84 lines
3.8 KiB
Plaintext
84 lines
3.8 KiB
Plaintext
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<mujoco model="master_7dof">
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<compiler angle="radian" coordinate="local"/>
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<option timestep="0.001" gravity="0 0 -9.81"/>
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<asset>
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<texture type="skybox" builtin="gradient"
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rgb1="1 1 1" rgb2=".6 .8 1"
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width="256" height="256"/>
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</asset>
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<default>
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<joint type="hinge" limited="true" damping="0.2"/>
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<geom contype="0" conaffinity="0" density="1000"/>
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</default>
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<worldbody>
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<body name="master_base" pos="0 0 0">
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<inertial pos="0 0 0" mass="1.0" diaginertia="1e-2 1e-2 1e-2"/>
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<body name="master_shoulder" pos="0 0 0">
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<inertial pos="0 0 0" mass="0.1" diaginertia="1e-4 1e-4 1e-4"/>
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<body name="master_link_sp" pos="0 0 0">
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<inertial pos="0 0 0" mass="0.1" diaginertia="1e-4 1e-4 1e-4"/>
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<joint name="master_shoulder_pitch_joint" axis="0 1 0" range="-3.1416 3.1416"/>
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<body name="master_link_sy" pos="0 0 0">
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<inertial pos="0 0 0" mass="0.1" diaginertia="1e-4 1e-4 1e-4"/>
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<joint name="master_shoulder_yaw_joint" axis="0 0 1" range="-3.1416 3.1416"/>
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<body name="master_upper_arm" pos="0 0 0">
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<inertial pos="0 0 0" mass="1.0" diaginertia="0.01 0.01 0.01"/>
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<joint name="master_shoulder_roll_joint" axis="1 0 0" range="-3.1416 3.1416"/>
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<geom name="geom_upper_arm" type="capsule" size="0.02"
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fromto="0 0 0 0.280 0 0"/>
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<body name="master_forearm" pos="0.280 0 0">
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<inertial pos="0 0 0" mass="0.8" diaginertia="0.008 0.008 0.008"/>
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<joint name="master_elbow_flex_joint" axis="0 1 0" range="-3.1416 3.1416"/>
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<geom name="geom_forearm" type="capsule" size="0.018"
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fromto="0 0 0 0.300 0 0"/>
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<body name="master_wrist" pos="0.300 0 0">
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<inertial pos="0 0 0" mass="0.1" diaginertia="1e-4 1e-4 1e-4"/>
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<body name="master_link_wr" pos="0 0 0">
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<inertial pos="0 0 0" mass="0.1" diaginertia="1e-4 1e-4 1e-4"/>
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<joint name="master_wrist_roll_joint" axis="1 0 0" range="-3.1416 3.1416"/>
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<body name="master_link_wy" pos="0 0 0">
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<inertial pos="0 0 0" mass="0.1" diaginertia="1e-4 1e-4 1e-4"/>
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<joint name="master_wrist_yaw_joint" axis="0 1 0" range="-3.1416 3.1416"/>
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<body name="master_ee" pos="0 0 0">
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<inertial pos="0 0 0" mass="0.2" diaginertia="0.001 0.001 0.001"/>
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<joint name="master_wrist_pitch_joint" axis="0 0 1" range="-3.1416 3.1416"/>
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<geom name="geom_ee" type="box" pos="0.05 0 0"
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size="0.05 0.01 0.01"/>
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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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</body>
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</body>
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</worldbody>
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<actuator>
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<position name="act_sh_yaw" joint="master_shoulder_pitch_joint" kp="200" ctrlrange="-3.14 3.14" forcerange="-50 50"/>
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<position name="act_sh_pitch" joint="master_shoulder_yaw_joint" kp="200" ctrlrange="-3.14 3.14" forcerange="-50 50"/>
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<position name="act_sh_roll" joint="master_shoulder_roll_joint" kp="200" ctrlrange="-3.14 3.14" forcerange="-50 50"/>
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<position name="act_elbow" joint="master_elbow_flex_joint" kp="200" ctrlrange="-3.14 3.14" forcerange="-50 50"/>
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<position name="act_wr_roll" joint="master_wrist_roll_joint" kp="200" ctrlrange="-3.14 3.14" forcerange="-50 50"/>
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<position name="act_wr_yaw" joint="master_wrist_yaw_joint" kp="200" ctrlrange="-3.14 3.14" forcerange="-50 50"/>
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<position name="act_wr_pitch" joint="master_wrist_pitch_joint" kp="200" ctrlrange="-3.14 3.14" forcerange="-50 50"/>
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</actuator>
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</mujoco>
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