File size: 19,287 Bytes
9411bf1 c3e122c 9411bf1 c3e122c 9411bf1 c3e122c 9411bf1 c3e122c 9411bf1 c3e122c 9411bf1 | 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 | <mujoco model="LinearBot">
<compiler angle="radian" autolimits="true" eulerseq="xyz" meshdir="assets/"/>
<default>
<joint armature="10" damping="50"/>
<material specular="0.5" shininess="0.25" />
<motor ctrllimited="true" ctrlrange="-100 100" />
<velocity ctrllimited="true" />
<position ctrllimited="true" kp="4000" kv="400" />
<default class="visual">
<geom group="2" type="mesh" contype="0" conaffinity="0" />
</default>
<default class="collision">
<geom group="3" type="mesh" contype="1" conaffinity="15" />
</default>
<default class="in-model-collision">
<geom group="2" contype="0" conaffinity="0" rgba="0.3 0 0 0.0" />
</default>
</default>
<asset>
<mesh name="linear_lift" content_type="model/stl" file="linear_lift.stl"/>
<mesh name="linear_cable_cover" content_type="model/stl" file="linear_cable_cover.stl"/>
<mesh name="base" content_type="model/stl" file="base.stl"/>
<mesh name="linear_lift_holder" content_type="model/stl" file="linear_lift_holder.stl"/>
<mesh name="base__2" content_type="model/stl" file="base__2.stl"/>
<mesh name="link1" content_type="model/stl" file="link1.stl"/>
<mesh name="link2" content_type="model/stl" file="link2.stl"/>
<mesh name="link3" content_type="model/stl" file="link3.stl"/>
<mesh name="link4" content_type="model/stl" file="link4.stl"/>
<mesh name="link5" content_type="model/stl" file="link5.stl"/>
<mesh name="gripper" content_type="model/stl" file="gripper.stl"/>
<mesh name="tip_left" content_type="model/stl" file="tip_left.stl"/>
<mesh name="tip_right" content_type="model/stl" file="tip_right.stl"/>
<mesh name="motor7" content_type="model/stl" file="motor7.stl"/>
<mesh name="motor8" content_type="model/stl" file="motor8.stl"/>
<mesh name="motor1" content_type="model/stl" file="motor1.stl"/>
<mesh name="motor2" content_type="model/stl" file="motor2.stl"/>
<mesh name="motor5" content_type="model/stl" file="motor5.stl"/>
<mesh name="motor6" content_type="model/stl" file="motor6.stl"/>
<mesh name="motor3" content_type="model/stl" file="motor3.stl"/>
<mesh name="motor4" content_type="model/stl" file="motor4.stl"/>
<mesh name="camera_d405" content_type="model/stl" file="d405.stl" />
</asset>
<worldbody>
<!-- Add mocap bodies to viz and debug stuff -->
<body name="target_ee_pose_right" mocap="true" >
<site name="target_ee_pose_right" pos="0 0 0" type="box" size=".05 .05 .05" rgba="0 0 1 0.3" group="1"/>
</body>
<body name="target_ee_pose_left" mocap="true">
<site name="target_ee_pose_left" pos="0 0 0" type="box" size=".05 .05 .05" rgba="1 0 0 0.3" group="1"/>
</body>
<body name="target_base_pose" mocap="true">
<site name="target_base_pose" pos="0 0 0" type="box" size=".05 .05 .05" rgba="0 1 0 0.3" group="1"/>
</body>
<site name="robot_0/world" pos="0 0 0.005" quat="1 0 0 0"/>
<body name="robot_0/base" pos="0 0 0" quat="1 0 0 0">
<site name="robot_0/base_site" pos="0 0 0" quat="1 0 0 0"/>
<!-- Virtual holonomic base joints -->
<joint name="robot_0/base_x" type="slide" axis="1 0 0" range="-25 25"/>
<joint name="robot_0/base_y" type="slide" axis="0 1 0" range="-25 25"/>
<joint name="robot_0/base_theta" type="hinge" axis="0 0 1"/>
<geom pos="0.2 0.397678 0.011" type="mesh" rgba="0.611765 0.658824 0.670588 1" mesh="linear_lift"/>
<geom pos="0.2 0.396678 -0.049" quat="1 0 0 0" type="mesh" rgba="0.611765 0.658824 0.670588 1" mesh="linear_cable_cover"/>
<geom pos="0.2 0.396 0.011" quat="1 0 0 0" type="mesh" rgba="1 0.6 0 1" mesh="base"/>
<geom pos="-0.600001 0.00400106 0.011" quat="1.32679e-06 0 0 1" type="mesh" rgba="0.298039 0.298039 0.298039 1" mesh="motor7"/>
<geom pos="-0.599999 0.0047065 0.0115201" quat="1.32679e-06 1.8366e-06 1.83661e-06 1" type="mesh" rgba="0.298039 0.298039 0.298039 1" mesh="motor8"/>
<geom pos="0.2 0.004 0.011" quat="1.32679e-06 0 0 1" type="mesh" rgba="0.298039 0.298039 0.298039 1" mesh="motor1"/>
<geom pos="0.199999 0.00399991 0.0110001" quat="-3.6732e-06 1.83661e-06 1.8366e-06 -1" type="mesh" rgba="0.298039 0.298039 0.298039 1" mesh="motor2"/>
<geom pos="0.2 0.396 0.011" quat="1 0 0 0" type="mesh" rgba="0.298039 0.298039 0.298039 1" mesh="motor5"/>
<geom pos="0.199998 0.396002 0.0110016" quat="1 1.83661e-06 -1.8366e-06 3.37305e-12" type="mesh" rgba="0.298039 0.298039 0.298039 1" mesh="motor6"/>
<geom pos="0.2 0.396 0.011" quat="1 0 0 0" type="mesh" rgba="0.298039 0.298039 0.298039 1" mesh="motor3"/>
<geom pos="0.199998 0.396707 0.0115186" quat="1 -1.83661e-06 1.8366e-06 3.37312e-12" type="mesh" rgba="0.298039 0.298039 0.298039 1" mesh="motor4"/>
<body name="robot_0/lift_link" pos="4.49505e-06 -0.0448218 1.04769">
<inertial pos="0.0223139 -0.0876724 -0.028056" quat="0.590086 0.549625 -0.342717 0.48193" mass="5.06911" diaginertia="0.354216 0.282378 0.159648"/>
<joint name="robot_0/lift_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-0.729187 0.330813"/>
<geom pos="0.200004 0.443 -0.956366" quat="1 0 0 0" type="mesh" rgba="1 0.6 0 1" mesh="linear_lift_holder"/>
<geom pos="0.186504 0.443003 -0.955618" quat="-1 -2.65359e-06 0 0" type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="base__2"/>
<geom pos="0.823504 0.443003 -0.955618" quat="-1 -2.65359e-06 0 0" type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="base__2"/>
<body name="robot_0/top_cam_d435i" pos="0.0 -0.3 1.2" quat="-1.0632884247878861e-17 -6.030208312509488e-17 0.984807753012208 -0.17364817766693041">
<geom type="mesh" contype="0" conaffinity="0" group="2" density="0.001" mass="0.001" rgba="0.22 0.22 0.24 1" mesh="camera_d405" />
<geom name="robot_0/top_cam_col" type="sphere" size="0.02" pos="0 0 0" group="3" rgba="0.1 0.4 1 0.3" mass="0.001" />
<body name="robot_0/top_cam_frame" pos="0.009 0 0" quat="1 0 0 0">
<camera name="robot_0/top_cam" pos="0 0 0" quat="0 1 0 0" fovy="58" />
</body>
</body>
<body name="robot_0/arm_link1_R" pos="-0.3185 -0.153 0.15485" quat="1.32679e-06 -1 0 0">
<inertial pos="0.00218874 0.00694644 -0.0176252" quat="0.300985 0.642522 0.365839 0.602274" mass="0.0623673" diaginertia="8.32474e-05 6.56452e-05 2.90287e-05"/>
<joint name="robot_0/joint1_R" pos="0 0 0" axis="0 0 1" range="-3.05433 2.61799"/>
<geom pos="0.504575 -0.596494 1.11047" quat="1.32679e-06 -1 0 0" type="mesh" rgba="0.72549 0.45098 0.317647 1" mesh="link1"/>
<body name="robot_0/arm_link2_R" pos="-0.033279 0.0195056 -0.0394" quat="0.499998 0.5 -0.500002 -0.5">
<inertial pos="0.129165 0.000134497 -0.0321253" quat="0.499973 0.500012 0.500101 0.499914" mass="0.982664" diaginertia="0.00981181 0.00976522 0.000535177"/>
<joint name="robot_0/joint2_R" pos="0 0 0" axis="0 0 1" range="-3.14159 0"/>
<geom pos="0.615999 1.14987 -0.537854" quat="0.499998 0.5 0.5 -0.500002" type="mesh" rgba="0 0.4 0.6 1" mesh="link2"/>
<body name="robot_0/arm_link3_R" pos="0.264 4.08431e-07 0.00205" quat="1.32679e-06 1 0 0">
<inertial pos="-0.135083 0.0556042 0.0340514" quat="0.45919 0.579096 0.406728 0.536996" mass="0.820846" diaginertia="0.00639264 0.00637394 0.000732199"/>
<joint name="robot_0/joint3_R" pos="0 0 0" axis="0 0 1" range="-3.14159 0"/>
<geom pos="0.351998 -1.14987 0.539904" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" rgba="0.552941 0.580392 0.203922 1" mesh="link3"/>
<body name="robot_0/arm_link4_R" pos="-0.244999 0.0600003 0.00205">
<inertial pos="-0.0570681 0.0543529 0.0332231" quat="0.705362 0.629967 0.26958 0.181474" mass="0.231537" diaginertia="0.000405681 0.000392496 0.000146714"/>
<joint name="robot_0/joint4_R" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708"/>
<geom pos="0.596998 -1.21007 0.537392" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" rgba="0.545098 0.52549 0.419608 1" mesh="link4"/>
<body name="robot_0/arm_link5_R" pos="-0.0739989 0.0403003 0.0323887" quat="0.499998 -0.5 -0.5 -0.500002">
<inertial pos="3.55003e-05 -0.000825911 -0.0375847" quat="0.411236 0.911519 0.00303656 0.00302174" mass="0.152422" diaginertia="8.30668e-05 7.39554e-05 6.41147e-05"/>
<joint name="robot_0/joint5_R" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708"/>
<geom pos="0.505003 0.670997 -1.25037" type="mesh" rgba="0.827451 0.623529 0.784314 1" mesh="link5"/>
<body name="robot_0/gripper_R" pos="-2.39858e-07 -0.0356 -0.0404996" quat="0.707105 -0.707108 0 0">
<inertial pos="-0.000249372 -3.57061e-05 -0.0293133" quat="0.466092 0.52923 0.523105 0.478577" mass="0.177713" diaginertia="0.000131605 0.000118779 0.000104213"/>
<joint name="robot_0/joint6_R" pos="0 0 0" axis="0 0 1" range="-2.0944 2.0944"/>
<geom pos="0.505003 1.20987 0.706597" quat="0.707105 0.707108 0 0" type="mesh" rgba="0.109804 0.286275 0.0117647 1" mesh="gripper"/>
<body name="robot_0/right_camera_d405" pos="-0.0107 -0.072 -0.055" quat="-0.17364817766693041 0.9848077530122079 0 0">
<geom type="mesh" contype="0" conaffinity="0" group="2" density="0.001" mass="0.001" rgba="0.22 0.22 0.24 1" mesh="camera_d405" />
<geom name="robot_0/right_cam_col" type="sphere" size="0.02" pos="0 0 0" group="3" rgba="0.1 0.4 1 0.3" mass="0.001" />
<body name="robot_0/right_camera_frame" pos="0.009 0 0" quat="0 0 0 1">
<camera name="robot_0/right_cam" pos="0 0 0" quat="0 1 0 0" fovy="58" />
</body>
</body>
<body name="robot_0/tip_left_R" pos="0.0450619 0.0225 -0.0573" quat="9.38184e-07 0.707105 -9.38187e-07 0.707108">
<inertial pos="-0.0221613 0.0130864 -0.0425915" quat="0.48353 0.449517 -0.0676559 0.748034" mass="0.0514225" diaginertia="4.56066e-05 4.38105e-05 2.06481e-05"/>
<joint name="robot_0/joint7_R" pos="0 0 0" axis="0 0 1" type="slide" range="-0.0475 0"/>
<geom pos="0.763897 -1.18737 0.459941" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" rgba="0.596078 0.788235 0.921569 1" mesh="tip_left"/>
</body>
<body name="robot_0/tip_right_R" pos="-0.0450619 -0.0225 -0.0573" quat="0.707105 0 -0.707108 0">
<inertial pos="-0.0221613 0.0130864 -0.0425915" quat="0.48353 0.449517 -0.0676559 0.748034" mass="0.0514225" diaginertia="4.56066e-05 4.38105e-05 2.06481e-05"/>
<joint name="robot_0/joint8_R" pos="0 0 0" axis="0 0 1" type="slide" range="-0.0475 0"/>
<geom pos="0.763897 1.23237 -0.550065" quat="0.499998 0.5 0.5 -0.500002" type="mesh" rgba="0.596078 0.788235 0.921569 1" mesh="tip_right"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="robot_0/arm_link1_L" pos="0.3185 -0.153 0.15485" quat="1.32679e-06 -1 0 0">
<inertial pos="0.00218874 0.00694644 -0.0176252" quat="0.300985 0.642522 0.365839 0.602274" mass="0.0623673" diaginertia="8.32474e-05 6.56452e-05 2.90287e-05"/>
<joint name="robot_0/joint1_L" pos="0 0 0" axis="0 0 1" range="-3.05433 2.61799"/>
<geom pos="0.504575 -0.596494 1.11047" quat="1.32679e-06 -1 0 0" type="mesh" rgba="0.72549 0.45098 0.317647 1" mesh="link1"/>
<body name="robot_0/arm_link2_L" pos="0.032471 0.0195056 -0.0394" quat="0.499998 -0.5 0.500002 -0.5">
<inertial pos="0.129165 -0.000134497 -0.0336247" quat="0.500101 0.499914 0.499973 0.500012" mass="0.982664" diaginertia="0.00981181 0.00976522 0.000535177"/>
<joint name="robot_0/joint2_L" pos="0 0 0" axis="0 0 1" range="0 3.14159"/>
<geom pos="0.615999 -1.14987 0.472104" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" rgba="0 0.4 0.6 1" mesh="link2"/>
<body name="robot_0/arm_link3_L" pos="0.264 -4.08431e-07 0.00205" quat="1.32679e-06 -1 0 0">
<inertial pos="-0.135083 -0.0556042 0.0357986" quat="0.406728 0.536996 0.45919 0.579096" mass="0.820846" diaginertia="0.00639264 0.00637394 0.000732199"/>
<joint name="robot_0/joint3_L" pos="0 0 0" axis="0 0 1" range="0 3.14159"/>
<geom pos="0.351998 1.14987 -0.470054" quat="0.499998 0.5 0.5 -0.500002" type="mesh" rgba="0.552941 0.580392 0.203922 1" mesh="link3"/>
<body name="robot_0/arm_link4_L" pos="-0.244999 -0.0600003 0.0678" quat="1.32679e-06 -1 0 0">
<inertial pos="-0.0570681 0.0543529 0.0332231" quat="0.705362 0.629967 0.26958 0.181474" mass="0.231537" diaginertia="0.000405681 0.000392496 0.000146714"/>
<joint name="robot_0/joint4_L" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708"/>
<geom pos="0.596998 -1.21007 0.537392" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" rgba="0.545098 0.52549 0.419608 1" mesh="link4"/>
<body name="robot_0/arm_link5_L" pos="-0.0739989 0.0403003 0.0323887" quat="0.499998 -0.5 -0.5 -0.500002">
<inertial pos="3.55003e-05 -0.000825911 -0.0375847" quat="0.411236 0.911519 0.00303656 0.00302174" mass="0.152422" diaginertia="8.30668e-05 7.39554e-05 6.41147e-05"/>
<joint name="robot_0/joint5_L" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708"/>
<geom pos="0.505003 0.670997 -1.25037" type="mesh" rgba="0.827451 0.623529 0.784314 1" mesh="link5"/>
<body name="robot_0/gripper_L" pos="-2.39858e-07 -0.0356 -0.0404996" quat="0.707105 -0.707108 0 0">
<inertial pos="-0.00267181 8.62109e-05 -0.0293133" quat="0.466092 0.52923 0.523105 0.478577" mass="0.177713" diaginertia="0.000131605 0.000118779 0.000104213"/>
<joint name="robot_0/joint6_L" pos="0 0 0" axis="0 0 1" range="-2.0944 2.0944"/>
<geom pos="0.502581 1.20999 0.706597" quat="0.707105 0.707108 0 0" type="mesh" rgba="0.109804 0.286275 0.0117647 1" mesh="gripper"/>
<body name="robot_0/left_camera_d405" pos="-0.0107 -0.072 -0.055" quat="-0.17364817766693041 0.9848077530122079 0 0">
<geom type="mesh" contype="0" conaffinity="0" group="2" density="0.001" mass="0.001" rgba="0.22 0.22 0.24 1" mesh="camera_d405" />
<geom name="robot_0/left_cam_col" type="sphere" size="0.02" pos="0 0 0" group="3" rgba="0.1 0.4 1 0.3" mass="0.001" />
<body name="robot_0/left_camera_frame" pos="0.009 0 0" quat="0 0 0 1">
<camera name="robot_0/left_cam" pos="0 0 0" quat="0 1 0 0" fovy="58" />
</body>
</body>
<body name="robot_0/tip_left_L" pos="-0.0048605 0.0226219 -0.0573" quat="9.38184e-07 0.707105 -9.38187e-07 0.707108">
<inertial pos="-0.0221613 0.0130864 -0.0425915" quat="0.48353 0.449517 -0.0676559 0.748034" mass="0.0514225" diaginertia="4.56066e-05 4.38105e-05 2.06481e-05"/>
<joint name="robot_0/joint7_L" pos="0 0 0" axis="0 0 1" type="slide" range="0 0.0475"/>
<geom pos="0.763897 -1.18737 0.459941" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" rgba="0.596078 0.788235 0.921569 1" mesh="tip_left"/>
</body>
<body name="robot_0/tip_right_L" pos="-0.0474844 -0.0223781 -0.0573" quat="0.707105 0 -0.707108 0">
<inertial pos="-0.0221613 0.0130864 -0.0425915" quat="0.48353 0.449517 -0.0676559 0.748034" mass="0.0514225" diaginertia="4.56066e-05 4.38105e-05 2.06481e-05"/>
<joint name="robot_0/joint8_L" pos="0 0 0" axis="0 0 1" type="slide" range="-0.0475 0"/>
<geom pos="0.763897 1.23237 -0.550065" quat="0.499998 0.5 0.5 -0.500002" type="mesh" rgba="0.596078 0.788235 0.921569 1" mesh="tip_right"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<!-- Virtual holonomic base actuators -->
<position name="robot_0/base_x_act" site="robot_0/base_site" refsite="robot_0/world" gear="1 0 0 0 0 0" kp="15000" dampratio="0.5" ctrlrange="-25 25"/>
<position name="robot_0/base_y_act" site="robot_0/base_site" refsite="robot_0/world" gear="0 1 0 0 0 0" kp="15000" dampratio="0.5" ctrlrange="-25 25"/>
<position name="robot_0/base_theta_act" site="robot_0/base_site" refsite="robot_0/world" gear="0 0 0 0 0 1" kp="5000" dampratio="0.5" ctrlrange="-6.28 6.28"/>
<!-- Lift joint -->
<position name="robot_0/lift_joint_act" joint="robot_0/lift_joint" ctrlrange="-0.729187 0.330813" kp="1000" kv="200"/>
<!-- Right arm -->
<position name="robot_0/joint1_R_act" joint="robot_0/joint1_R" ctrlrange="-3.05433 2.61799" kp="4000" kv="400"/>
<position name="robot_0/joint2_R_act" joint="robot_0/joint2_R" ctrlrange="-3.14159 0" kp="4000" kv="400"/>
<position name="robot_0/joint3_R_act" joint="robot_0/joint3_R" ctrlrange="-3.14159 0" kp="4000" kv="400"/>
<position name="robot_0/joint4_R_act" joint="robot_0/joint4_R" ctrlrange="-1.5708 1.5708" kp="3000" kv="300"/>
<position name="robot_0/joint5_R_act" joint="robot_0/joint5_R" ctrlrange="-1.5708 1.5708" kp="3000" kv="300"/>
<position name="robot_0/joint6_R_act" joint="robot_0/joint6_R" ctrlrange="-2.0944 2.0944" kp="2000" kv="200"/>
<position name="robot_0/joint7_R_act" joint="robot_0/joint7_R" ctrlrange="-0.0475 0" kp="2000" kv="200"/>
<position name="robot_0/joint8_R_act" joint="robot_0/joint8_R" ctrlrange="-0.0475 0" kp="2000" kv="200"/>
<!-- Left arm -->
<position name="robot_0/joint1_L_act" joint="robot_0/joint1_L" ctrlrange="-3.05433 2.61799" kp="4000" kv="400"/>
<position name="robot_0/joint2_L_act" joint="robot_0/joint2_L" ctrlrange="0 3.14159" kp="4000" kv="400"/>
<position name="robot_0/joint3_L_act" joint="robot_0/joint3_L" ctrlrange="0 3.14159" kp="4000" kv="400"/>
<position name="robot_0/joint4_L_act" joint="robot_0/joint4_L" ctrlrange="-1.5708 1.5708" kp="3000" kv="300"/>
<position name="robot_0/joint5_L_act" joint="robot_0/joint5_L" ctrlrange="-1.5708 1.5708" kp="3000" kv="300"/>
<position name="robot_0/joint6_L_act" joint="robot_0/joint6_L" ctrlrange="-2.0944 2.0944" kp="2000" kv="200"/>
<position name="robot_0/joint7_L_act" joint="robot_0/joint7_L" ctrlrange="0 0.0475" kp="2000" kv="200"/>
<position name="robot_0/joint8_L_act" joint="robot_0/joint8_L" ctrlrange="-0.0475 0" kp="2000" kv="200"/>
</actuator>
</mujoco>
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