" mode="fixed" euler="0 -1.1 -1.5708" |
| focal="1.93e-3 1.93e-3" resolution="1280 720" sensorsize="3896e-6 2140e-6"/> |
| <body name="link7" pos="0.08657 0.024896 -0.0002436" gravcomp="1"> |
| <inertial pos="-0.00035522 -0.007827 -0.0029883" quat="0.5 0.5 0.5 0.5" mass="0.064798" |
| diaginertia="3e-05 3e-05 2e-05"/> |
| <joint name="joint7" axis="0 1 0" class="finger" range="0 0.044"/> |
| <geom mesh="link7" material="black_mat" class="visual"/> |
| <geom type="box" size=".02 .002 .00525" pos="0.05 -0.023 0" rgba="1 0 0 1" class="collision"/> |
| <geom type="box" size=".015 .002 .018" pos="0.015 -0.023 0" rgba="0 0 1 1" class="collision"/> |
| </body> |
| <body name="link8" pos="0.08657 -0.0249 -0.00024366" gravcomp="1"> |
| <inertial pos="-0.000355223 0.00782769 0.00242006" quat="0.5 0.5 0.5 0.5" mass="0.0647982" |
| diaginertia="3e-05 3e-05 2e-05"/> |
| <joint name="joint8" axis="0 1 0" class="finger" range="-0.044 0"/> |
| <geom mesh="link8" material="black_mat" class="visual"/> |
| <geom type="box" size=".02 .002 .00525" pos="0.05 0.023 0" rgba="1 0 0 1" class="collision"/> |
| <geom type="box" size=".015 .002 .018" pos="0.015 0.023 0" rgba="0 0 1 1" class="collision"/> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </worldbody> |
|
|
| <contact> |
| <exclude body1="base_link" body2="link1"/> |
| </contact> |
|
|
| <equality> |
| <joint joint1="joint7" joint2="joint8" polycoef="0 -1 0 0 0"/> |
| </equality> |
|
|
| <actuator> |
| <position name="joint1" joint="joint1" class="arx_l5" kp="80" kv="5"/> |
| <position name="joint2" joint="joint2" class="arx_l5" kp="80" kv="5"/> |
| <position name="joint3" joint="joint3" class="arx_l5" kp="80" kv="5"/> |
| <position name="joint4" joint="joint4" class="arx_l5" kp="40" kv="5"/> |
| <position name="joint5" joint="joint5" class="arx_l5" kp="10" kv="1.5"/> |
| <position name="joint6" joint="joint6" class="arx_l5" kp="10" kv="1.5"/> |
| <position name="gripper" joint="joint7" class="finger" kp="40" kv="5"/> |
| </actuator> |
|
|
| |
| |
| |
| </mujoco> |
|
|
