Behron
60aaea751f
More merge conflicts. Taking main changes then will integrate mine.
216 lines
12 KiB
XML
216 lines
12 KiB
XML
<mujoco model="robot">
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<compiler angle="radian" assetdir="assets" autolimits="true"/>
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<option timestep="0.004" integrator="implicitfast"/>
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<asset>
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<texture type="2d" name="robot_texture" file="robot_texture.png"/>
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<texture type="2d" name="finger_base_texture" file="finger_base_texture.png"/>
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<texture type="2d" name="finger_tip_texture" file="finger_tip_texture.png"/>
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<material name="robot_mtl" texture="robot_texture"/>
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<material name="finger_base_mtl" texture="finger_base_texture"/>
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<material name="finger_tip_mtl" texture="finger_tip_texture"/>
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<!-- Collision meshes -->
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<mesh file="link_base_0_00.stl"/>
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<mesh file="link_base_0_01.stl"/>
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<mesh file="link_base_1_00.stl"/>
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<mesh file="link_base_1_01.stl"/>
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<mesh file="link_base_1_02.stl"/>
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<mesh file="link_base_1_03.stl"/>
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<mesh file="link_base_1_04.stl"/>
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<mesh file="link_base_1_05.stl"/>
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<mesh file="link_base_1_06.stl"/>
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<mesh file="link_base_1_07.stl"/>
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<mesh file="link_base_1_08.stl"/>
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<mesh file="link_base_1_09.stl"/>
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<mesh file="link_base_1_10.stl"/>
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<mesh file="link_base_1_11.stl"/>
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<mesh file="link_base_1_12.stl"/>
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<mesh file="link_base_1_13.stl"/>
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<mesh file="link_base_1_14.stl"/>
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<mesh file="link_base_1_15.stl"/>
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<mesh file="link_base_1_16.stl"/>
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<mesh file="link_base_1_17.stl"/>
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<mesh file="link_base_1_18.stl"/>
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<mesh file="link_base_1_19.stl"/>
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<mesh file="link_torso_00.stl"/>
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<mesh file="link_torso_01.stl"/>
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<mesh file="link_shoulder.stl"/>
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<mesh file="link_bicep.stl"/>
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<mesh file="link_elbow.stl"/>
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<mesh file="link_forearm.stl"/>
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<mesh file="link_wrist.stl"/>
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<mesh file="link_gripper.stl"/>
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<mesh file="link_head_pan.stl"/>
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<mesh file="link_head_tilt.stl"/>
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<mesh file="link_finger_base.stl"/>
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<mesh file="link_finger_tip.stl"/>
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<!-- Visual meshes -->
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<mesh class="visual" file="link_base_v.obj"/>
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<mesh class="visual" file="link_torso_v.obj"/>
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<mesh class="visual" file="link_shoulder_v.obj"/>
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<mesh class="visual" file="link_bicep_v.obj"/>
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<mesh class="visual" file="link_elbow_v.obj"/>
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<mesh class="visual" file="link_forearm_v.obj"/>
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<mesh class="visual" file="link_wrist_v.obj"/>
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<mesh class="visual" file="link_gripper_v.obj"/>
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<mesh class="visual" file="link_finger_base_v.obj"/>
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<mesh class="visual" file="link_finger_tip_v.obj"/>
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<mesh class="visual" file="link_wheel_v.obj"/>
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<mesh class="visual" file="link_head_pan_v.obj"/>
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<mesh class="visual" file="link_head_tilt_v.obj"/>
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</asset>
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<default>
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<default class="robot">
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<joint damping="10.0" frictionloss="1" armature=".1"/>
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<default class="visual">
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<geom type="mesh" contype="0" conaffinity="0" group="2" material="robot_mtl"/>
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</default>
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<default class="collision">
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<geom type="mesh" rgba="1 1 1 1" group="3" contype="1" conaffinity="1"/>
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<default class="finger_base">
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<geom type="capsule" rgba="1 1 1 1" size="0.015 0.01" quat="1 0 1 0" mass="0.0133245" pos="0 -0.005 0.03"/>
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</default>
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<default class="finger_tip">
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<geom type="capsule" rgba="1 1 1 1" size="0.01 0.008" quat="1 0 1 0" mass="0.0161862"/>
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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 pos="0 0 3"/>
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<body name="base_link" childclass="robot" pos="0 0 0.06205">
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<!-- geom for base -->
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<geom class="visual" mesh="link_base_v"/>
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<geom class="collision" mesh="link_base_0_00"/>
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<geom class="collision" mesh="link_base_0_01"/>
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<geom class="collision" mesh="link_base_1_00"/>
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<geom class="collision" mesh="link_base_1_01"/>
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<geom class="collision" mesh="link_base_1_02"/>
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<geom class="collision" mesh="link_base_1_03"/>
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<geom class="collision" mesh="link_base_1_04"/>
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<geom class="collision" mesh="link_base_1_05"/>
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<geom class="collision" mesh="link_base_1_06"/>
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<geom class="collision" mesh="link_base_1_07"/>
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<geom class="collision" mesh="link_base_1_08"/>
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<geom class="collision" mesh="link_base_1_09"/>
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<geom class="collision" mesh="link_base_1_10"/>
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<geom class="collision" mesh="link_base_1_11"/>
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<geom class="collision" mesh="link_base_1_12"/>
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<geom class="collision" mesh="link_base_1_13"/>
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<geom class="collision" mesh="link_base_1_14"/>
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<geom class="collision" mesh="link_base_1_15"/>
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<geom class="collision" mesh="link_base_1_16"/>
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<geom class="collision" mesh="link_base_1_17"/>
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<geom class="collision" mesh="link_base_1_18"/>
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<geom class="collision" mesh="link_base_1_19"/>
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<!-- geom for wheels -->
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<geom class="visual" pos="0 0.18283 0" mesh="link_wheel_v"/>
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<geom class="visual" pos="0 -0.18283 0" mesh="link_wheel_v"/>
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<geom class="collision" pos="0 0.18283 0" size="0.06035 0.00925" quat="1 1 0 0" type="cylinder"/>
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<geom class="collision" pos="0 0.18283 0" size="0.06435 5e-06" quat="1 1 0 0" type="cylinder"/>
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<geom class="collision" pos="0 -0.18283 0" size="0.06035 0.00925" quat="1 1 0 0" type="cylinder"/>
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<geom class="collision" pos="0 -0.18283 0" size="0.06435 5e-06" quat="1 1 0 0" type="cylinder"/>
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<geom class="visual" pos="0 0 1.16902" mesh="link_head_pan_v"/>
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<geom class="collision" pos="0 0 1.16902" mesh="link_head_pan"/>
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<geom class="visual" pos="0.07181 0 1.2875" mesh="link_head_tilt_v"/>
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<geom class="collision" pos="0.07181 0 1.2875" mesh="link_head_tilt"/>
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<!-- arm -->
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<body name="link_torso" pos="0 0 0.5945">
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<inertial pos="0 0 0.108398" diaginertia="0.0184592 0.0154173 0.0102031" mass="2.46883"/>
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<joint name="joint_torso" axis="0 0 1" range="-4.49 1.35"/>
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<geom class="visual" mesh="link_torso_v"/>
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<geom class="collision" mesh="link_torso_00"/>
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<geom class="collision" mesh="link_torso_01"/>
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<body name="link_shoulder" pos="0 -0.167289 0.113" gravcomp="1">
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<inertial pos="0.00108994 0.00565406 0.103479" mass="2.08054" diaginertia="0.0162136 0.0158994 0.00367842"/>
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<joint name="joint_shoulder" axis="0 1 0" range="-2.66 3.18"/>
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<geom class="visual" mesh="link_shoulder_v"/>
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<geom class="collision" mesh="link_shoulder" />
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<body name="link_bicep" pos="0 0.002289 0.215029" gravcomp="1">
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<inertial pos="9.39565e-05 -0.0191308 0.130972" mass="1.3989" diaginertia="0.00828463 0.00826766 0.00210613"/>
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<joint name="joint_bicep" axis="0 0 1" range="-2.13 3.71"/>
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<geom class="visual" mesh="link_bicep_v"/>
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<geom class="collision" mesh="link_bicep"/>
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<body name="link_elbow" pos="1.9206e-12 -0.064 0.185036" gravcomp="1">
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<joint name="joint_elbow" axis="0 1 0" range="-2.05 3.79"/>
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<geom class="visual" mesh="link_elbow_v"/>
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<geom class="collision" mesh="link_elbow" mass="0.788999"/>
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<body name="link_forearm" pos="-1.92032e-12 -0.101 0.0914359" gravcomp="1">
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<joint name="joint_forearm" axis="0 0 1" range="-2.92 2.92"/>
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<geom class="visual" mesh="link_forearm_v"/>
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<geom class="collision" mesh="link_forearm" mass="0.819369"/>
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<body name="link_wrist" pos="0 -0.00604 0.2735" gravcomp="1">
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<site name="wrist" pos="0 0 0.14"/>
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<joint name="joint_wrist" axis="0 1 0" range="-1.79 1.79"/>
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<geom class="visual" mesh="link_wrist_v"/>
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<geom class="collision" mesh="link_wrist" mass="0.543658"/>
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<body name="link_gripper" pos="0 0.0060384 0.10911" gravcomp="1">
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<site name="gripper" pos="0 0 0.13" group="5"/>
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<inertial pos="-3.20302e-05 0.000371384 0.0387883" quat="0.997934 0.0574504 -0.0278948 -0.00699571" mass="0.41474" diaginertia="0.000327698 0.000308611 0.000272392"/>
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<joint name="joint_gripper" axis="0 0 1" range="-4.49 1.35"/>
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<geom class="visual" mesh="link_gripper_v"/>
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<geom class="collision" name="gripper" quat="1 0 0 -1" type="mesh" mesh="link_gripper"/>
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<!-- right finger -->
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<body name="link_finger_right" pos="0 0.025 0.05886" quat="0.879969 -0.475032 0 0" gravcomp="1">
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<joint name="joint_finger_right" axis="1 0 0" range="0.01 1.3" damping="2.0" frictionloss="1" armature=".1"/>
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<geom class="visual" mesh="link_finger_base_v" material="finger_base_mtl"/>
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<geom class="collision" mesh="link_finger_base" mass="0.0333245"/>
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<geom class="finger_base"/>
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<geom class="finger_base" pos="0 -0.005 0.04"/>
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<geom class="finger_base" pos="0 -0.005 0.05"/>
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<body name="link_finger_tip_right" pos="0 -0.0103567 0.0641556" quat="0.995004 0.0998334 0 0" gravcomp="1">
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<geom class="visual" mesh="link_finger_tip_v" material="finger_tip_mtl"/>
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<geom class="collision" mesh="link_finger_tip_v" mass="0.0161862"/>
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<geom class="finger_tip"/>
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<geom class="finger_tip" pos="0 0 0.01"/>
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<geom class="finger_tip" pos="0 0 0.02"/>
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<geom class="finger_tip" pos="0 0 0.03"/>
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<geom class="finger_tip" pos="0 0 0.04"/>
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</body>
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</body>
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<!-- left finger -->
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<body name="link_finger_left" pos="0 -0.025 0.05886" quat="0 0 -0.475032 0.879969" gravcomp="1">
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<joint name="joint_finger_left" axis="1 0 0" range="0.01 1.3" damping="2.0" frictionloss="1" armature=".1"/>
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<geom class="visual" mesh="link_finger_base_v" material="finger_base_mtl"/>
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<geom class="collision" mesh="link_finger_base_v" mass="0.0333245" />
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<geom class="finger_base"/>
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<geom class="finger_base" pos="0 -0.005 0.04"/>
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<geom class="finger_base" pos="0 -0.005 0.05"/>
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<body name="link_finger_tip_left" pos="0 -0.0103567 0.0641556" quat="0.995004 0.0998334 0 0" gravcomp="1">
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<geom class="visual" mesh="link_finger_tip_v" material="finger_tip_mtl"/>
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<geom class="collision" mesh="link_finger_tip" mass="0.0161862"/>
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<geom class="finger_tip"/>
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<geom class="finger_tip" pos="0 0 0.01"/>
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<geom class="finger_tip" pos="0 0 0.02"/>
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<geom class="finger_tip" pos="0 0 0.03"/>
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<geom class="finger_tip" pos="0 0 0.04"/>
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</body>
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</body>
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</body> <!-- gripper -->
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</body> <!-- wrist -->
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</body> <!-- forearm -->
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</body> <!-- elbow -->
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</body> <!-- bicep -->
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</body> <!-- shoulder -->
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</body> <!-- torso -->
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</body>
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</worldbody>
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<actuator>
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<position joint="joint_torso" kp="40" ctrlrange="-4.49 1.35" forcerange="-150 150"/>
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<position joint="joint_shoulder" kp="40" ctrlrange="-2.66 3.18" forcerange="-150 150"/>
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<position joint="joint_bicep" kp="40" ctrlrange="-2.13 3.71" forcerange="-30 30"/>
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<position joint="joint_elbow" kp="20" ctrlrange="-2.05 3.79" forcerange="-30 30"/>
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<position joint="joint_forearm" kp="20" ctrlrange="-2.92 2.92" forcerange="-30 30"/>
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<position joint="joint_wrist" kp="10" ctrlrange="-1.79 1.79" forcerange="-30 30"/>
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<position joint="joint_gripper" kp="10" ctrlrange="-4.49 1.35" forcerange="-30 30"/>
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<position joint="joint_finger_right" kp="20" ctrlrange="0.01 1.3" forcerange="-30 30"/>
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<position joint="joint_finger_left" kp="20" ctrlrange="0.01 1.3" forcerange="-30 30"/>
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</actuator>
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</mujoco>
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