| <mujoco model="ur10e"> |
| <compiler angle="radian" meshdir="assets" autolimits="true"/> |
|
|
| <option integrator="implicitfast"/> |
|
|
| <default> |
| <default class="ur10e"> |
| <material specular="0.5" shininess="0.25"/> |
| <joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1"/> |
| <position ctrlrange="-6.2831 6.2831"/> |
| <general biastype="affine" ctrlrange="-6.2831 6.2831" gainprm="5000" biasprm="0 -5000 -500"/> |
| <default class="size4"> |
| <joint damping="10"/> |
| <general forcerange="-330 330"/> |
| </default> |
| <default class="size3"> |
| <joint damping="5"/> |
| <general forcerange="-150 150"/> |
| <default class="size3_limited"> |
| <joint range="-3.1415 3.1415"/> |
| <general ctrlrange="-3.1415 3.1415"/> |
| </default> |
| </default> |
| <default class="size2"> |
| <joint damping="2"/> |
| <general forcerange="-56 56"/> |
| </default> |
| <default class="visual"> |
| <geom type="mesh" contype="0" conaffinity="0" group="2"/> |
| </default> |
| <default class="collision"> |
| <geom type="capsule" group="3"/> |
| <default class="eef_collision"> |
| <geom type="cylinder"/> |
| </default> |
| </default> |
| <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/> |
| </default> |
| </default> |
|
|
| <asset> |
| <material class="ur10e" name="black" rgba="0.033 0.033 0.033 1"/> |
| <material class="ur10e" name="jointgray" rgba="0.278 0.278 0.278 1"/> |
| <material class="ur10e" name="linkgray" rgba="0.82 0.82 0.82 1"/> |
| <material class="ur10e" name="urblue" rgba="0.49 0.678 0.8 1"/> |
|
|
| <mesh file="base_0.obj"/> |
| <mesh file="base_1.obj"/> |
| <mesh file="shoulder_0.obj"/> |
| <mesh file="shoulder_1.obj"/> |
| <mesh file="shoulder_2.obj"/> |
| <mesh file="upperarm_0.obj"/> |
| <mesh file="upperarm_1.obj"/> |
| <mesh file="upperarm_2.obj"/> |
| <mesh file="upperarm_3.obj"/> |
| <mesh file="forearm_0.obj"/> |
| <mesh file="forearm_1.obj"/> |
| <mesh file="forearm_2.obj"/> |
| <mesh file="forearm_3.obj"/> |
| <mesh file="wrist1_0.obj"/> |
| <mesh file="wrist1_1.obj"/> |
| <mesh file="wrist1_2.obj"/> |
| <mesh file="wrist2_0.obj"/> |
| <mesh file="wrist2_1.obj"/> |
| <mesh file="wrist2_2.obj"/> |
| <mesh file="wrist3.obj"/> |
| </asset> |
|
|
| <worldbody> |
| <light name="spotlight" mode="targetbodycom" target="wrist_2_link" pos="0 -1 2"/> |
| <body name="base" quat="0 0 0 -1" childclass="ur10e"> |
| <inertial mass="4.0" pos="0 0 0" diaginertia="0.0061063308908 0.0061063308908 0.01125"/> |
| <geom mesh="base_0" material="black" class="visual"/> |
| <geom mesh="base_1" material="jointgray" class="visual"/> |
| <body name="shoulder_link" pos="0 0 0.181"> |
| <inertial pos="0 0 0" mass="7.778" diaginertia="0.0314743 0.0314743 0.0218756"/> |
| <joint name="shoulder_pan_joint" class="size4" axis="0 0 1"/> |
| <geom mesh="shoulder_0" material="urblue" class="visual"/> |
| <geom mesh="shoulder_1" material="black" class="visual"/> |
| <geom mesh="shoulder_2" material="jointgray" class="visual"/> |
| <geom class="collision" size="0.078 0.08" pos="0 0 -0.05"/> |
| <body name="upper_arm_link" pos="0 0.176 0" quat="1 0 1 0"> |
| <inertial pos="0 0 0.3065" mass="12.93" diaginertia="0.423074 0.423074 0.0363656"/> |
| <joint name="shoulder_lift_joint" class="size4"/> |
| <geom mesh="upperarm_0" material="black" class="visual"/> |
| <geom mesh="upperarm_1" material="jointgray" class="visual"/> |
| <geom mesh="upperarm_2" material="urblue" class="visual"/> |
| <geom mesh="upperarm_3" material="linkgray" class="visual"/> |
| <geom class="collision" pos="0 -0.05 0" quat="1 1 0 0" size="0.078 0.08"/> |
| <geom class="collision" size="0.06 0.3" pos="0 0 0.3"/> |
| <body name="forearm_link" pos="0 -0.137 0.613"> |
| <inertial pos="0 0 0.2855" mass="3.87" diaginertia="0.11059 0.11059 0.0108844"/> |
| <joint name="elbow_joint" class="size3_limited"/> |
| <geom mesh="forearm_0" material="urblue" class="visual"/> |
| <geom mesh="forearm_1" material="black" class="visual"/> |
| <geom mesh="forearm_2" material="jointgray" class="visual"/> |
| <geom mesh="forearm_3" material="linkgray" class="visual"/> |
| <geom class="collision" pos="0 0.08 0" quat="1 1 0 0" size="0.058 0.065"/> |
| <geom class="collision" size="0.043 0.28" pos="0 0 0.29"/> |
| <body name="wrist_1_link" pos="0 0 0.571" quat="1 0 1 0"> |
| <inertial pos="0 0.135 0" quat="0.5 0.5 -0.5 0.5" mass="1.96" |
| diaginertia="0.0055125 0.00510825 0.00510825"/> |
| <joint name="wrist_1_joint" class="size2"/> |
| <geom mesh="wrist1_0" material="black" class="visual"/> |
| <geom mesh="wrist1_1" material="urblue" class="visual"/> |
| <geom mesh="wrist1_2" material="jointgray" class="visual"/> |
| <geom class="collision" pos="0 0.06 0" quat="1 1 0 0" size="0.05 0.07"/> |
| <body name="wrist_2_link" pos="0 0.135 0"> |
| <inertial pos="0 0 0.12" quat="0.5 0.5 -0.5 0.5" mass="1.96" |
| diaginertia="0.0055125 0.00510825 0.00510825"/> |
| <joint name="wrist_2_joint" axis="0 0 1" class="size2"/> |
| <geom mesh="wrist2_0" material="black" class="visual"/> |
| <geom mesh="wrist2_1" material="urblue" class="visual"/> |
| <geom mesh="wrist2_2" material="jointgray" class="visual"/> |
| <geom class="collision" size="0.046 0.065" pos="0 0 0.05"/> |
| <geom class="collision" pos="0 0.028 0.12" quat="1 1 0 0" size="0.046 0.043"/> |
| <body name="wrist_3_link" pos="0 0 0.12"> |
| <inertial pos="0 0.092 0" quat="0 1 -1 0" mass="0.202" |
| diaginertia="0.000204525 0.000144346 0.000144346"/> |
| <joint name="wrist_3_joint" class="size2"/> |
| <geom material="linkgray" mesh="wrist3" class="visual"/> |
| <geom class="eef_collision" pos="0 0.097 0" quat="1 1 0 0" size="0.046 0.02"/> |
| <site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0"/> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </worldbody> |
|
|
| <actuator> |
| <general class="size4" name="shoulder_pan_joint" joint="shoulder_pan_joint"/> |
| <general class="size4" name="shoulder_lift_joint" joint="shoulder_lift_joint"/> |
| <general class="size3_limited" name="elbow_joint" joint="elbow_joint"/> |
| <general class="size2" name="wrist_1_joint" joint="wrist_1_joint"/> |
| <general class="size2" name="wrist_2_joint" joint="wrist_2_joint"/> |
| <general class="size2" name="wrist_3_joint" joint="wrist_3_joint"/> |
| </actuator> |
|
|
| |
| |
| |
| </mujoco> |
|
|
