390 lines
33 KiB
XML
390 lines
33 KiB
XML
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<?xml version="1.0" ?>
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<mujoco model="models">
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<compiler angle="radian" meshdir="assets" autolimits="true"/>
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<default>
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<default class="models">
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<joint frictionloss="0.1" armature="0.005"/>
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<position kp="50" dampratio="1"/>
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<default class="visual">
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<geom type="mesh" contype="0" conaffinity="0" group="2"/>
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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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</default>
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</default>
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<worldbody>
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<!-- Link dm_j4340_2ec -->
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<body name="dm_j4340_2ec" pos="0 0 0" quat="1 0 0 0" childclass="models">
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<freejoint name="dm_j4340_2ec_freejoint"/>
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<inertial pos="0.00114692 -0.0251961 -0.012025" mass="0.8837" fullinertia="0.0325559 0.00235183 0.0334678 0.00115048 -0.000622082 0.000713939"/>
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<!-- Part 4040x50cm -->
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<geom type="mesh" class="visual" pos="0 0 -0.54" quat="1 0 -0 -0" mesh="4040x50cm" material="4040x50cm_material"/>
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<geom type="mesh" class="collision" pos="0 0 -0.54" quat="1 0 -0 -0" mesh="4040x50cm" material="4040x50cm_material"/>
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<!-- Part v6_4040_belt -->
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<geom type="mesh" class="visual" pos="0.0004 0 -0.33" quat="0 0.707107 0.707107 0" mesh="v6_4040_belt" material="v6_4040_belt_material"/>
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<geom type="mesh" class="collision" pos="0.0004 0 -0.33" quat="0 0.707107 0.707107 0" mesh="v6_4040_belt" material="v6_4040_belt_material"/>
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<!-- Part 4040_ybimu -->
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<geom type="mesh" class="visual" pos="0.0002 -0 -0.23" quat="0.5 -0.5 -0.5 0.5" mesh="4040_ybimu" material="4040_ybimu_material"/>
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<geom type="mesh" class="collision" pos="0.0002 -0 -0.23" quat="0.5 -0.5 -0.5 0.5" mesh="4040_ybimu" material="4040_ybimu_material"/>
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<!-- Part v6_4040_j1_loop_r -->
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<geom type="mesh" class="visual" pos="0 -0.0615 -0.02" quat="1 0 0 0" mesh="v6_4040_j1_loop_r" material="v6_4040_j1_loop_r_material"/>
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<geom type="mesh" class="collision" pos="0 -0.0615 -0.02" quat="1 0 0 0" mesh="v6_4040_j1_loop_r" material="v6_4040_j1_loop_r_material"/>
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<!-- Part dm_j4340_2ec -->
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<geom type="mesh" class="visual" pos="0.015 0.2 -0.02" quat="0 -0.707107 0 0.707107" mesh="dm_j4340_2ec" material="dm_j4340_2ec_material"/>
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<geom type="mesh" class="collision" pos="0.015 0.2 -0.02" quat="0 -0.707107 0 0.707107" mesh="dm_j4340_2ec" material="dm_j4340_2ec_material"/>
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<!-- Part 4040_t_bracket -->
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<geom type="mesh" class="visual" pos="0.02 -0 -0.02" quat="0.5 0.5 0.5 0.5" mesh="4040_t_bracket" material="4040_t_bracket_material"/>
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<geom type="mesh" class="collision" pos="0.02 -0 -0.02" quat="0.5 0.5 0.5 0.5" mesh="4040_t_bracket" material="4040_t_bracket_material"/>
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<!-- Part dm_j4340_2ec_2 -->
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<geom type="mesh" class="visual" pos="0.015 -0.2 -0.02" quat="0.707107 0 -0.707107 0" mesh="dm_j4340_2ec" material="dm_j4340_2ec_material"/>
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<geom type="mesh" class="collision" pos="0.015 -0.2 -0.02" quat="0.707107 0 -0.707107 0" mesh="dm_j4340_2ec" material="dm_j4340_2ec_material"/>
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<!-- Part 4040_t_bracket_2 -->
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<geom type="mesh" class="visual" pos="-0.02 -0 -0.02" quat="0.5 0.5 -0.5 -0.5" mesh="4040_t_bracket" material="4040_t_bracket_material"/>
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<geom type="mesh" class="collision" pos="-0.02 -0 -0.02" quat="0.5 0.5 -0.5 -0.5" mesh="4040_t_bracket" material="4040_t_bracket_material"/>
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<!-- Part v6_4040_j1_loop_l -->
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<geom type="mesh" class="visual" pos="0 0.0615 -0.02" quat="1 0 0 0" mesh="v6_4040_j1_loop_l" material="v6_4040_j1_loop_l_material"/>
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<geom type="mesh" class="collision" pos="0 0.0615 -0.02" quat="1 0 0 0" mesh="v6_4040_j1_loop_l" material="v6_4040_j1_loop_l_material"/>
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<!-- Part 4040x30cm -->
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<geom type="mesh" class="visual" pos="0 0.15 -0.02" quat="0.707107 0.707107 0 -0" mesh="4040x30cm" material="4040x30cm_material"/>
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<geom type="mesh" class="collision" pos="0 0.15 -0.02" quat="0.707107 0.707107 0 -0" mesh="4040x30cm" material="4040x30cm_material"/>
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<!-- Part 4040_cap -->
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<geom type="mesh" class="visual" pos="0 0 -0.55" quat="1 0 -0 -0" mesh="4040_cap" material="4040_cap_material"/>
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<geom type="mesh" class="collision" pos="0 0 -0.55" quat="1 0 -0 -0" mesh="4040_cap" material="4040_cap_material"/>
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<!-- Frame imu -->
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<site group="3" name="imu" pos="-0.0298 -0 -0.229564" quat="0.707107 0 -0.707107 0"/>
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<!-- Link v6_j1_20 -->
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<body name="v6_j1_20" pos="-0.0383 -0.2 -0.02" quat="0.183013 0.683013 -0.183013 -0.683013">
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<!-- Joint from dm_j4340_2ec to v6_j1_20 -->
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<joint axis="0 0 1" name="RJ1" type="hinge"/>
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<inertial pos="0.150386 -5.99e-10 -0.0862657" mass="0.64749" fullinertia="0.0032465 0.00514141 0.00215547 6e-12 0.00180143 1.8e-11"/>
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<!-- Part v6_20_j2 -->
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<geom type="mesh" class="visual" pos="-0.0081 -0 0.036052" quat="0 -1 -0 0" mesh="v6_20_j2" material="v6_20_j2_material"/>
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<geom type="mesh" class="collision" pos="-0.0081 -0 0.036052" quat="0 -1 -0 0" mesh="v6_20_j2" material="v6_20_j2_material"/>
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<!-- Part v6_j1_20 -->
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<geom type="mesh" class="visual" pos="-0 0 0.036" quat="0 1 0 0" mesh="v6_j1_20" material="v6_j1_20_material"/>
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<geom type="mesh" class="collision" pos="-0 0 0.036" quat="0 1 0 0" mesh="v6_j1_20" material="v6_j1_20_material"/>
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<!-- Part 2020x20cm -->
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<geom type="mesh" class="visual" pos="0.2253 -0 0.018" quat="0 0.707107 0 -0.707107" mesh="2020x20cm" material="2020x20cm_material"/>
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<geom type="mesh" class="collision" pos="0.2253 -0 0.018" quat="0 0.707107 0 -0.707107" mesh="2020x20cm" material="2020x20cm_material"/>
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<!-- Part dm_j4340_2ec_3 -->
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<geom type="mesh" class="visual" pos="0.1532 0 -0.139098" quat="0.707107 -0 0.707107 -0" mesh="dm_j4340_2ec" material="dm_j4340_2ec_material"/>
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<geom type="mesh" class="collision" pos="0.1532 0 -0.139098" quat="0.707107 -0 0.707107 -0" mesh="dm_j4340_2ec" material="dm_j4340_2ec_material"/>
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<!-- Part 2020x10cm -->
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<geom type="mesh" class="visual" pos="0.1653 -0 -0.092" quat="0.707107 0 0 0.707107" mesh="2020x10cm" material="2020x10cm_material"/>
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<geom type="mesh" class="collision" pos="0.1653 -0 -0.092" quat="0.707107 0 0 0.707107" mesh="2020x10cm" material="2020x10cm_material"/>
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<!-- Link v6_20_j3 -->
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<body name="v6_20_j3" pos="0.2065 0 -0.139098" quat="0.5 0.5 0.5 0.5">
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<!-- Joint from v6_j1_20 to v6_20_j3 -->
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<joint axis="0 0 1" name="RJ2" type="hinge"/>
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<inertial pos="0.0816108 2.273e-09 -0.108365" mass="0.6629" fullinertia="0.00347714 0.00399968 0.000810527 1.64e-10 0.00105864 -1.66e-10"/>
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<!-- Part v6_j2_20 -->
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<geom type="mesh" class="visual" pos="0 -0.0285 0.0075" quat="0.683013 -0.683013 -0.183013 -0.183013" mesh="v6_j2_20" material="v6_j2_20_material"/>
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<geom type="mesh" class="collision" pos="0 -0.0285 0.0075" quat="0.683013 -0.683013 -0.183013 -0.183013" mesh="v6_j2_20" material="v6_j2_20_material"/>
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<!-- Part 2020x20cm_2 -->
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<geom type="mesh" class="visual" pos="0.127501 -0 -0.135474" quat="0.683013 0.183013 -0.183013 -0.683013" mesh="2020x20cm" material="2020x20cm_material"/>
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<geom type="mesh" class="collision" pos="0.127501 -0 -0.135474" quat="0.683013 0.183013 -0.183013 -0.683013" mesh="2020x20cm" material="2020x20cm_material"/>
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<!-- Part v6_20_j3 -->
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<geom type="mesh" class="visual" pos="-0 -0.0285 0.0075" quat="0.683013 -0.683013 -0.183013 -0.183013" mesh="v6_20_j3" material="v6_20_j3_material"/>
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<geom type="mesh" class="collision" pos="-0 -0.0285 0.0075" quat="0.683013 -0.683013 -0.183013 -0.183013" mesh="v6_20_j3" material="v6_20_j3_material"/>
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<!-- Part dm_j4340_2ec_4 -->
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<geom type="mesh" class="visual" pos="0.114169 0 -0.148384" quat="0.353553 0.612372 -0.612372 -0.353553" mesh="dm_j4340_2ec" material="dm_j4340_2ec_material"/>
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<geom type="mesh" class="collision" pos="0.114169 0 -0.148384" quat="0.353553 0.612372 -0.612372 -0.353553" mesh="dm_j4340_2ec" material="dm_j4340_2ec_material"/>
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<!-- Link v6_j3_2020_r -->
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<body name="v6_j3_2020_r" pos="0.0680103 0 -0.175034" quat="0.353553 0.612372 -0.612372 -0.353553">
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<!-- Joint from v6_20_j3 to v6_j3_2020_r -->
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<joint axis="0 0 1" name="RJ3" type="hinge"/>
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<inertial pos="-0.0212538 0.197218 0.0388781" mass="0.86248" fullinertia="0.00735386 0.00260883 0.00681043 -0.00104227 0.000890554 0.000819778"/>
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<!-- Part 2020x20cm_3 -->
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<geom type="mesh" class="visual" pos="-0.0681202 0.2685 0.078682" quat="0.707107 0.707107 0 -0" mesh="2020x20cm" material="2020x20cm_material"/>
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<geom type="mesh" class="collision" pos="-0.0681202 0.2685 0.078682" quat="0.707107 0.707107 0 -0" mesh="2020x20cm" material="2020x20cm_material"/>
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<!-- Part v6_2020_j4_r -->
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<geom type="mesh" class="visual" pos="-0.0681202 0.2885 0.078682" quat="0.5 0.5 -0.5 0.5" mesh="v6_2020_j4_r" material="v6_2020_j4_r_material"/>
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<geom type="mesh" class="collision" pos="-0.0681202 0.2885 0.078682" quat="0.5 0.5 -0.5 0.5" mesh="v6_2020_j4_r" material="v6_2020_j4_r_material"/>
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<!-- Part dm_j4340_2ec_5 -->
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<geom type="mesh" class="visual" pos="0.00787981 0.26 0.027332" quat="0 -1 0 -0" mesh="dm_j4340_2ec" material="dm_j4340_2ec_material"/>
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<geom type="mesh" class="collision" pos="0.00787981 0.26 0.027332" quat="0 -1 0 -0" mesh="dm_j4340_2ec" material="dm_j4340_2ec_material"/>
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<!-- Part v6_j3_2020_r -->
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<geom type="mesh" class="visual" pos="-0.0286202 0.0885 0.028682" quat="0.5 0.5 0.5 -0.5" mesh="v6_j3_2020_r" material="v6_j3_2020_r_material"/>
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<geom type="mesh" class="collision" pos="-0.0286202 0.0885 0.028682" quat="0.5 0.5 0.5 -0.5" mesh="v6_j3_2020_r" material="v6_j3_2020_r_material"/>
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<!-- Frame R_shoulder -->
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<site group="3" name="R_shoulder" pos="-0.000120192 -0 0.078682" quat="0.5 0.5 0.5 0.5"/>
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<!-- Link v6_j4_j5_r -->
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<body name="v6_j4_j5_r" pos="0.00787981 0.26 -0.025968" quat="0 0.707107 -0.707107 -0">
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<!-- Joint from v6_j3_2020_r to v6_j4_j5_r -->
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<joint axis="0 0 1" name="RJ4" type="hinge"/>
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<inertial pos="-0.054697 0.00944171 -0.00245461" mass="0.49139" fullinertia="0.00105657 0.00119188 0.000538644 -2.97344e-05 -0.000120659 0.000177465"/>
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<!-- Part dm_j4310_2ec -->
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<geom type="mesh" class="visual" pos="-0.0431803 0 0.0244282" quat="0.348175 0.615447 -0.615447 -0.348175" mesh="dm_j4310_2ec" material="dm_j4310_2ec_material"/>
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<geom type="mesh" class="collision" pos="-0.0431803 0 0.0244282" quat="0.348175 0.615447 -0.615447 -0.348175" mesh="dm_j4310_2ec" material="dm_j4310_2ec_material"/>
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<!-- Part v6_j4_j5_r -->
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<geom type="mesh" class="visual" pos="-0.0285 0.0285 0" quat="0.5 0.5 0.5 -0.5" mesh="v6_j4_j5_r" material="v6_j4_j5_r_material"/>
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<geom type="mesh" class="collision" pos="-0.0285 0.0285 0" quat="0.5 0.5 0.5 -0.5" mesh="v6_j4_j5_r" material="v6_j4_j5_r_material"/>
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<!-- Link v6_wrist_j5_j6 -->
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<body name="v6_wrist_j5_j6" pos="-0.0825226 -0 0.000785249" quat="0 -0.870373 0 0.492393">
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<!-- Joint from v6_j4_j5_r to v6_wrist_j5_j6 -->
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<joint axis="0 0 1" name="RJ5" type="hinge"/>
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<inertial pos="-0.145145 7.46224e-05 0.168843" mass="0.4484" fullinertia="0.00261478 0.00340573 0.00098092 -2.29433e-06 0.00132169 3.71339e-06"/>
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<!-- Part v6_wrist_j5_j6 -->
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<geom type="mesh" class="visual" pos="0 -0.0285 0.0075" quat="0.707107 -0.707107 -0 -0" mesh="v6_wrist_j5_j6" material="v6_wrist_j5_j6_material"/>
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<geom type="mesh" class="collision" pos="0 -0.0285 0.0075" quat="0.707107 -0.707107 -0 -0" mesh="v6_wrist_j5_j6" material="v6_wrist_j5_j6_material"/>
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<!-- Part v6_xt30_2_2_50cm -->
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<geom type="mesh" class="visual" pos="-0.0816102 0.005 0.0643898" quat="0.270598 0.270598 0.653281 -0.653281" mesh="v6_xt30_2_2_50cm" material="v6_xt30_2_2_50cm_material"/>
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<geom type="mesh" class="collision" pos="-0.0816102 0.005 0.0643898" quat="0.270598 0.270598 0.653281 -0.653281" mesh="v6_xt30_2_2_50cm" material="v6_xt30_2_2_50cm_material"/>
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<!-- Part dm_j4310_2ec_2 -->
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<geom type="mesh" class="visual" pos="-0.146 -0 0.212" quat="0.5 -0.5 -0.5 0.5" mesh="dm_j4310_2ec" material="dm_j4310_2ec_material"/>
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<geom type="mesh" class="collision" pos="-0.146 -0 0.212" quat="0.5 -0.5 -0.5 0.5" mesh="dm_j4310_2ec" material="dm_j4310_2ec_material"/>
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<!-- Link v5_wrist_j6_j7 -->
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<body name="v5_wrist_j6_j7" pos="-0.1919 0 0.212" quat="0 -0.707107 -0 0.707107">
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<!-- Joint from v6_wrist_j5_j6 to v5_wrist_j6_j7 -->
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<joint axis="0 0 1" name="RJ6" type="hinge"/>
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<inertial pos="-0 0.0975631 -0.161926" mass="0.407" fullinertia="0.00180585 0.00164708 0.000326757 0 -0 0.000247612"/>
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<!-- Part v5_wrist_j6_j7 -->
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<geom type="mesh" class="visual" pos="0 0.131 -0.0955" quat="0.5 0.5 0.5 -0.5" mesh="v5_wrist_j6_j7" material="v5_wrist_j6_j7_material"/>
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<geom type="mesh" class="collision" pos="0 0.131 -0.0955" quat="0.5 0.5 0.5 -0.5" mesh="v5_wrist_j6_j7" material="v5_wrist_j6_j7_material"/>
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<!-- Part dm_j4310_2ec_3 -->
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<geom type="mesh" class="visual" pos="-0 0.121 -0.191" quat="0.707107 0.707107 0 -0" mesh="dm_j4310_2ec" material="dm_j4310_2ec_material"/>
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<geom type="mesh" class="collision" pos="-0 0.121 -0.191" quat="0.707107 0.707107 0 -0" mesh="dm_j4310_2ec" material="dm_j4310_2ec_material"/>
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<!-- Part v6_xt30_2_2_50cm_2 -->
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<geom type="mesh" class="visual" pos="0 0.121 -0.0925" quat="0.707107 0.707107 0 -0" mesh="v6_xt30_2_2_50cm" material="v6_xt30_2_2_50cm_material"/>
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<geom type="mesh" class="collision" pos="0 0.121 -0.0925" quat="0.707107 0.707107 0 -0" mesh="v6_xt30_2_2_50cm" material="v6_xt30_2_2_50cm_material"/>
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<!-- Link v5_wrist_j7_leader_gripper_r -->
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<body name="v5_wrist_j7_leader_gripper_r" pos="-0 0.0751 -0.191" quat="0.5 0.5 -0.5 0.5">
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<!-- Joint from v5_wrist_j6_j7 to v5_wrist_j7_leader_gripper_r -->
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<joint axis="0 0 1" name="RJ7" type="hinge"/>
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<inertial pos="-0.00205487 0.0647313 0.154012" mass="0.4573" fullinertia="0.00200291 0.00193779 0.000443531 -3.45159e-05 2.74273e-06 -0.000439089"/>
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<!-- Part v6_xt30_2_2_50cm_3 -->
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|
<geom type="mesh" class="visual" pos="0.025 0.0547059 0.0643213" quat="0.5 -0.5 0.5 -0.5" mesh="v6_xt30_2_2_50cm" material="v6_xt30_2_2_50cm_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="0.025 0.0547059 0.0643213" quat="0.5 -0.5 0.5 -0.5" mesh="v6_xt30_2_2_50cm" material="v6_xt30_2_2_50cm_material"/>
|
||
|
|
<!-- Part v5_wrist_j7_leader_gripper_r -->
|
||
|
|
<geom type="mesh" class="visual" pos="-0 0 0" quat="1 0 -0 -0" mesh="v5_wrist_j7_leader_gripper_r" material="v5_wrist_j7_leader_gripper_r_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="-0 0 0" quat="1 0 -0 -0" mesh="v5_wrist_j7_leader_gripper_r" material="v5_wrist_j7_leader_gripper_r_material"/>
|
||
|
|
<!-- Part dm_j4310_2ec_4 -->
|
||
|
|
<geom type="mesh" class="visual" pos="0 0.075 0.21" quat="0 -0.707107 0.707107 -0" mesh="dm_j4310_2ec" material="dm_j4310_2ec_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="0 0.075 0.21" quat="0 -0.707107 0.707107 -0" mesh="dm_j4310_2ec" material="dm_j4310_2ec_material"/>
|
||
|
|
<!-- Frame R_wrist -->
|
||
|
|
<site group="3" name="R_wrist" pos="0 0 0.0751" quat="0.707107 -0 -0 0.707107"/>
|
||
|
|
<!-- Link v5_j8_4finger -->
|
||
|
|
<body name="v5_j8_4finger" pos="-0 0.075 0.1641" quat="0 -0.707107 -0.707107 -0">
|
||
|
|
<!-- Joint from v5_wrist_j7_leader_gripper_r to v5_j8_4finger -->
|
||
|
|
<joint axis="0 0 1" name="RJ8" type="hinge"/>
|
||
|
|
<inertial pos="0.0582262 -2.729e-09 0.031412" mass="0.0384" fullinertia="3.92746e-05 6.14789e-05 2.96973e-05 -1e-12 -1.19931e-05 2e-12"/>
|
||
|
|
<!-- Part v5_j8_4finger -->
|
||
|
|
<geom type="mesh" class="visual" pos="-0 0 0.01" quat="0 1 0 0" mesh="v5_j8_4finger" material="v5_j8_4finger_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="-0 0 0.01" quat="0 1 0 0" mesh="v5_j8_4finger" material="v5_j8_4finger_material"/>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
<!-- Link dm_j4340_2ec_2 -->
|
||
|
|
<body name="dm_j4340_2ec_2" pos="-0.0383 0.2 -0.02" quat="0.183013 -0.683013 -0.183013 0.683013">
|
||
|
|
<!-- Joint from dm_j4340_2ec to dm_j4340_2ec_2 -->
|
||
|
|
<joint axis="0 0 1" name="LJ1" type="hinge"/>
|
||
|
|
<inertial pos="0.150386 -5.99e-10 -0.0862657" mass="0.64749" fullinertia="0.0032465 0.00514141 0.00215547 6e-12 0.00180143 1.8e-11"/>
|
||
|
|
<!-- Part v6_j1_20_2 -->
|
||
|
|
<geom type="mesh" class="visual" pos="-0 -0 0.036" quat="0 1 0 0" mesh="v6_j1_20" material="v6_j1_20_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="-0 -0 0.036" quat="0 1 0 0" mesh="v6_j1_20" material="v6_j1_20_material"/>
|
||
|
|
<!-- Part 2020x10cm_2 -->
|
||
|
|
<geom type="mesh" class="visual" pos="0.1653 -0 -0.092" quat="0 0 -0 1" mesh="2020x10cm" material="2020x10cm_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="0.1653 -0 -0.092" quat="0 0 -0 1" mesh="2020x10cm" material="2020x10cm_material"/>
|
||
|
|
<!-- Part dm_j4340_2ec_6 -->
|
||
|
|
<geom type="mesh" class="visual" pos="0.1532 -0 -0.139098" quat="0.707107 -0 0.707107 0" mesh="dm_j4340_2ec" material="dm_j4340_2ec_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="0.1532 -0 -0.139098" quat="0.707107 -0 0.707107 0" mesh="dm_j4340_2ec" material="dm_j4340_2ec_material"/>
|
||
|
|
<!-- Part 2020x20cm_4 -->
|
||
|
|
<geom type="mesh" class="visual" pos="0.2253 -0 0.018" quat="0 -0.707107 -0 0.707107" mesh="2020x20cm" material="2020x20cm_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="0.2253 -0 0.018" quat="0 -0.707107 -0 0.707107" mesh="2020x20cm" material="2020x20cm_material"/>
|
||
|
|
<!-- Part v6_20_j2_2 -->
|
||
|
|
<geom type="mesh" class="visual" pos="-0.0081 -0 0.036052" quat="0 1 0 -0" mesh="v6_20_j2" material="v6_20_j2_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="-0.0081 -0 0.036052" quat="0 1 0 -0" mesh="v6_20_j2" material="v6_20_j2_material"/>
|
||
|
|
<!-- Link dm_j4340_2ec_3 -->
|
||
|
|
<body name="dm_j4340_2ec_3" pos="0.2065 -0 -0.139098" quat="0.5 -0.5 0.5 -0.5">
|
||
|
|
<!-- Joint from dm_j4340_2ec_2 to dm_j4340_2ec_3 -->
|
||
|
|
<joint axis="0 0 1" name="LJ2" type="hinge"/>
|
||
|
|
<inertial pos="0.0816108 2.273e-09 -0.108365" mass="0.6629" fullinertia="0.00347714 0.00399968 0.000810527 1.64e-10 0.00105864 -1.66e-10"/>
|
||
|
|
<!-- Part v6_j2_20_2 -->
|
||
|
|
<geom type="mesh" class="visual" pos="0 -0.0285 0.0075" quat="0.683013 -0.683013 -0.183013 -0.183013" mesh="v6_j2_20" material="v6_j2_20_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="0 -0.0285 0.0075" quat="0.683013 -0.683013 -0.183013 -0.183013" mesh="v6_j2_20" material="v6_j2_20_material"/>
|
||
|
|
<!-- Part v6_20_j3_2 -->
|
||
|
|
<geom type="mesh" class="visual" pos="0 -0.0285 0.0075" quat="0.683013 -0.683013 -0.183013 -0.183013" mesh="v6_20_j3" material="v6_20_j3_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="0 -0.0285 0.0075" quat="0.683013 -0.683013 -0.183013 -0.183013" mesh="v6_20_j3" material="v6_20_j3_material"/>
|
||
|
|
<!-- Part 2020x20cm_5 -->
|
||
|
|
<geom type="mesh" class="visual" pos="0.0275006 -0 0.0377311" quat="0.183013 0.683013 0.683013 0.183013" mesh="2020x20cm" material="2020x20cm_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="0.0275006 -0 0.0377311" quat="0.183013 0.683013 0.683013 0.183013" mesh="2020x20cm" material="2020x20cm_material"/>
|
||
|
|
<!-- Part dm_j4340_2ec_7 -->
|
||
|
|
<geom type="mesh" class="visual" pos="0.114169 0 -0.148384" quat="0.353553 0.612372 -0.612372 -0.353553" mesh="dm_j4340_2ec" material="dm_j4340_2ec_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="0.114169 0 -0.148384" quat="0.353553 0.612372 -0.612372 -0.353553" mesh="dm_j4340_2ec" material="dm_j4340_2ec_material"/>
|
||
|
|
<!-- Link v6_j3_2020_l -->
|
||
|
|
<body name="v6_j3_2020_l" pos="0.0680103 -0 -0.175034" quat="0.353553 -0.612372 -0.612372 0.353553">
|
||
|
|
<!-- Joint from dm_j4340_2ec_3 to v6_j3_2020_l -->
|
||
|
|
<joint axis="0 0 1" name="LJ3" type="hinge"/>
|
||
|
|
<inertial pos="-0.0211335 -0.197218 0.0388781" mass="0.86248" fullinertia="0.00735383 0.00260882 0.0068104 0.00104226 0.00089055 -0.00081978"/>
|
||
|
|
<!-- Part v6_j3_2020_l -->
|
||
|
|
<geom type="mesh" class="visual" pos="-0.0285 -0.0885 0.248682" quat="0.5 -0.5 -0.5 -0.5" mesh="v6_j3_2020_l" material="v6_j3_2020_l_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="-0.0285 -0.0885 0.248682" quat="0.5 -0.5 -0.5 -0.5" mesh="v6_j3_2020_l" material="v6_j3_2020_l_material"/>
|
||
|
|
<!-- Part dm_j4340_2ec_8 -->
|
||
|
|
<geom type="mesh" class="visual" pos="0.008 -0.26 0.027332" quat="0 -1 -0 -0" mesh="dm_j4340_2ec" material="dm_j4340_2ec_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="0.008 -0.26 0.027332" quat="0 -1 -0 -0" mesh="dm_j4340_2ec" material="dm_j4340_2ec_material"/>
|
||
|
|
<!-- Part 2020x20cm_6 -->
|
||
|
|
<geom type="mesh" class="visual" pos="-0.068 -0.2685 0.078682" quat="0.707107 -0.707107 0 0" mesh="2020x20cm" material="2020x20cm_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="-0.068 -0.2685 0.078682" quat="0.707107 -0.707107 0 0" mesh="2020x20cm" material="2020x20cm_material"/>
|
||
|
|
<!-- Part v6_2020_j4_l -->
|
||
|
|
<geom type="mesh" class="visual" pos="-0.068 -0.2885 0.214682" quat="0.5 -0.5 0.5 0.5" mesh="v6_2020_j4_l" material="v6_2020_j4_l_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="-0.068 -0.2885 0.214682" quat="0.5 -0.5 0.5 0.5" mesh="v6_2020_j4_l" material="v6_2020_j4_l_material"/>
|
||
|
|
<!-- Frame L_shoulder -->
|
||
|
|
<site group="3" name="L_shoulder" pos="0 -0 0.078682" quat="0.5 -0.5 0.5 -0.5"/>
|
||
|
|
<!-- Link v6_j4_j5_l -->
|
||
|
|
<body name="v6_j4_j5_l" pos="0.008 -0.26 -0.025968" quat="0 0.707107 0.707107 0">
|
||
|
|
<!-- Joint from v6_j3_2020_l to v6_j4_j5_l -->
|
||
|
|
<joint axis="0 0 1" name="LJ4" type="hinge"/>
|
||
|
|
<inertial pos="-0.054697 -0.0094417 -0.00245459" mass="0.49139" fullinertia="0.00105657 0.00119187 0.000538643 2.97343e-05 -0.000120659 -0.000177465"/>
|
||
|
|
<!-- Part v6_j4_j5_l -->
|
||
|
|
<geom type="mesh" class="visual" pos="-0.0285 -0.0285 -0.3253" quat="0.5 -0.5 -0.5 -0.5" mesh="v6_j4_j5_l" material="v6_j4_j5_l_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="-0.0285 -0.0285 -0.3253" quat="0.5 -0.5 -0.5 -0.5" mesh="v6_j4_j5_l" material="v6_j4_j5_l_material"/>
|
||
|
|
<!-- Part dm_j4310_2ec_5 -->
|
||
|
|
<geom type="mesh" class="visual" pos="-0.0431803 -0 0.0244282" quat="0.348175 -0.615447 -0.615447 0.348175" mesh="dm_j4310_2ec" material="dm_j4310_2ec_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="-0.0431803 -0 0.0244282" quat="0.348175 -0.615447 -0.615447 0.348175" mesh="dm_j4310_2ec" material="dm_j4310_2ec_material"/>
|
||
|
|
<!-- Link v6_wrist_j5_j6_2 -->
|
||
|
|
<body name="v6_wrist_j5_j6_2" pos="-0.0825226 -0 0.000785249" quat="0 -0.870373 0 0.492393">
|
||
|
|
<!-- Joint from v6_j4_j5_l to v6_wrist_j5_j6_2 -->
|
||
|
|
<joint axis="0 0 1" name="LJ5" type="hinge"/>
|
||
|
|
<inertial pos="-0.145035 -0.000119401 0.168953" mass="0.4484" fullinertia="0.00260463 0.00340197 0.000987304 3.35036e-06 0.00132357 -5.25689e-06"/>
|
||
|
|
<!-- Part v6_wrist_j5_j6_2 -->
|
||
|
|
<geom type="mesh" class="visual" pos="0 -0.0285 0.0075" quat="0.707107 -0.707107 -0 0" mesh="v6_wrist_j5_j6" material="v6_wrist_j5_j6_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="0 -0.0285 0.0075" quat="0.707107 -0.707107 -0 0" mesh="v6_wrist_j5_j6" material="v6_wrist_j5_j6_material"/>
|
||
|
|
<!-- Part dm_j4310_2ec_6 -->
|
||
|
|
<geom type="mesh" class="visual" pos="-0.146 0 0.212" quat="0.5 0.5 -0.5 -0.5" mesh="dm_j4310_2ec" material="dm_j4310_2ec_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="-0.146 0 0.212" quat="0.5 0.5 -0.5 -0.5" mesh="dm_j4310_2ec" material="dm_j4310_2ec_material"/>
|
||
|
|
<!-- Part v6_xt30_2_2_50cm_4 -->
|
||
|
|
<geom type="mesh" class="visual" pos="-0.0787817 -0.005 0.0672183" quat="0.270598 -0.270598 0.653281 0.653281" mesh="v6_xt30_2_2_50cm" material="v6_xt30_2_2_50cm_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="-0.0787817 -0.005 0.0672183" quat="0.270598 -0.270598 0.653281 0.653281" mesh="v6_xt30_2_2_50cm" material="v6_xt30_2_2_50cm_material"/>
|
||
|
|
<!-- Link v5_wrist_j6_j7_2 -->
|
||
|
|
<body name="v5_wrist_j6_j7_2" pos="-0.1919 -0 0.212" quat="0.707107 0 -0.707107 -0">
|
||
|
|
<!-- Joint from v6_wrist_j5_j6_2 to v5_wrist_j6_j7_2 -->
|
||
|
|
<joint axis="0 0 1" name="LJ6" type="hinge"/>
|
||
|
|
<inertial pos="-0 0.0975631 -0.161926" mass="0.407" fullinertia="0.00180585 0.00164708 0.000326757 0 -0 0.000247612"/>
|
||
|
|
<!-- Part v6_xt30_2_2_50cm_5 -->
|
||
|
|
<geom type="mesh" class="visual" pos="0 0.116 -0.0925" quat="0.707107 -0.707107 0 0" mesh="v6_xt30_2_2_50cm" material="v6_xt30_2_2_50cm_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="0 0.116 -0.0925" quat="0.707107 -0.707107 0 0" mesh="v6_xt30_2_2_50cm" material="v6_xt30_2_2_50cm_material"/>
|
||
|
|
<!-- Part v5_wrist_j6_j7_2 -->
|
||
|
|
<geom type="mesh" class="visual" pos="0 0.131 -0.0955" quat="0.5 0.5 0.5 -0.5" mesh="v5_wrist_j6_j7" material="v5_wrist_j6_j7_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="0 0.131 -0.0955" quat="0.5 0.5 0.5 -0.5" mesh="v5_wrist_j6_j7" material="v5_wrist_j6_j7_material"/>
|
||
|
|
<!-- Part dm_j4310_2ec_7 -->
|
||
|
|
<geom type="mesh" class="visual" pos="-0 0.121 -0.191" quat="0.5 0.5 0.5 -0.5" mesh="dm_j4310_2ec" material="dm_j4310_2ec_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="-0 0.121 -0.191" quat="0.5 0.5 0.5 -0.5" mesh="dm_j4310_2ec" material="dm_j4310_2ec_material"/>
|
||
|
|
<!-- Link dm_j4310_2ec -->
|
||
|
|
<body name="dm_j4310_2ec" pos="-0 0.0751 -0.191" quat="0.5 0.5 0.5 -0.5">
|
||
|
|
<!-- Joint from v5_wrist_j6_j7_2 to dm_j4310_2ec -->
|
||
|
|
<joint axis="0 0 1" name="LJ7" type="hinge"/>
|
||
|
|
<inertial pos="0.00205488 0.0647314 0.154012" mass="0.4573" fullinertia="0.00200291 0.00193779 0.000443531 3.45159e-05 -2.7424e-06 -0.000439089"/>
|
||
|
|
<!-- Part dm_j4310_2ec_8 -->
|
||
|
|
<geom type="mesh" class="visual" pos="0 0.075 0.21" quat="0 -1 0 0" mesh="dm_j4310_2ec" material="dm_j4310_2ec_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="0 0.075 0.21" quat="0 -1 0 0" mesh="dm_j4310_2ec" material="dm_j4310_2ec_material"/>
|
||
|
|
<!-- Part v5_wrist_j7_leader_gripper_l -->
|
||
|
|
<geom type="mesh" class="visual" pos="-0.25 0 0" quat="1 0 0 0" mesh="v5_wrist_j7_leader_gripper_l" material="v5_wrist_j7_leader_gripper_l_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="-0.25 0 0" quat="1 0 0 0" mesh="v5_wrist_j7_leader_gripper_l" material="v5_wrist_j7_leader_gripper_l_material"/>
|
||
|
|
<!-- Part v6_xt30_2_2_50cm_6 -->
|
||
|
|
<geom type="mesh" class="visual" pos="-0.03 0.054706 0.0643213" quat="0.5 -0.5 0.5 -0.5" mesh="v6_xt30_2_2_50cm" material="v6_xt30_2_2_50cm_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="-0.03 0.054706 0.0643213" quat="0.5 -0.5 0.5 -0.5" mesh="v6_xt30_2_2_50cm" material="v6_xt30_2_2_50cm_material"/>
|
||
|
|
<!-- Frame L_wrist -->
|
||
|
|
<site group="3" name="L_wrist" pos="0 -0 0.0751" quat="0.707107 -0 0 0.707107"/>
|
||
|
|
<!-- Link v5_j8_4finger_2 -->
|
||
|
|
<body name="v5_j8_4finger_2" pos="0 0.075 0.1641" quat="0 -0.707107 -0.707107 -0">
|
||
|
|
<!-- Joint from dm_j4310_2ec to v5_j8_4finger_2 -->
|
||
|
|
<joint axis="0 0 1" name="LJ8" type="hinge"/>
|
||
|
|
<inertial pos="0.0582262 -2.729e-09 0.031412" mass="0.0384" fullinertia="3.92746e-05 6.14789e-05 2.96973e-05 -1e-12 -1.19931e-05 2e-12"/>
|
||
|
|
<!-- Part v5_j8_4finger_2 -->
|
||
|
|
<geom type="mesh" class="visual" pos="0 0 0.01" quat="0 1 0 0" mesh="v5_j8_4finger" material="v5_j8_4finger_material"/>
|
||
|
|
<geom type="mesh" class="collision" pos="0 0 0.01" quat="0 1 0 0" mesh="v5_j8_4finger" material="v5_j8_4finger_material"/>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</worldbody>
|
||
|
|
<asset>
|
||
|
|
<mesh file="v6_j1_20.stl"/>
|
||
|
|
<mesh file="v6_20_j3.stl"/>
|
||
|
|
<mesh file="2020x10cm.stl"/>
|
||
|
|
<mesh file="v6_xt30_2_2_50cm.stl"/>
|
||
|
|
<mesh file="dm_j4310_2ec.stl"/>
|
||
|
|
<mesh file="4040_ybimu.stl"/>
|
||
|
|
<mesh file="v6_j3_2020_r.stl"/>
|
||
|
|
<mesh file="v6_wrist_j5_j6.stl"/>
|
||
|
|
<mesh file="v5_wrist_j7_leader_gripper_l.stl"/>
|
||
|
|
<mesh file="v6_20_j2.stl"/>
|
||
|
|
<mesh file="v6_j3_2020_l.stl"/>
|
||
|
|
<mesh file="v6_j4_j5_l.stl"/>
|
||
|
|
<mesh file="v6_j4_j5_r.stl"/>
|
||
|
|
<mesh file="v5_wrist_j7_leader_gripper_r.stl"/>
|
||
|
|
<mesh file="2020x20cm.stl"/>
|
||
|
|
<mesh file="4040x50cm.stl"/>
|
||
|
|
<mesh file="v6_2020_j4_r.stl"/>
|
||
|
|
<mesh file="v6_4040_j1_loop_r.stl"/>
|
||
|
|
<mesh file="v5_j8_4finger.stl"/>
|
||
|
|
<mesh file="v6_4040_j1_loop_l.stl"/>
|
||
|
|
<mesh file="4040_t_bracket.stl"/>
|
||
|
|
<mesh file="dm_j4340_2ec.stl"/>
|
||
|
|
<mesh file="v6_2020_j4_l.stl"/>
|
||
|
|
<mesh file="v6_4040_belt.stl"/>
|
||
|
|
<mesh file="v6_j2_20.stl"/>
|
||
|
|
<mesh file="4040x30cm.stl"/>
|
||
|
|
<mesh file="4040_cap.stl"/>
|
||
|
|
<mesh file="v5_wrist_j6_j7.stl"/>
|
||
|
|
<material name="4040x50cm_material" rgba="0.901961 0.901961 0.901961 1"/>
|
||
|
|
<material name="v6_4040_belt_material" rgba="0.615686 0.811765 0.929412 1"/>
|
||
|
|
<material name="4040_ybimu_material" rgba="0.615686 0.811765 0.929412 1"/>
|
||
|
|
<material name="v6_4040_j1_loop_r_material" rgba="0.972549 0.529412 0.00392157 1"/>
|
||
|
|
<material name="dm_j4340_2ec_material" rgba="0.615686 0.811765 0.929412 1"/>
|
||
|
|
<material name="4040_t_bracket_material" rgba="0.901961 0.901961 0.901961 1"/>
|
||
|
|
<material name="v6_4040_j1_loop_l_material" rgba="0.972549 0.529412 0.00392157 1"/>
|
||
|
|
<material name="4040x30cm_material" rgba="0.901961 0.901961 0.901961 1"/>
|
||
|
|
<material name="4040_cap_material" rgba="0.615686 0.811765 0.929412 1"/>
|
||
|
|
<material name="v6_20_j2_material" rgba="0.972549 0.529412 0.00392157 1"/>
|
||
|
|
<material name="v6_j1_20_material" rgba="0.972549 0.529412 0.00392157 1"/>
|
||
|
|
<material name="2020x20cm_material" rgba="0.901961 0.901961 0.901961 1"/>
|
||
|
|
<material name="2020x10cm_material" rgba="0.901961 0.901961 0.901961 1"/>
|
||
|
|
<material name="v6_j2_20_material" rgba="0.972549 0.529412 0.00392157 1"/>
|
||
|
|
<material name="v6_20_j3_material" rgba="0.972549 0.529412 0.00392157 1"/>
|
||
|
|
<material name="v6_2020_j4_r_material" rgba="0.972549 0.529412 0.00392157 1"/>
|
||
|
|
<material name="v6_j3_2020_r_material" rgba="0.972549 0.529412 0.00392157 1"/>
|
||
|
|
<material name="dm_j4310_2ec_material" rgba="0.796078 0.905882 0.745098 1"/>
|
||
|
|
<material name="v6_j4_j5_r_material" rgba="0.972549 0.529412 0.00392157 1"/>
|
||
|
|
<material name="v6_wrist_j5_j6_material" rgba="0.972549 0.529412 0.00392157 1"/>
|
||
|
|
<material name="v6_xt30_2_2_50cm_material" rgba="1 0 0 1"/>
|
||
|
|
<material name="v5_wrist_j6_j7_material" rgba="0.972549 0.529412 0.00392157 1"/>
|
||
|
|
<material name="v5_wrist_j7_leader_gripper_r_material" rgba="0.972549 0.529412 0.00392157 1"/>
|
||
|
|
<material name="v5_j8_4finger_material" rgba="0.972549 0.529412 0.00392157 1"/>
|
||
|
|
<material name="v6_j3_2020_l_material" rgba="0.972549 0.529412 0.00392157 1"/>
|
||
|
|
<material name="v6_2020_j4_l_material" rgba="0.972549 0.529412 0.00392157 1"/>
|
||
|
|
<material name="v6_j4_j5_l_material" rgba="0.972549 0.529412 0.00392157 1"/>
|
||
|
|
<material name="v5_wrist_j7_leader_gripper_l_material" rgba="0.972549 0.529412 0.00392157 1"/>
|
||
|
|
</asset>
|
||
|
|
<actuator>
|
||
|
|
<position class="models" name="RJ1" joint="RJ1"/>
|
||
|
|
<position class="models" name="RJ2" joint="RJ2"/>
|
||
|
|
<position class="models" name="RJ3" joint="RJ3"/>
|
||
|
|
<position class="models" name="RJ4" joint="RJ4"/>
|
||
|
|
<position class="models" name="RJ5" joint="RJ5"/>
|
||
|
|
<position class="models" name="RJ6" joint="RJ6"/>
|
||
|
|
<position class="models" name="RJ7" joint="RJ7"/>
|
||
|
|
<position class="models" name="RJ8" joint="RJ8"/>
|
||
|
|
<position class="models" name="LJ1" joint="LJ1"/>
|
||
|
|
<position class="models" name="LJ2" joint="LJ2"/>
|
||
|
|
<position class="models" name="LJ3" joint="LJ3"/>
|
||
|
|
<position class="models" name="LJ4" joint="LJ4"/>
|
||
|
|
<position class="models" name="LJ5" joint="LJ5"/>
|
||
|
|
<position class="models" name="LJ6" joint="LJ6"/>
|
||
|
|
<position class="models" name="LJ7" joint="LJ7"/>
|
||
|
|
<position class="models" name="LJ8" joint="LJ8"/>
|
||
|
|
</actuator>
|
||
|
|
<equality/>
|
||
|
|
</mujoco>
|