File size: 6,559 Bytes
fa110ba | 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 | <mujoco model="assembly_skeleton">
<compiler angle="radian" meshdir="meshes/"/>
<default>
<motor ctrlrange="-1 1" ctrllimited="true"/>
<joint actuatorfrclimited="true" type="hinge"/>
</default>
<asset>
<mesh name="base_link" file="base_link.STL"/>
<mesh name="dae_base_link" file="dae/base_link.dae"/>
<mesh name="dae_gripper_base_100_v2" file="dae/gripper_base_100_v2.dae"/>
<mesh name="dae_link1" file="dae/link1.dae"/>
<mesh name="dae_link2" file="dae/link2.dae"/>
<mesh name="dae_link3" file="dae/link3.dae"/>
<mesh name="dae_link4" file="dae/link4.dae"/>
<mesh name="dae_link5" file="dae/link5.dae"/>
<mesh name="dae_link7" file="dae/link7.dae"/>
<mesh name="dae_link8" file="dae/link8.dae"/>
<mesh name="link1" file="link1.STL"/>
<mesh name="link2" file="link2.STL"/>
<mesh name="link3" file="link3.STL"/>
<mesh name="link4" file="link4.STL"/>
<mesh name="link5" file="link5.STL"/>
<mesh name="link7" file="link7.STL"/>
<mesh name="link8" file="link8.STL"/>
</asset>
<worldbody>
<body name="piper_description_v100">
<inertial pos="-0.0097927 0.0000018 0.04101" mass="0.1625486" diaginertia="0.0002266 0.0002694 0.0002223"/>
<freejoint name="piper_description_v100"/>
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<joint name="piper_description_v100_joint1" pos="0 0 0" type="hinge" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-100 100"/>
<geom pos="0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.098 0.098 0.098 1" type="mesh" mesh="dae_link1"/>
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<joint name="piper_description_v100_joint2" pos="0 0 0" type="hinge" axis="0 0 1" range="0 3.14" actuatorfrcrange="-100 100"/>
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<body name="piper_description_v100_link3" pos="0.28358 0.028726 0" quat="0.9994548 0 0 0.0330157">
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<joint name="piper_description_v100_joint3" pos="0 0 0" type="hinge" axis="0 0 1" range="-2.697 0" actuatorfrcrange="-100 100"/>
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<body name="piper_description_v100_link4" pos="-0.24221 0.068514 0" quat="0.5447667 -0.5447687 -0.4508092 0.4508075">
<inertial pos="0.0002765 -0.001028 -0.0047283" mass="0.1270873" diaginertia="0.0000382 0.0000487 0.0000411"/>
<joint name="piper_description_v100_joint4" pos="0 0 0" type="hinge" axis="0 0 1" range="-1.832 1.832" actuatorfrcrange="-100 100"/>
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<body name="piper_description_v100_link5" quat="0.7071055 0.7071081 0 0">
<inertial pos="0.0000882 0.0566829 -0.0019612" mass="0.1447112" diaginertia="0.000044 0.0000563 0.0000489"/>
<joint name="piper_description_v100_joint5" pos="0 0 0" type="hinge" axis="0 0 1" range="-1.22 1.22" actuatorfrcrange="-100 100"/>
<geom pos="0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.098 0.098 0.098 1" type="mesh" mesh="dae_link5"/>
<body name="piper_description_v100_link6" pos="0 0.091 0.0014165" quat="0.4999982 -0.5 -0.5 -0.5000018">
<inertial pos="0.0010312 0.0121761 0.0315481" mass="0.1951871" diaginertia="0.0000644 0.0001261 0.0001541"/>
<joint name="piper_description_v100_joint6" pos="0 0 0" type="hinge" axis="0 0 1" range="-3.14 3.14" actuatorfrcrange="-100 100"/>
<geom pos="-0.002 -0.0078 0.06" quat="0.7073883 -0.7068252 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.098 0.098 0.098 1" type="mesh" mesh="dae_gripper_base_100_v2"/>
<body name="piper_description_v100_link7" pos="0 0 0.13503" quat="0.4999982 0.5 0.5000018 0.5">
<inertial pos="-0.0002778 -0.0467673 -0.0092103" mass="0.0264823" diaginertia="0.00001 0.0000062 0.0000142"/>
<joint name="piper_description_v100_joint7" pos="0 0 0" type="slide" axis="0 0 -1" range="0 0.05" actuatorfrcrange="-100 100"/>
<geom pos="0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.098 0.098 0.098 1" type="mesh" mesh="dae_link7"/>
</body>
<body name="piper_description_v100_link8" pos="0 0 0.13503" quat="0.4999982 -0.5 -0.5000018 0.5">
<inertial pos="0.0002778 0.0467674 -0.0092103" mass="0.0264822" diaginertia="0.00001 0.0000062 0.0000142"/>
<joint name="piper_description_v100_joint8" pos="0 0 0" type="slide" axis="0 0 1" range="-0.05 0" actuatorfrcrange="-100 100"/>
<geom pos="0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.098 0.098 0.098 1" type="mesh" mesh="dae_link8"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="piper_description_v100_joint1" joint="piper_description_v100_joint1"/>
<motor name="piper_description_v100_joint2" joint="piper_description_v100_joint2"/>
<motor name="piper_description_v100_joint3" joint="piper_description_v100_joint3"/>
<motor name="piper_description_v100_joint4" joint="piper_description_v100_joint4"/>
<motor name="piper_description_v100_joint5" joint="piper_description_v100_joint5"/>
<motor name="piper_description_v100_joint6" joint="piper_description_v100_joint6"/>
<motor name="piper_description_v100_joint7" joint="piper_description_v100_joint7"/>
<motor name="piper_description_v100_joint8" joint="piper_description_v100_joint8"/>
</actuator>
</mujoco>
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