291 lines
18 KiB
XML
291 lines
18 KiB
XML
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<mujoco model="aloha">
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<compiler angle="radian" meshdir="assets" autolimits="true"/>
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<option cone="elliptic" impratio="10"/>
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<asset>
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<material name="black" rgba="0.15 0.15 0.15 1"/>
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<mesh file="vx300s_1_base.stl" scale="0.001 0.001 0.001"/>
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<mesh file="vx300s_2_shoulder.stl" scale="0.001 0.001 0.001"/>
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<mesh file="vx300s_3_upper_arm.stl" scale="0.001 0.001 0.001"/>
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<mesh file="vx300s_4_upper_forearm.stl" scale="0.001 0.001 0.001"/>
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<mesh file="vx300s_5_lower_forearm.stl" scale="0.001 0.001 0.001"/>
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<mesh file="vx300s_6_wrist.stl" scale="0.001 0.001 0.001"/>
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<mesh file="vx300s_7_gripper_prop.stl"/>
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<mesh file="vx300s_7_gripper_bar.stl"/>
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<mesh file="vx300s_7_gripper_wrist_mount.stl"/>
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<mesh file="vx300s_8_custom_finger_left.stl"/>
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<mesh file="vx300s_8_custom_finger_right.stl"/>
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<mesh file="d405_solid.stl"/>
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</asset>
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<default>
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<default class="vx300s">
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<joint axis="0 1 0" actuatorfrcrange="-35 35"/>
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<site group="4"/>
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<default class="waist">
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<joint axis="0 0 1" range="-3.14158 3.14158" damping="5.76"/>
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<position ctrlrange="-3.14158 3.14158" kp="43"/>
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</default>
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<default class="shoulder">
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<joint range="-1.85005 1.25664" armature="0.395" frictionloss="2.0" damping="20.0" actuatorfrcrange="-144 144"/>
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<position ctrlrange="-1.85005 1.25664" kp="265"/>
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</default>
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<default class="elbow">
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<joint range="-1.76278 1.6057" armature="0.383" frictionloss="1.15" damping="18.49" actuatorfrcrange="-59 59"/>
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<position ctrlrange="-1.76278 1.6057" kp="227"/>
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</default>
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<default class="forearm_roll">
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<joint axis="1 0 0" range="-3.14158 3.14158" armature="0.14" damping="6.78" actuatorfrcrange="-22 22"/>
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<position ctrlrange="-3.14158 3.14158" kp="78"/>
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</default>
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<default class="wrist_angle">
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<joint range="-1.8675 2.23402" armature="0.008" damping="6.28"/>
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<position ctrlrange="-1.8675 2.23402" kp="37"/>
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</default>
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<default class="wrist_rotate">
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<joint axis="1 0 0" range="-3.14158 3.14158" damping="1.2"/>
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<position ctrlrange="-3.14158 3.14158" kp="10.4"/>
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</default>
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<default class="finger">
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<joint type="slide" armature="0.243" damping="40"/>
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<!--
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The joint and control ranges are in meters, representing the linear displacement of the
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finger on the rail. Note that the real robot takes in a float value representing the
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position of the dynamixel servo, which actuates rotors and moves the fingers along the
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the rail. We choose to model the displacement of the finger on the rail instead of the
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position of the servo because the former is a more interpretable value.
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Some useful values:
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Length of rail = 12cm
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Width of finger base = 1.9cm
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Joint range should be (0.0cm, 4.1cm). This represents the _physical_ limits of the
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fingers sliding along the rail. The 0 position represents when the inner edge of
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the finger bases are touching each other at exactly the center of the rail.
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4.1cm represents the outer edge of the finger bases touching the edge of the rail.
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So the value always represents the distance from the inner edge of the finger base
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to the center of the rail.
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Control range is (0.2cm, 3.7cm). This represents measured values from a real robot
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where the gripper is actuated to its fully closed and fully open positions. Therefore the
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control range represents limits enforced by _software_ on the real robot.
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-->
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<position ctrlrange="0.002 0.037" kp="2000" kv="124"/>
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<default class="left_finger">
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<joint range="0 0.041" axis="0 0 -1"/>
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</default>
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<default class="right_finger">
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<joint range="0 0.041" axis="0 0 -1"/>
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</default>
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</default>
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<default class="visual">
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<geom type="mesh" mass="0" group="2" material="black" contype="0" conaffinity="0"/>
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</default>
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<default class="collision">
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<geom group="3" type="mesh" condim="6" friction="1 5e-3 5e-4" solref=".01 1"/>
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<default class="sphere_collision">
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<geom type="sphere" size="0.0006" rgba="1 0 0 1"/>
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</default>
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</default>
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</default>
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</default>
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<worldbody>
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<light mode="targetbodycom" target="left/gripper_link" pos="-.5 .7 2.5" cutoff="55"/>
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<light mode="targetbodycom" target="right/gripper_link" pos=".5 .7 2.5" cutoff="55"/>
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<camera name="teleoperator_pov" pos="0 -1.354 0.685" xyaxes="1 0 0 0 0.2 .8"/>
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<camera name="collaborator_pov" pos="0 1.5 0.8" xyaxes="-1 0 0 0 -0.2 .8"/>
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<body name="left/base_link" childclass="vx300s" pos="-0.469 -0.019 0.02">
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<inertial pos="-0.0534774 -0.000562575 0.0205961" quat="-0.00292324 0.712517 0.00480387 0.701633" mass="0.969034"
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diaginertia="0.0071633 0.00602451 0.00169819"/>
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<geom quat="1 0 0 1" class="visual" mesh="vx300s_1_base"/>
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<geom quat="1 0 0 1" mesh="vx300s_1_base" class="collision"/>
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<body name="left/shoulder_link" pos="0 0 0.079">
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<inertial pos="0.000259233 -3.3552e-06 0.0116129" quat="-0.476119 0.476083 0.52279 0.522826" mass="0.798614"
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diaginertia="0.00120156 0.00113744 0.0009388"/>
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<joint name="left/waist" class="waist"/>
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<geom pos="0 0 -0.003" quat="1 0 0 1" class="visual" mesh="vx300s_2_shoulder"/>
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<geom pos="0 0 -0.003" quat="1 0 0 1" mesh="vx300s_2_shoulder" class="collision"/>
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<body name="left/upper_arm_link" pos="0 0 0.04805">
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<inertial pos="0.0206949 4e-10 0.226459" quat="0 0.0728458 0 0.997343" mass="0.792592"
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diaginertia="0.00911338 0.008925 0.000759317"/>
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<joint name="left/shoulder" class="shoulder"/>
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<geom quat="1 0 0 1" class="visual" mesh="vx300s_3_upper_arm"/>
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<geom quat="1 0 0 1" class="collision" mesh="vx300s_3_upper_arm"/>
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<body name="left/upper_forearm_link" pos="0.05955 0 0.3">
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<inertial pos="0.105723 0 0" quat="-0.000621631 0.704724 0.0105292 0.709403" mass="0.322228"
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diaginertia="0.00144107 0.00134228 0.000152047"/>
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<joint name="left/elbow" class="elbow"/>
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<geom class="visual" mesh="vx300s_4_upper_forearm"/>
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<geom class="collision" mesh="vx300s_4_upper_forearm"/>
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<body name="left/lower_forearm_link" pos="0.2 0 0">
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<inertial pos="0.0513477 0.00680462 0" quat="-0.702604 -0.0796724 -0.702604 0.0796724" mass="0.414823"
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diaginertia="0.0005911 0.000546493 0.000155707"/>
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<joint name="left/forearm_roll" class="forearm_roll"/>
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<geom quat="0 1 0 0" class="visual" mesh="vx300s_5_lower_forearm"/>
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<geom quat="0 1 0 0" class="collision" mesh="vx300s_5_lower_forearm"/>
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<body name="left/wrist_link" pos="0.1 0 0">
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<inertial pos="0.046743 -7.6652e-06 0.010565" quat="-0.00100191 0.544586 0.0026583 0.8387"
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mass="0.115395" diaginertia="5.45707e-05 4.63101e-05 4.32692e-05"/>
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<joint name="left/wrist_angle" class="wrist_angle"/>
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<geom quat="1 0 0 1" class="visual" mesh="vx300s_6_wrist"/>
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<geom quat="1 0 0 1" class="collision" mesh="vx300s_6_wrist"/>
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<body name="left/gripper_link" pos="0.069744 0 0">
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<inertial pos="0.0395662 -2.56311e-07 0.00400649" quat="0.62033 0.619916 -0.339682 0.339869"
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mass="0.251652" diaginertia="0.000689546 0.000650316 0.000468142"/>
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<joint name="left/wrist_rotate" class="wrist_rotate"/>
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<site name="left/gripper" pos="0.13 0 -.003" group="5"/>
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<body name="left/gripper_base" euler="0 1.57 -1.57" pos="0.035 0 0">
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<inertial pos="0.000182154 -0.0341589 -0.0106026" quat="0.435286 0.557074 -0.551539 0.442718"
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mass="0.42158" diaginertia="0.00110438 0.000790537 0.000469727"/>
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<geom class="visual" mesh="vx300s_7_gripper_prop"/>
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<geom class="collision" mesh="vx300s_7_gripper_prop"/>
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<geom class="visual" mesh="vx300s_7_gripper_bar"/>
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<geom class="collision" mesh="vx300s_7_gripper_bar"/>
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<geom class="visual" pos="0 -0.03525 -0.0227" quat="0 -1 0 -1" type="mesh" mesh="vx300s_7_gripper_wrist_mount"/>
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<geom class="collision" pos="0 -0.03525 -0.0227" quat="0 -1 0 -1" type="mesh" mesh="vx300s_7_gripper_wrist_mount"/>
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<geom class="visual" pos="0 -0.0824748 -0.0095955" quat="0 0 -0.21644 -0.976296" type="mesh" mesh="d405_solid"/>
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<geom class="collision" pos="0 -0.0824748 -0.0095955" quat="0 0 -0.21644 -0.976296" type="mesh" mesh="d405_solid"/>
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<camera name="wrist_cam_left" pos="0 -0.0824748 -0.0095955" mode="fixed" euler="2.70525955359 0 0"
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focal="1.93e-3 1.93e-3" resolution="1280 720" sensorsize="3896e-6 2140e-6"/>
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<body name="left/left_finger_link" pos="0.0191 -0.0141637 0.0211727" quat="1 -1 -1 1">
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<inertial pos="0.0143478 -0.0284791 0.0122897" quat="0.535486 0.458766 -0.450407 0.547651"
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mass="0.0862937" diaginertia="5.86848e-05 4.46887e-05 1.8397e-05"/>
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<joint name="left/left_finger" class="left_finger"/>
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<geom pos="0.0141637 0.0211727 0.06" class="visual" quat="1 1 1 -1" type="mesh"
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mesh="vx300s_8_custom_finger_left"/>
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<geom pos="0.0141637 0.0211727 0.06" class="collision" quat="1 1 1 -1" type="mesh"
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mesh="vx300s_8_custom_finger_left"/>
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<geom name="left/left_g0" pos="0.013 -0.0892 0.0268" class="sphere_collision"/>
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<geom name="left/left_g1" pos="0.0222 -0.0892 0.0268" class="sphere_collision"/>
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<geom name="left/left_g2" pos="0.0182 -0.0845 0.0266" class="sphere_collision"/>
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<site name="left/left_finger" pos="0.015 -0.06 0.02"/>
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</body>
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<body name="left/right_finger_link" pos="-0.0191 -0.0141637 0.0211727" quat="1 1 1 1">
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<inertial pos="0.0143711 0.0284792 0.0121421" quat="0.461317 0.537615 -0.545478 0.447894"
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mass="0.0862932" diaginertia="5.86828e-05 4.46887e-05 1.83949e-05"/>
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<joint name="left/right_finger" class="right_finger"/>
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<geom pos="0.0141637 -0.0211727 0.0597067" class="visual" quat="1 -1 -1 -1" type="mesh"
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mesh="vx300s_8_custom_finger_right"/>
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<geom pos="0.0141637 -0.0211727 0.0597067" class="collision" quat="1 -1 -1 -1" type="mesh"
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mesh="vx300s_8_custom_finger_right"/>
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<geom name="left/right_g0" pos="0.013 0.0892 0.0268" class="sphere_collision"/>
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<geom name="left/right_g1" pos="0.0222 0.0892 0.0268" class="sphere_collision"/>
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<geom name="left/right_g2" pos="0.0182 0.0845 0.0266" class="sphere_collision"/>
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<site name="left/right_finger" pos="0.015 0.06 0.02"/>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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<body name="right/base_link" childclass="vx300s" pos="0.469 -0.019 0.02" quat="0 0 0 1">
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<inertial pos="-0.0534774 -0.000562575 0.0205961" quat="-0.00292324 0.712517 0.00480387 0.701633" mass="0.969034"
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diaginertia="0.0071633 0.00602451 0.00169819"/>
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<geom quat="1 0 0 1" class="visual" mesh="vx300s_1_base"/>
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<geom quat="1 0 0 1" mesh="vx300s_1_base" class="collision"/>
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<body name="right/shoulder_link" pos="0 0 0.079">
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<inertial pos="0.000259233 -3.3552e-06 0.0116129" quat="-0.476119 0.476083 0.52279 0.522826" mass="0.798614"
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diaginertia="0.00120156 0.00113744 0.0009388"/>
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<joint name="right/waist" class="waist"/>
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<geom pos="0 0 -0.003" quat="1 0 0 1" class="visual" mesh="vx300s_2_shoulder"/>
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<geom pos="0 0 -0.003" quat="1 0 0 1" mesh="vx300s_2_shoulder" class="collision"/>
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<body name="right/upper_arm_link" pos="0 0 0.04805">
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<inertial pos="0.0206949 4e-10 0.226459" quat="0 0.0728458 0 0.997343" mass="0.792592"
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diaginertia="0.00911338 0.008925 0.000759317"/>
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<joint name="right/shoulder" class="shoulder"/>
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<geom quat="1 0 0 1" class="visual" mesh="vx300s_3_upper_arm"/>
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<geom quat="1 0 0 1" class="collision" mesh="vx300s_3_upper_arm"/>
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<body name="right/upper_forearm_link" pos="0.05955 0 0.3">
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<inertial pos="0.105723 0 0" quat="-0.000621631 0.704724 0.0105292 0.709403" mass="0.322228"
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diaginertia="0.00144107 0.00134228 0.000152047"/>
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<joint name="right/elbow" class="elbow"/>
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<geom class="visual" mesh="vx300s_4_upper_forearm"/>
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<geom class="collision" mesh="vx300s_4_upper_forearm"/>
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<body name="right/lower_forearm_link" pos="0.2 0 0">
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<inertial pos="0.0513477 0.00680462 0" quat="-0.702604 -0.0796724 -0.702604 0.0796724" mass="0.414823"
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diaginertia="0.0005911 0.000546493 0.000155707"/>
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<joint name="right/forearm_roll" class="forearm_roll"/>
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<geom quat="0 1 0 0" class="visual" mesh="vx300s_5_lower_forearm"/>
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<geom quat="0 1 0 0" class="collision" mesh="vx300s_5_lower_forearm"/>
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<body name="right/wrist_link" pos="0.1 0 0">
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<inertial pos="0.046743 -7.6652e-06 0.010565" quat="-0.00100191 0.544586 0.0026583 0.8387"
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mass="0.115395" diaginertia="5.45707e-05 4.63101e-05 4.32692e-05"/>
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<joint name="right/wrist_angle" class="wrist_angle"/>
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<geom quat="1 0 0 1" class="visual" mesh="vx300s_6_wrist"/>
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<geom quat="1 0 0 1" class="collision" mesh="vx300s_6_wrist"/>
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<body name="right/gripper_link" pos="0.069744 0 0">
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<inertial pos="0.0395662 -2.56311e-07 0.00400649" quat="0.62033 0.619916 -0.339682 0.339869"
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mass="0.251652" diaginertia="0.000689546 0.000650316 0.000468142"/>
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<joint name="right/wrist_rotate" class="wrist_rotate"/>
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<site name="right/gripper" pos="0.13 0 -.003" group="5"/>
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<body name="right/gripper_base" euler="0 1.57 -1.57" pos="0.035 0 0">
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<inertial pos="0.000182154 -0.0341589 -0.0106026" quat="0.435286 0.557074 -0.551539 0.442718"
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mass="0.42158" diaginertia="0.00110438 0.000790537 0.000469727"/>
|
||
|
|
<geom class="visual" mesh="vx300s_7_gripper_prop"/>
|
||
|
|
<geom class="collision" mesh="vx300s_7_gripper_prop"/>
|
||
|
|
<geom class="visual" mesh="vx300s_7_gripper_bar"/>
|
||
|
|
<geom class="collision" mesh="vx300s_7_gripper_bar"/>
|
||
|
|
<geom class="visual" pos="0 -0.03525 -0.0227" quat="0 -0.707107 0 -0.707107" type="mesh" mesh="vx300s_7_gripper_wrist_mount"/>
|
||
|
|
<geom class="collision" pos="0 -0.03525 -0.0227" quat="0 -0.707107 0 -0.707107" type="mesh" mesh="vx300s_7_gripper_wrist_mount"/>
|
||
|
|
<geom class="visual" pos="0 -0.0824748 -0.0095955" quat="0 0 -0.21644 -0.976296" type="mesh" mesh="d405_solid"/>
|
||
|
|
<geom class="collision" pos="0 -0.0824748 -0.0095955" quat="0 0 -0.21644 -0.976296" type="mesh" mesh="d405_solid"/>
|
||
|
|
<camera name="wrist_cam_right" pos="0 -0.0824748 -0.0095955" mode="fixed" euler="2.70525955359 0 0"
|
||
|
|
focal="1.93e-3 1.93e-3" resolution="1280 720" sensorsize="3896e-6 2140e-6"/>
|
||
|
|
<body name="right/left_finger_link" pos="0.0191 -0.0141637 0.0211727" quat="1 -1 -1 1">
|
||
|
|
<inertial pos="0.0143478 -0.0284791 0.0122897" quat="0.535486 0.458766 -0.450407 0.547651"
|
||
|
|
mass="0.0862937" diaginertia="5.86848e-05 4.46887e-05 1.8397e-05"/>
|
||
|
|
<joint name="right/left_finger" class="left_finger"/>
|
||
|
|
<geom pos="0.0141637 0.0211727 0.06" class="visual" quat="1 1 1 -1" type="mesh"
|
||
|
|
mesh="vx300s_8_custom_finger_left"/>
|
||
|
|
<geom pos="0.0141637 0.0211727 0.06" class="collision" quat="1 1 1 -1" type="mesh"
|
||
|
|
mesh="vx300s_8_custom_finger_left"/>
|
||
|
|
<geom name="right/left_g0" pos="0.013 -0.0892 0.0268" class="sphere_collision"/>
|
||
|
|
<geom name="right/left_g1" pos="0.0222 -0.0892 0.0268" class="sphere_collision"/>
|
||
|
|
<geom name="right/left_g2" pos="0.0182 -0.0845 0.0266" class="sphere_collision"/>
|
||
|
|
<site name="right/left_finger" pos="0.015 -0.06 0.02"/>
|
||
|
|
</body>
|
||
|
|
<body name="right/right_finger_link" pos="-0.0191 -0.0141637 0.0211727" quat="1 1 1 1">
|
||
|
|
<inertial pos="0.0143711 0.0284792 0.0121421" quat="0.461317 0.537615 -0.545478 0.447894"
|
||
|
|
mass="0.0862932" diaginertia="5.86828e-05 4.46887e-05 1.83949e-05"/>
|
||
|
|
<joint name="right/right_finger" class="right_finger"/>
|
||
|
|
<geom pos="0.0141637 -0.0211727 0.0597067" class="visual" quat="1 -1 -1 -1" type="mesh"
|
||
|
|
mesh="vx300s_8_custom_finger_right"/>
|
||
|
|
<geom pos="0.0141637 -0.0211727 0.0597067" class="collision" quat="1 -1 -1 -1" type="mesh"
|
||
|
|
mesh="vx300s_8_custom_finger_right"/>
|
||
|
|
<geom name="right/right_g0" pos="0.013 0.0892 0.0268" class="sphere_collision"/>
|
||
|
|
<geom name="right/right_g1" pos="0.0222 0.0892 0.0268" class="sphere_collision"/>
|
||
|
|
<geom name="right/right_g2" pos="0.0182 0.0845 0.0266" class="sphere_collision"/>
|
||
|
|
<site name="right/right_finger" pos="0.015 0.06 0.02"/>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</worldbody>
|
||
|
|
|
||
|
|
<contact>
|
||
|
|
<exclude body1="left/base_link" body2="left/shoulder_link"/>
|
||
|
|
<exclude body1="right/base_link" body2="right/shoulder_link"/>
|
||
|
|
</contact>
|
||
|
|
|
||
|
|
<equality>
|
||
|
|
<joint joint1="left/left_finger" joint2="left/right_finger" polycoef="0 1 0 0 0"/>
|
||
|
|
<joint joint1="right/left_finger" joint2="right/right_finger" polycoef="0 1 0 0 0"/>
|
||
|
|
</equality>
|
||
|
|
|
||
|
|
<include file="joint_position_actuators.xml"/>
|
||
|
|
<include file="keyframe_ctrl.xml"/>
|
||
|
|
</mujoco>
|