175 lines
8.6 KiB
XML
175 lines
8.6 KiB
XML
<mujoco model="iiwa14">
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<compiler angle="radian" meshdir="assets" autolimits="true"/>
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<option integrator="implicitfast"/>
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<default>
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<default class="iiwa">
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<material specular="0.5" shininess="0.25"/>
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<joint axis="0 0 1"/>
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<general gaintype="fixed" biastype="affine" gainprm="2000" biasprm="0 -2000 -200"/>
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<default class="joint1">
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<joint range="-2.96706 2.96706"/>
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<general ctrlrange="-2.96706 2.96706"/>
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<default class="joint2">
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<joint range="-2.0944 2.0944"/>
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<general ctrlrange="-2.0944 2.0944"/>
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</default>
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</default>
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<default class="joint3">
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<joint range="-3.05433 3.05433"/>
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<general ctrlrange="-3.05433 3.05433"/>
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</default>
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<default class="visual">
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<geom type="mesh" contype="0" conaffinity="0" group="2" material="gray"/>
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</default>
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<default class="collision">
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<geom group="3"/>
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</default>
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<site size="0.001" rgba="1 0 0 1" group="4"/>
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</default>
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</default>
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<asset>
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<material class="iiwa" name="gray" rgba="0.4 0.4 0.4 1"/>
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<material class="iiwa" name="light_gray" rgba="0.6 0.6 0.6 1"/>
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<material class="iiwa" name="black" rgba="0 0 0 1"/>
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<material class="iiwa" name="orange" rgba="1 0.423529 0.0392157 1"/>
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<mesh file="link_0.obj"/>
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<mesh file="link_1.obj"/>
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<mesh file="link_2_orange.obj"/>
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<mesh file="link_2_grey.obj"/>
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<mesh file="link_3.obj"/>
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<mesh file="band.obj"/>
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<mesh file="kuka.obj"/>
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<mesh file="link_4_orange.obj"/>
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<mesh file="link_4_grey.obj"/>
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<mesh file="link_5.obj"/>
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<mesh file="link_6_orange.obj"/>
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<mesh file="link_6_grey.obj"/>
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<mesh file="link_7.obj"/>
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</asset>
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<worldbody>
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<light name="top" pos="0 0 2" mode="trackcom"/>
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<body name="base" childclass="iiwa">
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<inertial mass="5" pos="-0.1 0 0.07" diaginertia="0.05 0.06 0.03"/>
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<geom class="visual" mesh="link_0"/>
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<geom class="collision" size="0.12" pos="0 0 0.03"/>
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<geom class="collision" size="0.08" pos="-0.08 0 0.103"/>
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<geom class="collision" size="0.08" pos="-0.08 0 0.04"/>
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<geom class="collision" size="0.1" pos="0 0 0.14"/>
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<body name="link1" pos="0 0 0.1575">
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<inertial mass="5.76" pos="0 -0.03 0.12" diaginertia="0.0333 0.033 0.0123"/>
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<joint name="joint1" class="joint1"/>
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<geom class="visual" mesh="link_1"/>
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<geom class="collision" size="0.08" pos="0 0 -0.0005"/>
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<geom class="collision" size="0.075" pos="0.01 -0.025 0.0425"/>
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<geom class="collision" size="0.075" pos="-0.01 -0.025 0.0425"/>
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<geom class="collision" size="0.07" pos="0.01 -0.045 0.1025"/>
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<geom class="collision" size="0.07" pos="-0.01 -0.045 0.1025"/>
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<body name="link2" pos="0 0 0.2025" quat="0 0 1 1">
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<inertial mass="6.35" pos="0.0003 0.059 0.042" diaginertia="0.0305 0.0304 0.011" quat="0 0 1 1"/>
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<joint name="joint2" class="joint2"/>
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<geom class="visual" material="orange" mesh="link_2_orange"/>
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<geom class="visual" mesh="link_2_grey"/>
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<geom class="collision" size="0.095" pos="0 0 -0.01"/>
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<geom class="collision" size="0.09" pos="0 0 0.045"/>
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<geom class="collision" size="0.07" pos="-0.01 0.04 0.054"/>
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<geom class="collision" size="0.065" pos="-0.01 0.09 0.04"/>
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<geom class="collision" size="0.065" pos="-0.01 0.13 0.02"/>
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<geom class="collision" size="0.07" pos="0.01 0.04 0.054"/>
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<geom class="collision" size="0.065" pos="0.01 0.09 0.04"/>
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<geom class="collision" size="0.065" pos="0.01 0.13 0.02"/>
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<geom class="collision" size="0.075" pos="0 0.18 0"/>
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<body name="link3" pos="0 0.2045 0" quat="0 0 1 1">
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<inertial mass="3.5" pos="0 0.03 0.13" diaginertia="0.025 0.0238 0.0076"/>
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<joint name="joint3" class="joint1"/>
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<geom class="visual" mesh="link_3"/>
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<geom class="visual" material="light_gray" mesh="band"/>
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<geom class="visual" material="black" mesh="kuka"/>
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<geom class="collision" size="0.075" pos="0 0 0.0355"/>
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<geom class="collision" size="0.06" pos="0.01 0.023 0.0855"/>
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<geom class="collision" size="0.055" pos="0.01 0.048 0.1255"/>
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<geom class="collision" size="0.06" pos="0.01 0.056 0.1755"/>
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<geom class="collision" size="0.06" pos="-0.01 0.023 0.0855"/>
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<geom class="collision" size="0.055" pos="-0.01 0.048 0.1255"/>
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<geom class="collision" size="0.06" pos="-0.01 0.056 0.1755"/>
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<geom class="collision" size="0.075" pos="0 0.045 0.2155"/>
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<geom class="collision" size="0.075" pos="0 0 0.2155"/>
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<body name="link4" pos="0 0 0.2155" quat="1 1 0 0">
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<inertial mass="3.5" pos="0 0.067 0.034" diaginertia="0.017 0.0164 0.006" quat="1 1 0 0"/>
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<joint name="joint4" class="joint2"/>
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<geom class="visual" material="orange" mesh="link_4_orange"/>
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<geom class="visual" mesh="link_4_grey"/>
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<geom class="collision" size="0.078" pos="0 0.01 0.046"/>
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<geom class="collision" size="0.06" pos="0.01 0.06 0.052"/>
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<geom class="collision" size="0.065" pos="0.01 0.12 0.034"/>
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<geom class="collision" size="0.06" pos="-0.01 0.06 0.052"/>
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<geom class="collision" size="0.065" pos="-0.01 0.12 0.034"/>
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<geom class="collision" size="0.075" pos="0 0.184 0"/>
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<body name="link5" pos="0 0.1845 0" quat="0 0 1 1">
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<inertial mass="3.5" pos="0.0001 0.021 0.076" diaginertia="0.01 0.0087 0.00449"/>
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<joint name="joint5" class="joint1"/>
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<geom class="visual" mesh="link_5"/>
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<geom class="visual" material="light_gray" mesh="band"/>
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<geom class="visual" material="black" mesh="kuka"/>
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<geom class="collision" size="0.075" pos="0 0 0.0335"/>
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<geom class="collision" size="0.05" pos="-0.012 0.031 0.0755"/>
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<geom class="collision" size="0.05" pos="0.012 0.031 0.0755"/>
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<geom class="collision" size="0.04" pos="-0.012 0.06 0.1155"/>
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<geom class="collision" size="0.04" pos="0.012 0.06 0.1155"/>
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<geom class="collision" size="0.04" pos="-0.01 0.065 0.1655"/>
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<geom class="collision" size="0.04" pos="0.01 0.065 0.1655"/>
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<geom class="collision" size="0.035" pos="-0.012 0.065 0.1855"/>
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<geom class="collision" size="0.035" pos="0.012 0.065 0.1855"/>
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<body name="link6" pos="0 0 0.2155" quat="1 1 0 0">
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<inertial mass="1.8" pos="0 0.0006 0.0004" diaginertia="0.0049 0.0047 0.0036" quat="1 1 0 0"/>
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<joint name="joint6" class="joint2"/>
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<geom class="visual" material="orange" mesh="link_6_orange"/>
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<geom class="visual" mesh="link_6_grey"/>
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<geom class="collision" size="0.055" pos="0 0 -0.059"/>
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<geom class="collision" size="0.065" pos="0 -0.03 0.011"/>
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<geom class="collision" size="0.08"/>
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<body name="link7" pos="0 0.081 0" quat="0 0 1 1">
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<inertial mass="1.2" pos="0 0 0.02" diaginertia="0.001 0.001 0.001"/>
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<joint name="joint7" class="joint3"/>
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<geom class="visual" mesh="link_7"/>
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<geom class="collision" size="0.06" pos="0 0 0.001"/>
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<site pos="0 0 0.045" name="attachment_site"/>
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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" body2="link1"/>
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<exclude body1="base" body2="link2"/>
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<exclude body1="base" body2="link3"/>
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<exclude body1="link1" body2="link3"/>
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<exclude body1="link3" body2="link5"/>
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<exclude body1="link4" body2="link7"/>
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<exclude body1="link5" body2="link7"/>
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</contact>
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<actuator>
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<general name="actuator1" joint="joint1" class="joint1"/>
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<general name="actuator2" joint="joint2" class="joint2"/>
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<general name="actuator3" joint="joint3" class="joint1"/>
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<general name="actuator4" joint="joint4" class="joint2"/>
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<general name="actuator5" joint="joint5" class="joint1"/>
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<general name="actuator6" joint="joint6" class="joint2"/>
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<general name="actuator7" joint="joint7" class="joint3"/>
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</actuator>
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<keyframe>
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<key name="home" qpos="0 0.785398 0 -1.5708 0 0 0" ctrl="0 0.785398 0 -1.5708 0 0 0"/>
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</keyframe>
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</mujoco>
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