LuckyRobots/LuckyWorld
14
0
Fork 0
Code Issues Pull Requests 1 Actions 1 Packages Projects 1 Releases 13 Wiki Activity
LuckyWorld/SourceFiles/mujoco_menagerie-main/franka_fr3/fr3.xml

161 lines
8.3 KiB
XML
Raw Normal View History

Move pathfinding adjustments, robot arm setup finished, dynamic camera setup, fixed render targets, state tree and lucky movement setup, etc... TODO::Fix WSS stuff
2025-04-01 14:24:22 -06:00
<mujoco model="fr3">
<compiler angle="radian" meshdir="assets"/>
<option integrator="implicitfast"/>
<default>
<default class="fr3">
<joint armature="0.1" damping="1"/>
<position inheritrange="1"/>
<default class="visual">
<geom type="mesh" group="2" contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom type="mesh" group="3" mass="0" density="0"/>
</default>
<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
</default>
</default>
<asset>
<material name="black" rgba=".2 .2 .2 1"/>
<material name="white" rgba="1 1 1 1"/>
<material name="red" rgba="1 0.072272 0.039546 1"/>
<material name="gray" rgba="0.863156 0.863156 0.863157 1"/>
<material name="button_green" rgba="0.102241 0.571125 0.102242 1"/>
<material name="button_red" rgba="0.520996 0.008023 0.013702 1"/>
<material name="button_blue" rgba="0.024157 0.445201 0.737911 1"/>
<mesh file="link0_0.obj"/>
<mesh file="link0_1.obj"/>
<mesh file="link0_2.obj"/>
<mesh file="link0_3.obj"/>
<mesh file="link0_4.obj"/>
<mesh file="link0_5.obj"/>
<mesh file="link0_6.obj"/>
<mesh file="link1.obj"/>
<mesh file="link2.obj"/>
<mesh file="link3_0.obj"/>
<mesh file="link3_1.obj"/>
<mesh file="link4_0.obj"/>
<mesh file="link4_1.obj"/>
<mesh file="link5_0.obj"/>
<mesh file="link5_1.obj"/>
<mesh file="link5_2.obj"/>
<mesh file="link6_0.obj"/>
<mesh file="link6_1.obj"/>
<mesh file="link6_2.obj"/>
<mesh file="link6_3.obj"/>
<mesh file="link6_4.obj"/>
<mesh file="link6_5.obj"/>
<mesh file="link6_6.obj"/>
<mesh file="link6_7.obj"/>
<mesh file="link7_0.obj"/>
<mesh file="link7_1.obj"/>
<mesh file="link7_2.obj"/>
<mesh file="link7_3.obj"/>
<mesh name="link0_coll" file="link0.stl"/>
<mesh name="link1_coll" file="link1.stl"/>
<mesh name="link2_coll" file="link2.stl"/>
<mesh name="link3_coll" file="link3.stl"/>
<mesh name="link4_coll" file="link4.stl"/>
<mesh name="link5_coll" file="link5.stl"/>
<mesh name="link6_coll" file="link6.stl"/>
<mesh name="link7_coll" file="link7.stl"/>
</asset>
<worldbody>
<body name="base" childclass="fr3">
<body name="fr3_link0">
<geom mesh="link0_0" material="black" class="visual"/>
<geom mesh="link0_1" material="white" class="visual"/>
<geom mesh="link0_2" material="white" class="visual"/>
<geom mesh="link0_3" material="white" class="visual"/>
<geom mesh="link0_4" material="white" class="visual"/>
<geom mesh="link0_5" material="red" class="visual"/>
<geom mesh="link0_6" material="black" class="visual"/>
<geom name="fr3_link0_collision" mesh="link0_coll" class="collision"/>
<body name="fr3_link1" pos="0 0 0.333">
<inertial pos="4.128e-07 -0.0181251 -0.0386036" quat="0.998098 -0.0605364 0.00380499 0.0110109" mass="2.92747"
diaginertia="0.0239286 0.0227246 0.00610634"/>
<joint name="fr3_joint1" axis="0 0 1" range="-2.7437 2.7437" actuatorfrcrange="-87 87"/>
<geom name="fr3_link1_collision" class="collision" mesh="link1_coll"/>
<geom material="white" mesh="link1" class="visual"/>
<body name="fr3_link2" quat="1 -1 0 0">
<inertial pos="0.00318289 -0.0743222 0.00881461" quat="0.502599 0.584437 -0.465998 0.434366" mass="2.93554"
diaginertia="0.0629567 0.0411924 0.0246371"/>
<joint name="fr3_joint2" axis="0 0 1" range="-1.7837 1.7837" actuatorfrcrange="-87 87"/>
<geom material="white" mesh="link2" class="visual"/>
<geom name="fr3_link2_collision" class="collision" mesh="link2_coll"/>
<body name="fr3_link3" pos="0 -0.316 0" quat="1 1 0 0">
<inertial pos="0.0407016 -0.00482006 -0.0289731" quat="0.921025 -0.244161 0.155272 0.260745" mass="2.2449"
diaginertia="0.0267409 0.0189869 0.0171587"/>
<joint name="fr3_joint3" axis="0 0 1" range="-2.9007 2.9007" actuatorfrcrange="-87 87"/>
<geom mesh="link3_0" material="white" class="visual"/>
<geom mesh="link3_1" material="black" class="visual"/>
<geom name="fr3_link3_collision" class="collision" mesh="link3_coll"/>
<body name="fr3_link4" pos="0.0825 0 0" quat="1 1 0 0">
<inertial pos="-0.0459101 0.0630493 -0.00851879" quat="0.438018 0.803311 0.00937812 0.403414"
mass="2.6156" diaginertia="0.05139 0.0372717 0.0160047"/>
<joint name="fr3_joint4" axis="0 0 1" range="-3.0421 -0.1518" actuatorfrcrange="-87 87"/>
<geom mesh="link4_0" material="white" class="visual"/>
<geom mesh="link4_1" material="black" class="visual"/>
<geom name="fr3_link4_collision" class="collision" mesh="link4_coll"/>
<body name="fr3_link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
<inertial pos="-0.00160396 0.0292536 -0.0972966" quat="0.919031 0.125604 0.0751531 -0.366003"
mass="2.32712" diaginertia="0.0579335 0.0449144 0.0130634"/>
<joint name="fr3_joint5" axis="0 0 1" range="-2.8065 2.8065" actuatorfrcrange="-12 12"/>
<geom mesh="link5_0" material="white" class="visual"/>
<geom mesh="link5_1" material="white" class="visual"/>
<geom mesh="link5_2" material="black" class="visual"/>
<geom name="fr3_link5_collision" class="collision" mesh="link5_coll"/>
<body name="fr3_link6" quat="1 1 0 0">
<inertial pos="0.0597131 -0.0410295 -0.0101693" quat="0.621301 0.552665 0.510011 0.220081"
mass="1.81704" diaginertia="0.0175039 0.0161123 0.00193529"/>
<joint name="fr3_joint6" axis="0 0 1" range="0.5445 4.5169" actuatorfrcrange="-12 12"/>
<geom mesh="link6_0" material="button_green" class="visual"/>
<geom mesh="link6_1" material="white" class="visual"/>
<geom mesh="link6_2" material="white" class="visual"/>
<geom mesh="link6_3" material="gray" class="visual"/>
<geom mesh="link6_4" material="button_red" class="visual"/>
<geom mesh="link6_5" material="white" class="visual"/>
<geom mesh="link6_6" material="black" class="visual"/>
<geom mesh="link6_7" material="button_blue" class="visual"/>
<geom name="fr3_link6_collision" class="collision" mesh="link6_coll"/>
<body name="fr3_link7" pos="0.088 0 0" quat="1 1 0 0">
<inertial pos="0.00452258 0.00862619 -0.0161633" quat="0.727579 0.0978688 -0.24906 0.63168"
mass="0.627143" diaginertia="0.000223836 0.000223642 5.64132e-07"/>
<joint name="fr3_joint7" axis="0 0 1" range="-3.0159 3.0159" actuatorfrcrange="-12 12"/>
<geom mesh="link7_0" material="black" class="visual"/>
<geom mesh="link7_1" material="white" class="visual"/>
<geom mesh="link7_2" material="white" class="visual"/>
<geom mesh="link7_3" material="black" class="visual"/>
<geom name="fr3_link7_collision" class="collision" mesh="link7_coll"/>
<site name="attachment_site" pos="0 0 0.107"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<position class="fr3" name="fr3_joint1" joint="fr3_joint1" kp="4500" kv="450"/>
<position class="fr3" name="fr3_joint2" joint="fr3_joint2" kp="4500" kv="450"/>
<position class="fr3" name="fr3_joint3" joint="fr3_joint3" kp="3500" kv="350"/>
<position class="fr3" name="fr3_joint4" joint="fr3_joint4" kp="3500" kv="350"/>
<position class="fr3" name="fr3_joint5" joint="fr3_joint5" kp="2000" kv="200"/>
<position class="fr3" name="fr3_joint6" joint="fr3_joint6" kp="2000" kv="200"/>
<position class="fr3" name="fr3_joint7" joint="fr3_joint7" kp="2000" kv="200"/>
</actuator>
<keyframe>
<key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853"/>
</keyframe>
</mujoco>
Reference in New Issue Copy Permalink