150 lines
8.0 KiB
XML
150 lines
8.0 KiB
XML
<mujoco model="so_arm100">
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<compiler angle="radian" meshdir="assets/"/>
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<option cone="elliptic" impratio="10"/>
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<asset>
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<material name="orange" rgba="1.0 0.331 0.0 1.0" specular="0.1" shininess="0.1"/>
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<material name="black" rgba="0.1 0.1 0.1 1.0" specular="0.1" shininess="0.1"/>
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<mesh name="Base" file="Base.stl"/>
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<mesh name="Base_Motor" file="Base_Motor.stl"/>
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<mesh name="Rotation_Pitch" file="Rotation_Pitch.stl"/>
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<mesh name="Rotation_Pitch_Motor" file="Rotation_Pitch_Motor.stl"/>
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<mesh name="Upper_Arm" file="Upper_Arm.stl"/>
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<mesh name="Upper_Arm_Motor" file="Upper_Arm_Motor.stl"/>
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<mesh name="Lower_Arm" file="Lower_Arm.stl"/>
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<mesh name="Lower_Arm_Motor" file="Lower_Arm_Motor.stl"/>
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<mesh name="Wrist_Pitch_Roll" file="Wrist_Pitch_Roll.stl"/>
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<mesh name="Wrist_Pitch_Roll_Motor" file="Wrist_Pitch_Roll_Motor.stl"/>
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<mesh name="Fixed_Jaw" file="Fixed_Jaw.stl"/>
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<mesh name="Fixed_Jaw_Motor" file="Fixed_Jaw_Motor.stl"/>
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<mesh name="Fixed_Jaw_Collision_1" file="Fixed_Jaw_Collision_1.stl"/>
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<mesh name="Fixed_Jaw_Collision_2" file="Fixed_Jaw_Collision_2.stl"/>
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<mesh name="Moving_Jaw" file="Moving_Jaw.stl"/>
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<mesh name="Moving_Jaw_Collision_1" file="Moving_Jaw_Collision_1.stl"/>
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<mesh name="Moving_Jaw_Collision_2" file="Moving_Jaw_Collision_2.stl"/>
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<mesh name="Moving_Jaw_Collision_3" file="Moving_Jaw_Collision_3.stl"/>
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</asset>
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<default>
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<default class="so_arm100">
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<joint frictionloss="0.1" armature="0.1"/>
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<position kp="50" dampratio="1" forcerange="-35 35" ctrlrange="-3.14158 3.14158"/>
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<default class="Rotation">
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<joint axis="0 1 0" range="-2.2 2.2"/>
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</default>
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<default class="Pitch">
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<joint axis="1 0 0" range="-3.14158 0.2"/>
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</default>
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<default class="Elbow">
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<joint axis="1 0 0" range="0 3.14158"/>
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</default>
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<default class="Wrist_Pitch">
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<joint axis="1 0 0" range="-2.0 1.8"/>
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</default>
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<default class="Wrist_Roll">
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<joint axis="0 1 0" range="-3.14158 3.14158"/>
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</default>
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<default class="Jaw">
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<joint axis="0 0 1" range="-0.2 2.0"/>
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</default>
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<default class="visual">
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<geom type="mesh" contype="0" conaffinity="0" density="0" group="2" material="orange"/>
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<default class="motor_visual">
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<geom material="black"/>
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</default>
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</default>
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<default class="collision">
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<geom group="3" type="mesh"/>
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<default class="finger_collision">
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<geom type="box" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001"/>
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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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<body name="Base" childclass="so_arm100">
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<geom type="mesh" mesh="Base" class="visual"/>
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<geom type="mesh" mesh="Base_Motor" class="motor_visual"/>
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<geom type="mesh" mesh="Base" class="collision"/>
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<body name="Rotation_Pitch" pos="0 -0.0452 0.0165" quat="0.707105 0.707108 0 0">
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<inertial pos="-9.07886e-05 0.0590972 0.031089" quat="0.363978 0.441169 -0.623108 0.533504" mass="0.119226"
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diaginertia="5.94278e-05 5.89975e-05 3.13712e-05"/>
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<joint name="Rotation" class="Rotation"/>
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<geom type="mesh" mesh="Rotation_Pitch" class="visual"/>
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<geom type="mesh" mesh="Rotation_Pitch_Motor" class="motor_visual"/>
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<geom type="mesh" mesh="Rotation_Pitch" class="collision"/>
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<body name="Upper_Arm" pos="0 0.1025 0.0306" euler="1.57079 0 0">
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<inertial pos="-1.72052e-05 0.0701802 0.00310545" quat="0.50104 0.498994 -0.493562 0.50632" mass="0.162409"
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diaginertia="0.000213312 0.000167164 7.01522e-05"/>
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<joint name="Pitch" class="Pitch"/>
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<geom type="mesh" mesh="Upper_Arm" class="visual"/>
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<geom type="mesh" mesh="Upper_Arm_Motor" class="motor_visual"/>
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<geom type="mesh" mesh="Upper_Arm" class="collision"/>
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<body name="Lower_Arm" pos="0 0.11257 0.028" euler="-1.57079 0 0">
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<inertial pos="-0.00339604 0.00137796 0.0768007" quat="0.701995 0.0787996 0.0645626 0.704859"
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mass="0.147968" diaginertia="0.000138803 0.000107748 4.84242e-05"/>
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<joint name="Elbow" class="Elbow"/>
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<geom type="mesh" mesh="Lower_Arm" class="visual"/>
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<geom type="mesh" mesh="Lower_Arm_Motor" class="motor_visual"/>
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<geom type="mesh" mesh="Lower_Arm" class="collision"/>
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<body name="Wrist_Pitch_Roll" pos="0 0.0052 0.1349" euler="-1.57079 0 0">
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<inertial pos="-0.00852653 -0.0352279 -2.34622e-05" quat="-0.0522806 0.705235 0.0549524 0.704905"
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mass="0.0661321" diaginertia="3.45403e-05 2.39041e-05 1.94704e-05"/>
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<joint name="Wrist_Pitch" class="Wrist_Pitch"/>
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<geom type="mesh" mesh="Wrist_Pitch_Roll" class="visual"/>
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<geom type="mesh" mesh="Wrist_Pitch_Roll_Motor" class="motor_visual"/>
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<geom type="mesh" mesh="Wrist_Pitch_Roll" class="collision"/>
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<body name="Fixed_Jaw" pos="0 -0.0601 0" euler="0 1.57079 0">
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<inertial pos="0.00552377 -0.0280167 0.000483583" quat="0.41836 0.620891 -0.350644 0.562599"
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mass="0.0929859" diaginertia="5.03136e-05 4.64098e-05 2.72961e-05"/>
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<joint name="Wrist_Roll" class="Wrist_Roll"/>
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<geom type="mesh" mesh="Fixed_Jaw" class="visual"/>
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<geom type="mesh" mesh="Fixed_Jaw_Motor" class="motor_visual"/>
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<geom type="mesh" mesh="Fixed_Jaw_Collision_1" class="collision"/>
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<geom type="mesh" mesh="Fixed_Jaw_Collision_2" class="collision"/>
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<geom class="finger_collision" name="fixed_jaw_pad_1" size="0.001 0.005 0.004" pos="0.0089 -0.1014 0"/>
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<geom class="finger_collision" name="fixed_jaw_pad_2" size="0.001 0.005 0.006" pos="0.0109 -0.0914 0"/>
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<geom class="finger_collision" name="fixed_jaw_pad_3" size="0.001 0.01 0.007" pos="0.0126 -0.0768 0"/>
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<geom class="finger_collision" name="fixed_jaw_pad_4" size="0.001 0.01 0.008" pos="0.0143 -0.0572 0"/>
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<body name="Moving_Jaw" pos="-0.0202 -0.0244 0" quat="1.34924e-11 -3.67321e-06 1 -3.67321e-06">
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<inertial pos="-0.00161745 -0.0303473 0.000449646" quat="0.696562 0.716737 -0.0239844 -0.0227026"
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mass="0.0202444" diaginertia="1.11265e-05 8.99651e-06 2.99548e-06"/>
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<joint name="Jaw" class="Jaw"/>
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<geom type="mesh" mesh="Moving_Jaw" class="visual"/>
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<geom type="mesh" mesh="Moving_Jaw_Collision_1" class="collision"/>
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<geom type="mesh" mesh="Moving_Jaw_Collision_2" class="collision"/>
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<geom type="mesh" mesh="Moving_Jaw_Collision_3" class="collision"/>
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<geom class="finger_collision" name="moving_jaw_pad_1" size="0.001 0.005 0.004" pos="-0.0113 -0.077 0"/>
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<geom class="finger_collision" name="moving_jaw_pad_2" size="0.001 0.005 0.006" pos="-0.0093 -0.067 0"/>
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<geom class="finger_collision" name="moving_jaw_pad_3" size="0.001 0.01 0.006" pos="-0.0073 -0.055 0"/>
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<geom class="finger_collision" name="moving_jaw_pad_4" size="0.001 0.01 0.008" pos="-0.0073 -0.035 0"/>
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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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<actuator>
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<position class="Rotation" name="Rotation" joint="Rotation"/>
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<position class="Pitch" name="Pitch" joint="Pitch"/>
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<position class="Elbow" name="Elbow" joint="Elbow"/>
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<position class="Wrist_Pitch" name="Wrist_Pitch" joint="Wrist_Pitch"/>
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<position class="Wrist_Roll" name="Wrist_Roll" joint="Wrist_Roll"/>
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<position class="Jaw" name="Jaw" joint="Jaw"/>
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</actuator>
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<contact>
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<exclude body1="Base" body2="Rotation_Pitch"/>
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</contact>
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<keyframe>
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<key name="home" qpos="0 -1.57079 1.57079 1.57079 -1.57079 0" ctrl="0 -1.57079 1.57079 1.57079 -1.57079 0"/>
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</keyframe>
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</mujoco>
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