| <mujoco model="robot"> |
| <compiler angle="radian" assetdir="assets" autolimits="true"/> |
|
|
| <option timestep="0.004" integrator="implicitfast"/> |
|
|
| <asset> |
| <texture type="2d" name="robot_texture" file="robot_texture.png"/> |
| <texture type="2d" name="finger_base_texture" file="finger_base_texture.png"/> |
| <texture type="2d" name="finger_tip_texture" file="finger_tip_texture.png"/> |
| <material name="robot_mtl" texture="robot_texture"/> |
| <material name="finger_base_mtl" texture="finger_base_texture"/> |
| <material name="finger_tip_mtl" texture="finger_tip_texture"/> |
|
|
| |
| <mesh file="link_base_0_00.stl"/> |
| <mesh file="link_base_0_01.stl"/> |
| <mesh file="link_base_1_00.stl"/> |
| <mesh file="link_base_1_01.stl"/> |
| <mesh file="link_base_1_02.stl"/> |
| <mesh file="link_base_1_03.stl"/> |
| <mesh file="link_base_1_04.stl"/> |
| <mesh file="link_base_1_05.stl"/> |
| <mesh file="link_base_1_06.stl"/> |
| <mesh file="link_base_1_07.stl"/> |
| <mesh file="link_base_1_08.stl"/> |
| <mesh file="link_base_1_09.stl"/> |
| <mesh file="link_base_1_10.stl"/> |
| <mesh file="link_base_1_11.stl"/> |
| <mesh file="link_base_1_12.stl"/> |
| <mesh file="link_base_1_13.stl"/> |
| <mesh file="link_base_1_14.stl"/> |
| <mesh file="link_base_1_15.stl"/> |
| <mesh file="link_base_1_16.stl"/> |
| <mesh file="link_base_1_17.stl"/> |
| <mesh file="link_base_1_18.stl"/> |
| <mesh file="link_base_1_19.stl"/> |
| <mesh file="link_torso_00.stl"/> |
| <mesh file="link_torso_01.stl"/> |
| <mesh file="link_shoulder.stl"/> |
| <mesh file="link_bicep.stl"/> |
| <mesh file="link_elbow.stl"/> |
| <mesh file="link_forearm.stl"/> |
| <mesh file="link_wrist.stl"/> |
| <mesh file="link_gripper.stl"/> |
| <mesh file="link_head_pan.stl"/> |
| <mesh file="link_head_tilt.stl"/> |
| <mesh file="link_finger_base.stl"/> |
| <mesh file="link_finger_tip.stl"/> |
|
|
| |
| <mesh class="visual" file="link_base_v.obj"/> |
| <mesh class="visual" file="link_torso_v.obj"/> |
| <mesh class="visual" file="link_shoulder_v.obj"/> |
| <mesh class="visual" file="link_bicep_v.obj"/> |
| <mesh class="visual" file="link_elbow_v.obj"/> |
| <mesh class="visual" file="link_forearm_v.obj"/> |
| <mesh class="visual" file="link_wrist_v.obj"/> |
| <mesh class="visual" file="link_gripper_v.obj"/> |
| <mesh class="visual" file="link_finger_base_v.obj"/> |
| <mesh class="visual" file="link_finger_tip_v.obj"/> |
| <mesh class="visual" file="link_wheel_v.obj"/> |
| <mesh class="visual" file="link_head_pan_v.obj"/> |
| <mesh class="visual" file="link_head_tilt_v.obj"/> |
| </asset> |
|
|
| <default> |
| <default class="robot"> |
| <joint damping="10.0" frictionloss="1" armature=".1"/> |
| <default class="visual"> |
| <geom type="mesh" contype="0" conaffinity="0" group="2" material="robot_mtl"/> |
| </default> |
| <default class="collision"> |
| <geom type="mesh" rgba="1 1 1 1" group="3" contype="1" conaffinity="1"/> |
| <default class="finger_base"> |
| <geom type="capsule" rgba="1 1 1 1" size="0.015 0.01" quat="1 0 1 0" mass="0.0133245" pos="0 -0.005 0.03"/> |
| </default> |
| <default class="finger_tip"> |
| <geom type="capsule" rgba="1 1 1 1" size="0.01 0.008" quat="1 0 1 0" mass="0.0161862"/> |
| </default> |
| </default> |
| </default> |
| </default> |
|
|
| <worldbody> |
| <body name="base_link" pos="0 0 0.06205" childclass="robot"> |
| <joint name="root_x" type="slide" axis="1 0 0" range="-1000 1000" damping="0.1"/> |
| <joint name="root_y" type="slide" axis="0 1 0" range="-1000 1000" damping="0.1"/> |
| <joint name="root_z" type="slide" axis="0 0 1" range="-1000 1000" damping="0.1"/> |
| <inertial pos="-0.13 0.0 -0.05" mass="1.0" diaginertia="0.2 0.2 0.2"/> |
|
|
| <body name="base_link_yaw" pos="0 0 0"> |
| <joint name="root_yaw" type="hinge" axis="0 0 1" range="-1000 1000" damping="5"/> |
| <inertial pos="-0.13 0.0 -0.05" mass="1.0" diaginertia="0.2 0.2 0.2"/> |
| <geom class="visual" mesh="link_base_v"/> |
| <geom class="collision" mesh="link_base_0_00"/> |
| <geom class="collision" mesh="link_base_0_01"/> |
| <geom class="collision" mesh="link_base_1_00"/> |
| <geom class="collision" mesh="link_base_1_01"/> |
| <geom class="collision" mesh="link_base_1_02"/> |
| <geom class="collision" mesh="link_base_1_03"/> |
| <geom class="collision" mesh="link_base_1_04"/> |
| <geom class="collision" mesh="link_base_1_05"/> |
| <geom class="collision" mesh="link_base_1_06"/> |
| <geom class="collision" mesh="link_base_1_07"/> |
| <geom class="collision" mesh="link_base_1_08"/> |
| <geom class="collision" mesh="link_base_1_09"/> |
| <geom class="collision" mesh="link_base_1_10"/> |
| <geom class="collision" mesh="link_base_1_11"/> |
| <geom class="collision" mesh="link_base_1_12"/> |
| <geom class="collision" mesh="link_base_1_13"/> |
| <geom class="collision" mesh="link_base_1_14"/> |
| <geom class="collision" mesh="link_base_1_15"/> |
| <geom class="collision" mesh="link_base_1_16"/> |
| <geom class="collision" mesh="link_base_1_17"/> |
| <geom class="collision" mesh="link_base_1_18"/> |
| <geom class="collision" mesh="link_base_1_19"/> |
| |
| <geom class="visual" pos="0 0.18283 0" mesh="link_wheel_v"/> |
| <geom class="visual" pos="0 -0.18283 0" mesh="link_wheel_v"/> |
| <geom class="collision" pos="0 0.18283 0" size="0.06035 0.00925" quat="1 1 0 0" type="cylinder"/> |
| <geom class="collision" pos="0 0.18283 0" size="0.06435 5e-06" quat="1 1 0 0" type="cylinder"/> |
| <geom class="collision" pos="0 -0.18283 0" size="0.06035 0.00925" quat="1 1 0 0" type="cylinder"/> |
| <geom class="collision" pos="0 -0.18283 0" size="0.06435 5e-06" quat="1 1 0 0" type="cylinder"/> |
| <geom class="visual" pos="0 0 1.16902" mesh="link_head_pan_v"/> |
| <geom class="collision" pos="0 0 1.16902" mesh="link_head_pan"/> |
| <geom class="visual" pos="0.07181 0 1.2875" mesh="link_head_tilt_v"/> |
| <geom class="collision" pos="0.07181 0 1.2875" mesh="link_head_tilt"/> |
| |
| <body name="link_torso" pos="0 0 0.5945"> |
| <inertial pos="0 0 0.108398" diaginertia="0.0184592 0.0154173 0.0102031" mass="2.46883"/> |
| <joint name="joint_torso" axis="0 0 1" range="-4.49 1.35"/> |
| <geom class="visual" mesh="link_torso_v"/> |
| <geom class="collision" mesh="link_torso_00"/> |
| <geom class="collision" mesh="link_torso_01"/> |
| <body name="link_shoulder" pos="0 -0.167289 0.113" gravcomp="1"> |
| <inertial pos="0.00108994 0.00565406 0.103479" mass="2.08054" diaginertia="0.0162136 0.0158994 0.00367842"/> |
| <joint name="joint_shoulder" axis="0 1 0" range="-2.66 3.18"/> |
| <geom class="visual" mesh="link_shoulder_v"/> |
| <geom class="collision" mesh="link_shoulder" /> |
| <body name="link_bicep" pos="0 0.002289 0.215029" gravcomp="1"> |
| <inertial pos="9.39565e-05 -0.0191308 0.130972" mass="1.3989" diaginertia="0.00828463 0.00826766 0.00210613"/> |
| <joint name="joint_bicep" axis="0 0 1" range="-2.13 3.71"/> |
| <geom class="visual" mesh="link_bicep_v"/> |
| <geom class="collision" mesh="link_bicep"/> |
| <body name="link_elbow" pos="1.9206e-12 -0.064 0.185036" gravcomp="1"> |
| <joint name="joint_elbow" axis="0 1 0" range="-2.05 3.79"/> |
| <geom class="visual" mesh="link_elbow_v"/> |
| <geom class="collision" mesh="link_elbow" mass="0.788999"/> |
| <body name="link_forearm" pos="-1.92032e-12 -0.101 0.0914359" gravcomp="1"> |
| <joint name="joint_forearm" axis="0 0 1" range="-2.92 2.92"/> |
| <geom class="visual" mesh="link_forearm_v"/> |
| <geom class="collision" mesh="link_forearm" mass="0.819369"/> |
| <body name="link_wrist" pos="0 -0.00604 0.2735" gravcomp="1"> |
| <site name="wrist" pos="0 0 0.14"/> |
| <joint name="joint_wrist" axis="0 1 0" range="-1.79 1.79"/> |
| <geom class="visual" mesh="link_wrist_v"/> |
| <geom class="collision" mesh="link_wrist" mass="0.543658"/> |
| <body name="link_gripper" pos="0 0.0060384 0.10911" gravcomp="1"> |
| <site name="gripper" pos="0 0 0.13" group="5"/> |
| <inertial pos="-3.20302e-05 0.000371384 0.0387883" quat="0.997934 0.0574504 -0.0278948 -0.00699571" mass="0.41474" diaginertia="0.000327698 0.000308611 0.000272392"/> |
| <joint name="joint_gripper" axis="0 0 1" range="-4.49 1.35"/> |
| <geom class="visual" mesh="link_gripper_v"/> |
| <geom class="collision" name="gripper" quat="1 0 0 -1" type="mesh" mesh="link_gripper"/> |
| |
| <body name="link_finger_right" pos="0 0.025 0.05886" quat="0.879969 -0.475032 0 0" gravcomp="1"> |
| <joint name="joint_finger_right" axis="1 0 0" range="0.01 1.3" damping="2.0" frictionloss="1" armature=".1"/> |
| <geom class="visual" mesh="link_finger_base_v" material="finger_base_mtl"/> |
| <geom class="collision" mesh="link_finger_base" mass="0.0333245"/> |
| <geom class="finger_base"/> |
| <geom class="finger_base" pos="0 -0.005 0.04"/> |
| <geom class="finger_base" pos="0 -0.005 0.05"/> |
| <body name="link_finger_tip_right" pos="0 -0.0103567 0.0641556" quat="0.995004 0.0998334 0 0" gravcomp="1"> |
| <geom class="visual" mesh="link_finger_tip_v" material="finger_tip_mtl"/> |
| <geom class="collision" mesh="link_finger_tip_v" mass="0.0161862"/> |
| <geom class="finger_tip"/> |
| <geom class="finger_tip" pos="0 0 0.01"/> |
| <geom class="finger_tip" pos="0 0 0.02"/> |
| <geom class="finger_tip" pos="0 0 0.03"/> |
| <geom class="finger_tip" pos="0 0 0.04"/> |
| </body> |
| </body> |
| |
| <body name="link_finger_left" pos="0 -0.025 0.05886" quat="0 0 -0.475032 0.879969" gravcomp="1"> |
| <joint name="joint_finger_left" axis="1 0 0" range="0.01 1.3" damping="2.0" frictionloss="1" armature=".1"/> |
| <geom class="visual" mesh="link_finger_base_v" material="finger_base_mtl"/> |
| <geom class="collision" mesh="link_finger_base_v" mass="0.0333245" /> |
| <geom class="finger_base"/> |
| <geom class="finger_base" pos="0 -0.005 0.04"/> |
| <geom class="finger_base" pos="0 -0.005 0.05"/> |
| <body name="link_finger_tip_left" pos="0 -0.0103567 0.0641556" quat="0.995004 0.0998334 0 0" gravcomp="1"> |
| <geom class="visual" mesh="link_finger_tip_v" material="finger_tip_mtl"/> |
| <geom class="collision" mesh="link_finger_tip" mass="0.0161862"/> |
| <geom class="finger_tip"/> |
| <geom class="finger_tip" pos="0 0 0.01"/> |
| <geom class="finger_tip" pos="0 0 0.02"/> |
| <geom class="finger_tip" pos="0 0 0.03"/> |
| <geom class="finger_tip" pos="0 0 0.04"/> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </worldbody> |
|
|
| <actuator> |
| <position joint="joint_torso" kp="40" ctrlrange="-4.49 1.35" forcerange="-150 150"/> |
| <position joint="joint_shoulder" kp="40" ctrlrange="-2.66 3.18" forcerange="-150 150"/> |
| <position joint="joint_bicep" kp="40" ctrlrange="-2.13 3.71" forcerange="-30 30"/> |
| <position joint="joint_elbow" kp="20" ctrlrange="-2.05 3.79" forcerange="-30 30"/> |
| <position joint="joint_forearm" kp="20" ctrlrange="-2.92 2.92" forcerange="-30 30"/> |
| <position joint="joint_wrist" kp="10" ctrlrange="-1.79 1.79" forcerange="-30 30"/> |
| <position joint="joint_gripper" kp="10" ctrlrange="-4.49 1.35" forcerange="-30 30"/> |
| <position joint="joint_finger_right" kp="20" ctrlrange="0.01 1.3" forcerange="-30 30"/> |
| <position joint="joint_finger_left" kp="20" ctrlrange="0.01 1.3" forcerange="-30 30"/> |
| |
| <position joint="root_x" kp="20" ctrlrange="0.01 1.3" forcerange="-30 30"/> |
| |
| <position joint="root_y" kp="20" ctrlrange="0.01 1.3" forcerange="-30 30"/> |
| |
| <velocity joint="root_yaw" kv="8" ctrlrange="-3.14 3.14"/> |
| </actuator> |
| </mujoco> |
|
|
