| <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> |
|
|
| |
| <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"/> |
|
|
| |
| <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> |
| |
| <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"/> |
|
|
| |
| <position name="robot_0/lift_joint_act" joint="robot_0/lift_joint" ctrlrange="-0.729187 0.330813" kp="1000" kv="200"/> |
|
|
| |
| <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"/> |
|
|
| |
| <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> |
|
|
