Behron
3e39a34a7a
More merge conflicts. Taking main changes then will integrate mine.
276 lines
14 KiB
XML
276 lines
14 KiB
XML
<mujoco model="piper_description">
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<compiler angle="radian" meshdir="assets"/>
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<option integrator="implicitfast" cone="elliptic" impratio="10"/>
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<default>
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<default class="piper">
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<joint frictionloss="0.3" armature="0.005"/>
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<position inheritrange="1" forcerange="-100 100"/>
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<default class="finger">
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<joint frictionloss="0" type="slide"/>
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<position forcerange="-10 10"/>
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</default>
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<default class="visual">
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<geom group="2" type="mesh" contype="0" conaffinity="0" density="0"/>
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</default>
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<default class="collision">
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<geom group="3" type="capsule"/>
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</default>
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</default>
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</default>
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<asset>
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<material name="gray_mat" rgba="0.59 0.59 0.59 1"/>
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<material name="light_gray_mat" rgba="0.98 0.98 0.98 1"/>
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<material name="light_medium_gray_mat" rgba="0.85 0.85 0.85 1"/>
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<material name="dark_gray_mat" rgba="0.086 0.086 0.086 1"/>
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<material name="darker_gray_mat" rgba="0.14 0.14 0.14 1"/>
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<material name="white_mat" rgba="1 1 1 1"/>
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<material name="red_mat" rgba="0.82 0.15 0.15 1"/>
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<material name="black_mat" rgba="0 0 0 1"/>
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<material name="light_blue" rgba="0.79 0.82 0.93 1"/>
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<mesh file="link2_0.obj"/>
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<mesh file="link2_1.obj"/>
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<mesh file="link2_2.obj"/>
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<mesh file="link2_3.obj"/>
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<mesh file="link2_4.obj"/>
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<mesh file="link2_5.obj"/>
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<mesh file="link2_6.obj"/>
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<mesh file="link2_7.obj"/>
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<mesh file="link2_8.obj"/>
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<mesh file="link2_9.obj"/>
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<mesh file="link2_10.obj"/>
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<mesh file="link2_11.obj"/>
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<mesh file="link2_12.obj"/>
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<mesh file="link2_13.obj"/>
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<mesh file="link2_14.obj"/>
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<mesh file="link2_15.obj"/>
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<mesh file="link2_16.obj"/>
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<mesh file="link2_17.obj"/>
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<mesh file="link2_18.obj"/>
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<mesh file="link2_19.obj"/>
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<mesh file="link2_20.obj"/>
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<mesh file="link2_21.obj"/>
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<mesh file="link2_22.obj"/>
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<mesh file="link2_23.obj"/>
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<mesh file="link2_24.obj"/>
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<mesh file="link2_25.obj"/>
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<mesh file="link2_26.obj"/>
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<mesh file="link2_27.obj"/>
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<mesh file="link2_28.obj"/>
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<mesh file="link2_29.obj"/>
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<mesh file="link2_30.obj"/>
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<mesh file="link2_31.obj"/>
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<mesh file="link3_0.obj"/>
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<mesh file="link3_1.obj"/>
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<mesh file="link3_2.obj"/>
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<mesh file="link3_3.obj"/>
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<mesh file="link3_4.obj"/>
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<mesh file="link3_5.obj"/>
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<mesh file="link3_7.obj"/>
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<mesh file="link3_8.obj"/>
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<mesh file="link3_9.obj"/>
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<mesh file="link3_10.obj"/>
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<mesh file="link3_11.obj"/>
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<mesh file="link3_12.obj"/>
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<mesh file="link3_13.obj"/>
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<mesh file="link3_14.obj"/>
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<mesh file="link3_15.obj"/>
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<mesh file="link3_16.obj"/>
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<mesh file="link3_17.obj"/>
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<mesh file="link3_18.obj"/>
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<mesh file="link3_19.obj"/>
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<mesh file="link3_20.obj"/>
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<mesh file="link3_21.obj"/>
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<mesh file="link3_22.obj"/>
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<mesh file="link3_23.obj"/>
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<mesh file="link3_24.obj"/>
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<mesh file="link3_25.obj"/>
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<mesh file="link3_26.obj"/>
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<mesh file="link3_27.obj"/>
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<mesh file="link3_28.obj"/>
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<mesh file="link4_2.obj"/>
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<mesh file="link4_3.obj"/>
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<mesh file="link4_4.obj"/>
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<mesh file="link4_5.obj"/>
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<mesh file="link4_6.obj"/>
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<mesh file="link5_2.obj"/>
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<mesh file="link5_3.obj"/>
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<mesh file="link5_4.obj"/>
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<mesh file="link5_5.obj"/>
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<mesh file="link5_6.obj"/>
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<mesh file="link5_7.obj"/>
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<mesh file="link5_8.obj"/>
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<mesh name="base_link" file="base_link.stl"/>
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<mesh name="link1" file="link1.stl"/>
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<mesh name="link2" file="link2.stl"/>
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<mesh name="link2_gray" file="link2_gray.stl"/>
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<mesh name="link3" file="link3.stl"/>
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<mesh name="link4" file="link4.stl"/>
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<mesh name="link5" file="link5.stl"/>
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<mesh file="link6.stl"/>
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<mesh file="link7.stl"/>
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<mesh file="link8.stl"/>
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</asset>
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<worldbody>
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<light name="spotlight" mode="targetbodycom" target="link8" pos="0 0 1"/>
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<body name="base_link" childclass="piper" gravcomp="1">
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<inertial pos="-0.00979275 1.82906e-06 0.04101" quat="0.692988 -0.137524 -0.137826 0.69416" mass="0.162549"
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diaginertia="0.000269445 0.000227478 0.000221437"/>
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<geom class="visual" density="0" mesh="base_link" material="gray_mat"/>
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<geom class="collision" mesh="base_link"/>
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<body name="link1" pos="0 0 0.123" quat="0.707105 0 0 -0.707108" gravcomp="1">
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<inertial pos="0.00131676 0.000310289 -0.00922875" quat="0.557105 0.432155 0.377373 0.600388" mass="0.097868"
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diaginertia="9.25942e-05 8.3083e-05 7.69469e-05"/>
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<joint name="joint1" axis="0 0 1" range="-2.618 2.618"/>
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<geom class="visual" density="0" mesh="link1" material="gray_mat"/>
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<geom class="collision" mesh="link1"/>
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<body name="link2" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="1">
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<inertial pos="0.148794 -0.00242027 0.00175155" quat="-0.0249063 0.70684 0.00803509 0.706889" mass="0.290889"
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diaginertia="0.00177549 0.00173142 0.00014552"/>
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<joint name="joint2" axis="0 0 1" range="0 3.14"/>
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<geom mesh="link2_0" material="gray_mat" class="visual"/>
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<geom mesh="link2_1" material="darker_gray_mat" class="visual"/>
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<geom mesh="link2_2" material="darker_gray_mat" class="visual"/>
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<geom mesh="link2_3" material="dark_gray_mat" class="visual"/>
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<geom mesh="link2_4" material="dark_gray_mat" class="visual"/>
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<geom mesh="link2_5" material="red_mat" class="visual"/>
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<geom mesh="link2_6" material="dark_gray_mat" class="visual"/>
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<geom mesh="link2_7" material="gray_mat" class="visual"/>
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<geom mesh="link2_8" material="red_mat" class="visual"/>
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<geom mesh="link2_9" material="red_mat" class="visual"/>
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<geom mesh="link2_10" material="gray_mat" class="visual"/>
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<geom mesh="link2_11" material="red_mat" class="visual"/>
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<geom mesh="link2_12" material="red_mat" class="visual"/>
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<geom mesh="link2_13" material="red_mat" class="visual"/>
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<geom mesh="link2_14" material="red_mat" class="visual"/>
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<geom mesh="link2_15" material="red_mat" class="visual"/>
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<geom mesh="link2_16" material="red_mat" class="visual"/>
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<geom mesh="link2_17" material="red_mat" class="visual"/>
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<geom mesh="link2_18" material="red_mat" class="visual"/>
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<geom mesh="link2_19" material="red_mat" class="visual"/>
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<geom mesh="link2_20" material="red_mat" class="visual"/>
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<geom mesh="link2_21" material="gray_mat" class="visual"/>
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<geom mesh="link2_22" material="red_mat" class="visual"/>
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<geom mesh="link2_23" material="red_mat" class="visual"/>
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<geom mesh="link2_24" material="red_mat" class="visual"/>
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<geom mesh="link2_25" material="dark_gray_mat" class="visual"/>
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<geom mesh="link2_26" material="red_mat" class="visual"/>
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<geom mesh="link2_27" material="darker_gray_mat" class="visual"/>
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<geom mesh="link2_28" material="darker_gray_mat" class="visual"/>
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<geom mesh="link2_29" material="darker_gray_mat" class="visual"/>
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<geom mesh="link2_30" material="darker_gray_mat" class="visual"/>
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<geom mesh="link2_31" material="light_medium_gray_mat" class="visual"/>
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<geom mesh="link2" class="collision"/>
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<body name="link3" pos="0.28358 0.028726 0" quat="0.998726 0 0 0.0504536" gravcomp="1">
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<inertial pos="-0.0996835 0.0349477 0.000508026" quat="0.0777021 0.702287 -0.0990541 0.700674"
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mass="0.290848" diaginertia="0.000241946 0.000222224 0.000100384"/>
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<joint name="joint3" pos="0 0 0" axis="0 0 1" range="-2.697 0"/>
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<geom mesh="link3_0" material="darker_gray_mat" class="visual"/>
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<geom mesh="link3_1" material="red_mat" class="visual"/>
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<geom mesh="link3_2" material="gray_mat" class="visual"/>
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<geom mesh="link3_3" material="gray_mat" class="visual"/>
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<geom mesh="link3_4" material="gray_mat" class="visual"/>
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<geom mesh="link3_5" material="gray_mat" class="visual"/>
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<geom mesh="link3_7" material="darker_gray_mat" class="visual"/>
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<geom mesh="link3_8" material="white_mat" class="visual"/>
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<geom mesh="link3_9" material="red_mat" class="visual"/>
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<geom mesh="link3_10" material="white_mat" class="visual"/>
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<geom mesh="link3_11" material="white_mat" class="visual"/>
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<geom mesh="link3_12" material="white_mat" class="visual"/>
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<geom mesh="link3_13" material="white_mat" class="visual"/>
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<geom mesh="link3_14" material="gray_mat" class="visual"/>
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<geom mesh="link3_15" material="gray_mat" class="visual"/>
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<geom mesh="link3_16" material="gray_mat" class="visual"/>
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<geom mesh="link3_17" material="gray_mat" class="visual"/>
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<geom mesh="link3_18" material="gray_mat" class="visual"/>
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<geom mesh="link3_19" material="gray_mat" class="visual"/>
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<geom mesh="link3_20" material="gray_mat" class="visual"/>
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<geom mesh="link3_21" material="gray_mat" class="visual"/>
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<geom mesh="link3_22" material="gray_mat" class="visual"/>
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<geom mesh="link3_23" material="gray_mat" class="visual"/>
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<geom mesh="link3_24" material="gray_mat" class="visual"/>
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<geom mesh="link3_25" material="gray_mat" class="visual"/>
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<geom mesh="link3_26" material="gray_mat" class="visual"/>
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<geom mesh="link3_27" material="gray_mat" class="visual"/>
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<geom mesh="link3_28" material="gray_mat" class="visual"/>
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<geom mesh="link3" class="collision"/>
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<body name="link4" pos="-0.24221 0.068514 0" quat="0.544767 -0.544769 -0.450809 0.450808" gravcomp="1">
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<inertial pos="0.000276465 -0.00102804 -0.00472831" quat="0.492305 0.505285 0.503294 0.499017"
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mass="0.127087" diaginertia="4.87057e-05 4.10595e-05 3.82001e-05"/>
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<joint name="joint4" axis="0 0 1" range="-1.832 1.832"/>
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<geom mesh="link4_2" material="gray_mat" class="visual"/>
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<geom mesh="link4_3" material="darker_gray_mat" class="visual"/>
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<geom mesh="link4_4" material="gray_mat" class="visual"/>
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<geom mesh="link4_5" material="gray_mat" class="visual"/>
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<geom mesh="link4_6" material="gray_mat" class="visual"/>
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<geom mesh="link4" class="collision"/>
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<body name="link5" quat="0.707105 0.707108 0 0" gravcomp="1">
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<inertial pos="8.82262e-05 0.0566829 -0.0019612" quat="0.507447 0.490986 0.506887 0.494466"
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mass="0.144711" diaginertia="0.001 0.001 0.001"/>
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<joint name="joint5" axis="0 0 1" range="-1.22 1.22"/>
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<geom mesh="link5_2" material="black_mat" class="visual"/>
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<geom mesh="link5_3" material="black_mat" class="visual"/>
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<geom mesh="link5_4" material="darker_gray_mat" class="visual"/>
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<geom mesh="link5_5" material="gray_mat" class="visual"/>
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<geom mesh="link5_6" material="light_gray_mat" class="visual"/>
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<geom mesh="link5_7" material="gray_mat" class="visual"/>
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<geom mesh="link5_8" material="gray_mat" class="visual"/>
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<geom mesh="link5" class="collision"/>
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<body name="link6" pos="0 0.091 0.0014165" quat="0 0 -0.707105 -0.707108" gravcomp="1">
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<inertial pos="0.0010312 0.0121761 0.0315481" quat="0.0230402 0.707091 0.0373344 0.70576" mass="1.2"
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diaginertia="0.001 0.001 0.001"/>
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<joint name="joint6" axis="0 0 1" range="-3.14 3.14"/>
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<geom quat="0.707105 0 0 0.707108" mesh="link6" material="gray_mat" class="visual"/>
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<geom quat="0.707105 0 0 0.707108" mesh="link6" class="collision"/>
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<body name="link7" pos="0 0 0.13503" quat="1.89468e-08 1.89469e-08 0.707108 0.707105" gravcomp="1">
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<inertial pos="-0.000277778 -0.0467673 -0.00921029" quat="0.46134 0.536174 -0.553273 0.439968"
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mass="0.0264823" diaginertia="0.001 0.001 0.001"/>
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<joint name="joint7" axis="0 0 -1" class="finger" range="0 0.035"/>
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<geom mesh="link7" material="gray_mat" class="visual"/>
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<geom type="box" size=".012 .015 .0025" pos="0 -0.015 -0.0025" rgba="1 0 0 .2" class="collision"/>
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<geom type="box" size=".015 .015 .0025" pos="0 -0.045 -0.0025" rgba="0 0 1 .2" class="collision"/>
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</body>
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<body name="link8" pos="0 0 0.13503" quat="1.89468e-08 -1.89469e-08 -0.707108 0.707105" gravcomp="1">
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<inertial pos="0.000277817 0.0467674 -0.0092103" quat="0.553273 0.439968 -0.46134 0.536174"
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mass="0.0264822" diaginertia="0.001 0.001 0.001"/>
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<joint name="joint8" axis="0 0 1" class="finger" range="-0.035 0"/>
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<geom mesh="link8" material="gray_mat" class="visual"/>
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<geom type="box" size=".012 .015 .0025" pos="0 0.015 -0.0025" rgba="1 0 0 .2" class="collision"/>
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<geom type="box" size=".015 .015 .0025" pos="0 0.045 -0.0025" rgba="0 0 1 .2" class="collision"/>
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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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</worldbody>
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<contact>
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<exclude body1="base_link" body2="link1"/>
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</contact>
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<equality>
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<joint joint1="joint8" joint2="joint7" polycoef="0 -1 0 0 0"/>
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</equality>
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<actuator>
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<position name="joint1" joint="joint1" class="piper" kp="80" kv="5"/>
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<position name="joint2" joint="joint2" class="piper" kp="80" kv="5"/>
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<position name="joint3" joint="joint3" class="piper" kp="80" kv="5"/>
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<position name="joint4" joint="joint4" class="piper" kp="40" kv="5"/>
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<position name="joint5" joint="joint5" class="piper" kp="10" kv="1.5"/>
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<position name="joint6" joint="joint6" class="piper" kp="10" kv="1.5"/>
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<position name="gripper" joint="joint7" class="finger" kp="40" kv="5"/>
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</actuator>
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<keyframe>
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<key name="home" qpos="0 1.57 -1.3485 0 0 0 0 0 " ctrl="0 1.57 -1.3485 0 0 0 0"/>
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</keyframe>
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</mujoco>
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