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<mujoco model="yam_v0"> |
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<compiler angle="radian" meshdir="assets"/> |
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<option integrator="implicitfast"/> |
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<default> |
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<default class="yam"> |
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<position inheritrange="1"/> |
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<joint frictionloss="0.1" axis="0 0 1"/> |
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<default class="dm4340"> |
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<joint armature="0.032"/> |
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<position kp="40" kv="2.5" forcerange="-28 28"/> |
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</default> |
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<default class="dm4310"> |
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<joint armature="0.0018"/> |
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<position kp="10" kv="1" forcerange="-10 10"/> |
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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="black"/> |
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</default> |
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<default class="collision"> |
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<geom group="3" type="capsule"/> |
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<default class="sphere_collision"> |
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<geom size="0.0006 0 0" type="sphere" rgba="1 0 0 1"/> |
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</default> |
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</default> |
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<default class="finger"> |
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<joint type="slide" armature="0.1" frictionloss="0.1"/> |
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<position ctrlrange="0.0 0.041" kp="100" kv="10" inheritrange="0"/> |
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</default> |
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</default> |
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</default> |
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<asset> |
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<material name="black" rgba="0.25 0.25 0.25 1"/> |
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<material name="white" rgba="0.9 0.9 0.9 1"/> |
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<mesh file="model2.stl"/> |
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<mesh file="model2__2.stl"/> |
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<mesh file="model2__3.stl"/> |
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<mesh file="model2__4.stl"/> |
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<mesh file="model2__5.stl"/> |
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<mesh file="model2__6.stl"/> |
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<mesh file="model2__7.stl"/> |
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<mesh file="model2__8.stl"/> |
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<mesh file="model2__9.stl"/> |
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<mesh file="model2__10.stl"/> |
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<mesh file="model2__11.stl"/> |
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<mesh file="model2__12.stl"/> |
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<mesh file="model2__13.stl"/> |
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<mesh file="model2__14.stl"/> |
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<mesh file="model2__15.stl"/> |
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<mesh file="model2__16.stl"/> |
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<mesh file="model2__17.stl"/> |
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</asset> |
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<worldbody> |
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<light name="spotlight" mode="targetbodycom" target="link_6" pos="0 0 1"/> |
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<body name="arm" childclass="yam"> |
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<geom class="visual" pos="0 0 -0.0006" quat="1 0 0 1" mesh="model2"/> |
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<geom class="collision" size="0.033 0.01" pos="0.0 0.0 0.026" quat="1 0 0 0"/> |
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<body name="link_1" pos="0 0 0.0631" quat="1 0 0 1"> |
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<inertial pos="-0.00192861 -0.00795735 0.0208176" quat="0.297851 0.642634 0.360045 0.607185" mass="0.12415" |
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diaginertia="0.000180751 0.000145532 5.89179e-05"/> |
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<joint name="joint1" range="-2.61799 3.05433" class="dm4340"/> |
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<geom class="visual" pos="5.26159e-07 2.34355e-07 -0.0632" quat="1 0 0 0" mesh="model2__2"/> |
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<body name="link_2" pos="2.5e-05 -0.02 0.0409" quat="1 1 1 1" gravcomp="1"> |
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<inertial pos="0.132008 2.10599e-06 0.000293073" quat="1 1 1 1" mass="1.24434" |
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diaginertia="0.0121902 0.0121318 0.000683304"/> |
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<joint name="joint2" range="0 3.66519" class="dm4340"/> |
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<geom class="visual" pos="0.0199992 -0.1041 -2.44738e-05" quat="1 -1 -1 -1" mesh="model2__3"/> |
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<geom class="visual" pos="0.0199992 -0.1041 -2.44738e-05" quat="1 -1 -1 -1" mesh="model2__4"/> |
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<geom class="visual" pos="0.0199992 -0.1041 -2.44738e-05" quat="1 -1 -1 -1" mesh="model2__5" material="white"/> |
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<geom class="collision" size="0.032 0.11" pos="0.13 0 0" quat="1 0 1 0"/> |
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<geom class="collision" size="0.033 0.02" pos="0 0.0 0" quat="1 0 0 0"/> |
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<geom class="collision" size="0.033 0.025" pos="0.265 0 0" quat="1 0 0 0"/> |
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<body name="link_3" pos="0.264 0 0" quat="0 1 0 0" gravcomp="1"> |
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<inertial pos="-0.121816 -0.054846 -0.000111108" quat="1 1 1 1" mass="0.853698" |
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diaginertia="0.00699732 0.00696112 0.000788244"/> |
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<joint name="joint3" range="0 3.66519" class="dm4340"/> |
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<geom class="visual" pos="-0.244001 0.104101 2.44738e-05" quat="1 1 1 -1" mesh="model2__6"/> |
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<geom class="visual" pos="-0.244001 0.104101 2.44738e-05" quat="1 1 1 -1" mesh="model2__7"/> |
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<geom class="visual" pos="-0.244001 0.104101 2.44738e-05" quat="1 1 1 -1" mesh="model2__8" material="white"/> |
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<geom class="visual" pos="-0.244001 0.104101 2.44738e-05" quat="1 1 1 -1" mesh="model2__9"/> |
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<geom class="collision" size="0.034 0.12" pos="-0.14 -0.06 0.0" quat="1 0 1 0"/> |
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<geom class="collision" size="0.034 0.015" pos="-0.24 -0.06 0.0" quat="1 0 0 0"/> |
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<body name="link_4" pos="-0.245 -0.06 0" quat="1 0 0 0" gravcomp="1"> |
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<inertial pos="-0.0769778 -0.0527104 0.000154878" quat="0.667 0.667 -0.236 -0.236" mass="0.463511" |
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diaginertia="0.000791532 0.000744733 0.000282116"/> |
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<joint name="joint4" range="-1.5708 1.5708" class="dm4310"/> |
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<geom class="visual" pos="0.00100023 0.164101 2.44738e-05" quat="1 1 1 -1" mesh="model2__10"/> |
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<geom class="collision" size="0.03 0.015" pos="-0.073 -0.06 0.0" quat="1 1 0 0"/> |
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<body name="link_5" pos="-0.074 -0.0395 2.5e-05" quat="1 -1 1 1" gravcomp="1"> |
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<inertial pos="3.64861e-05 0.00025665 0.0353526" quat="1 0 0 0" mass="0.350962" |
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diaginertia="0.000197802 0.0001775 0.000147402"/> |
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<joint name="joint5" range="-1.5708 1.5708" class="dm4310"/> |
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<geom class="visual" pos="0 -0.0749971 0.203601" quat="1.32679e-06 1 0 0" mesh="model2__11"/> |
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<geom class="collision" size="0.030 0.015" pos="0 0.025 0.0395" quat="1 1 0 0"/> |
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<body name="link_6" pos="0 0.0353 0.0395" quat="1 -1 0 0" gravcomp="1"> |
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<inertial pos="-0.000217767 7.37059e-05 0.0270545" quat="1 1 0 0" mass="0.367476" |
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diaginertia="0.000265958 0.000242686 0.000227409"/> |
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<joint name="joint6" range="-2.0944 2.0944" class="dm4310"/> |
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<geom class="visual" pos="0 -0.164101 -0.110597" quat="1 -1 0 0" mesh="model2__12"/> |
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<geom class="visual" pos="0 -0.164101 -0.110597" quat="1 -1 0 0" mesh="model2__13"/> |
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<geom class="collision" size="0.01 0.035" pos="0 0.039 0.052" quat="1 0 1 0"/> |
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<geom class="collision" size="0.030 0.005" pos="0 0.0 0.03" quat="1 0 0 1"/> |
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<geom class="collision" size="0.01 0.035" pos="0 -0.039 0.052" quat="1 0 1 0"/> |
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<site name="tcp_site" pos="0 0 0" quat="1 0 0 -1" size="0.005" rgba="1 0 0 1" group="4"/> |
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<site name="grasp_site" pos="0 0 0.1347" quat="1 0 0 -1" size="0.005" rgba="0 1 0 1" group="4"/> |
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<body name="link_left_finger" pos="-0.037 0.0392 0.0605" quat="1 0 1 0" gravcomp="1"> |
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<inertial pos="-0.0192995 -0.0365902 0.039774" quat="0.757351 0.568898 -0.3199 0.0" mass="0.118" |
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diaginertia="0.000159084 0.000154909 4.63655e-05"/> |
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<joint class="finger" name="left_finger" range="-0.00205 0.037524"/> |
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<geom class="visual" pos="0.171097 -0.203301 0.037" quat="1 -1 -1 -1" mesh="model2__14"/> |
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<geom class="visual" pos="0.171097 -0.203301 0.037" quat="1 -1 -1 -1" mesh="model2__15"/> |
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<body name="lf_rot" quat="1 -1 -1 1" pos="0.0 -0.0392 0.037" gravcomp="1"> |
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<geom class="collision" size="0.01 0.03" pos="0.0 -0.02 0.012" quat="1 0 1 0" |
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rgba="0.381493 0.492734 0.780446 1"/> |
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<geom class="collision" size="0.01 0.02" pos="-0.02 -0.01 0.032" quat="1 0 2.5 0" |
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rgba="0.381493 0.492734 0.780446 1"/> |
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<body name="lf_down" quat="1 0 0 0" pos="-0.044 0.0 0.0" gravcomp="1"> |
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<geom class="collision" size="0.01 0.01" pos="0.0 -0.020 0.012" quat="1 -0.1 0 0" |
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rgba="0.381493 0.492734 0.780446 1"/> |
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<geom class="collision" size="0.003 0.022" pos="0.005 -0.014 0.04" quat="1 -0.2 0 0" |
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rgba="0.381493 0.492734 0.780446 1"/> |
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<geom class="collision" size="0.003 0.022" pos="-0.005 -0.014 0.04" quat="1 -0.2 0 0" |
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rgba="0.381493 0.492734 0.780446 1"/> |
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<geom class="collision" type="box" size="0.006 0.002 0.04" pos="0 -0.0024 0.046" quat="1 0 0 0" |
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rgba="0.381493 0.492734 0.780446 1"/> |
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<geom class="collision" type="box" size="0.006 0.002 0.039" pos="0.027 -0.0024 0.053" |
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quat="1 0 2.5 0" rgba="0.381493 0.492734 0.780446 1"/> |
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<geom class="sphere_collision" pos="0.003 -0.0004 0.078"/> |
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<geom class="sphere_collision" pos="-0.003 -0.0004 0.078"/> |
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<geom class="sphere_collision" pos="0.003 -0.0004 0.07"/> |
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<geom class="sphere_collision" pos="-0.003 -0.0004 0.07"/> |
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<geom class="sphere_collision" pos="0.003 -0.0004 0.06"/> |
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<geom class="sphere_collision" pos="-0.003 -0.0004 0.06"/> |
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</body> |
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</body> |
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</body> |
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<body name="link_right_finger" pos="0.037 -0.0392 0.0605" quat="1 0 1 0" gravcomp="1"> |
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<inertial pos="-0.0192995 0.0365902 -0.039774" quat="-0.757351 0.568898 -0.3199 0" mass="0.118" |
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diaginertia="0.000159084 0.000154909 4.63655e-05"/> |
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<joint class="finger" name="right_finger" range="-0.037524 0.00205"/> |
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<geom class="visual" pos="0.171097 -0.124901 -0.037" quat="1 -1 -1 -1" mesh="model2__16"/> |
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<geom class="visual" pos="0.171097 -0.124901 -0.037" quat="1 -1 -1 -1" mesh="model2__17"/> |
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<body name="rf_rot" quat="1 1 -1 -1" pos="0.0 0.0392 -0.037" gravcomp="1"> |
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<geom class="collision" size="0.01 0.03" pos="0.0 -0.02 0.012" quat="1 0 1 0" |
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rgba="0.381493 0.492734 0.780446 1"/> |
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<geom class="collision" size="0.01 0.02" pos="0.02 -0.01 0.032" quat="1 0 -2.5 0" |
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rgba="0.381493 0.492734 0.780446 1"/> |
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<body name="rf_down" quat="1 0 0 0" pos="0.044 0.0 0.0" gravcomp="1"> |
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<geom class="collision" size="0.01 0.01" pos="0.0 -0.020 0.012" quat="1 -0.1 0 0" |
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rgba="0.381493 0.492734 0.780446 1"/> |
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<geom class="collision" size="0.003 0.022" pos="0.005 -0.014 0.04" quat="1 -0.2 0 0" |
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rgba="0.381493 0.492734 0.780446 1"/> |
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<geom class="collision" size="0.003 0.022" pos="-0.005 -0.014 0.04" quat="1 -0.2 0 0" |
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rgba="0.381493 0.492734 0.780446 1"/> |
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<geom class="collision" type="box" size="0.006 0.002 0.04" pos="0 -0.0024 0.046" quat="1 0 0 0" |
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rgba="0.381493 0.492734 0.780446 1"/> |
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<geom class="collision" type="box" size="0.006 0.002 0.039" pos="-0.027 -0.0024 0.053" |
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quat="1 0 -2.5 0" rgba="0.381493 0.492734 0.780446 1"/> |
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<geom class="sphere_collision" pos="0.003 -0.0004 0.078"/> |
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<geom class="sphere_collision" pos="-0.003 -0.0004 0.078"/> |
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<geom class="sphere_collision" pos="0.003 -0.0004 0.07"/> |
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<geom class="sphere_collision" pos="-0.003 -0.0004 0.07"/> |
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<geom class="sphere_collision" pos="0.003 -0.0004 0.06"/> |
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<geom class="sphere_collision" pos="-0.003 -0.0004 0.06"/> |
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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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<equality> |
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<joint joint1="left_finger" joint2="right_finger" polycoef="0 -1 0 0 0"/> |
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</equality> |
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<actuator> |
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<position name="joint1" joint="joint1" class="dm4340"/> |
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<position name="joint2" joint="joint2" class="dm4340"/> |
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<position name="joint3" joint="joint3" class="dm4340"/> |
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<position name="joint4" joint="joint4" class="dm4310" kp="20" kv=".5"/> |
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<position name="joint5" joint="joint5" class="dm4310"/> |
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<position name="joint6" joint="joint6" class="dm4310"/> |
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<position class="finger" name="left_finger" joint="left_finger"/> |
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</actuator> |
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</mujoco> |
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