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iiwa14.xml
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<mujoco model="iiwa14">
<compiler angle="radian" meshdir="assets" autolimits="true" />
<option integrator="implicitfast" />
<default>
<default class="iiwa">
<material specular="0.5" shininess="0.25" />
<joint axis="0 0 1" />
<general gaintype="fixed" biastype="affine" gainprm="2000" biasprm="0 -2000 -200" />
<default class="joint1">
<joint range="-2.96706 2.96706" />
<general ctrlrange="-2.96706 2.96706" />
<default class="joint2">
<joint range="-2.0944 2.0944" />
<general ctrlrange="-2.0944 2.0944" />
</default>
</default>
<default class="joint3">
<joint range="-3.05433 3.05433" />
<general ctrlrange="-3.05433 3.05433" />
</default>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2" material="gray" />
</default>
<default class="collision">
<geom group="3" />
</default>
<site size="0.001" rgba="1 0 0 1" group="4" />
</default>
</default>
<asset>
<material class="iiwa" name="gray" rgba="0.4 0.4 0.4 1" />
<material class="iiwa" name="light_gray" rgba="0.6 0.6 0.6 1" />
<material class="iiwa" name="black" rgba="0 0 0 1" />
<material class="iiwa" name="orange" rgba="1 0.423529 0.0392157 1" />
<mesh file="link_0.obj" />
<mesh file="link_1.obj" />
<mesh file="link_2_orange.obj" />
<mesh file="link_2_grey.obj" />
<mesh file="link_3.obj" />
<mesh file="band.obj" />
<mesh file="kuka.obj" />
<mesh file="link_4_orange.obj" />
<mesh file="link_4_grey.obj" />
<mesh file="link_5.obj" />
<mesh file="link_6_orange.obj" />
<mesh file="link_6_grey.obj" />
<mesh file="link_7.obj" />
</asset>
<worldbody>
<body name="mocap_sphere" pos="0.5 0.5 0.1" mocap="true">
<geom name="sphere_geom" type="sphere" size="0.05" rgba="1 0 0 1" />
</body>
<light name="top" pos="0 0 2" mode="trackcom" />
<body name="base" pos="0 0 1" childclass="iiwa">
<inertial mass="5" pos="-0.1 0 0.07" diaginertia="0.05 0.06 0.03" />
<geom class="visual" mesh="link_0" />
<geom class="collision" size="0.12" pos="0 0 0.03" />
<geom class="collision" size="0.08" pos="-0.08 0 0.103" />
<geom class="collision" size="0.08" pos="-0.08 0 0.04" />
<geom class="collision" size="0.1" pos="0 0 0.14" />
<body name="link1" pos="0 0 0.1575">
<inertial mass="5.76" pos="0 -0.03 0.12" diaginertia="0.0333 0.033 0.0123" />
<joint name="joint1" class="joint1" />
<geom class="visual" mesh="link_1" />
<geom class="collision" size="0.08" pos="0 0 -0.0005" />
<geom class="collision" size="0.075" pos="0.01 -0.025 0.0425" />
<geom class="collision" size="0.075" pos="-0.01 -0.025 0.0425" />
<geom class="collision" size="0.07" pos="0.01 -0.045 0.1025" />
<geom class="collision" size="0.07" pos="-0.01 -0.045 0.1025" />
<body name="link2" pos="0 0 0.2025" quat="0 0 1 1">
<inertial mass="6.35" pos="0.0003 0.059 0.042" diaginertia="0.0305 0.0304 0.011"
quat="0 0 1 1" />
<joint name="joint2" class="joint2" />
<geom class="visual" material="orange" mesh="link_2_orange" />
<geom class="visual" mesh="link_2_grey" />
<geom class="collision" size="0.095" pos="0 0 -0.01" />
<geom class="collision" size="0.09" pos="0 0 0.045" />
<geom class="collision" size="0.07" pos="-0.01 0.04 0.054" />
<geom class="collision" size="0.065" pos="-0.01 0.09 0.04" />
<geom class="collision" size="0.065" pos="-0.01 0.13 0.02" />
<geom class="collision" size="0.07" pos="0.01 0.04 0.054" />
<geom class="collision" size="0.065" pos="0.01 0.09 0.04" />
<geom class="collision" size="0.065" pos="0.01 0.13 0.02" />
<geom class="collision" size="0.075" pos="0 0.18 0" />
<body name="link3" pos="0 0.2045 0" quat="0 0 1 1">
<inertial mass="3.5" pos="0 0.03 0.13" diaginertia="0.025 0.0238 0.0076" />
<joint name="joint3" class="joint1" />
<geom class="visual" mesh="link_3" />
<geom class="visual" material="light_gray" mesh="band" />
<geom class="visual" material="black" mesh="kuka" />
<geom class="collision" size="0.075" pos="0 0 0.0355" />
<geom class="collision" size="0.06" pos="0.01 0.023 0.0855" />
<geom class="collision" size="0.055" pos="0.01 0.048 0.1255" />
<geom class="collision" size="0.06" pos="0.01 0.056 0.1755" />
<geom class="collision" size="0.06" pos="-0.01 0.023 0.0855" />
<geom class="collision" size="0.055" pos="-0.01 0.048 0.1255" />
<geom class="collision" size="0.06" pos="-0.01 0.056 0.1755" />
<geom class="collision" size="0.075" pos="0 0.045 0.2155" />
<geom class="collision" size="0.075" pos="0 0 0.2155" />
<body name="link4" pos="0 0 0.2155" quat="1 1 0 0">
<inertial mass="3.5" pos="0 0.067 0.034" diaginertia="0.017 0.0164 0.006"
quat="1 1 0 0" />
<joint name="joint4" class="joint2" />
<geom class="visual" material="orange" mesh="link_4_orange" />
<geom class="visual" mesh="link_4_grey" />
<geom class="collision" size="0.078" pos="0 0.01 0.046" />
<geom class="collision" size="0.06" pos="0.01 0.06 0.052" />
<geom class="collision" size="0.065" pos="0.01 0.12 0.034" />
<geom class="collision" size="0.06" pos="-0.01 0.06 0.052" />
<geom class="collision" size="0.065" pos="-0.01 0.12 0.034" />
<geom class="collision" size="0.075" pos="0 0.184 0" />
<body name="link5" pos="0 0.1845 0" quat="0 0 1 1">
<inertial mass="3.5" pos="0.0001 0.021 0.076" diaginertia="0.01 0.0087 0.00449" />
<joint name="joint5" class="joint1" />
<geom class="visual" mesh="link_5" />
<geom class="visual" material="light_gray" mesh="band" />
<geom class="visual" material="black" mesh="kuka" />
<geom class="collision" size="0.075" pos="0 0 0.0335" />
<geom class="collision" size="0.05" pos="-0.012 0.031 0.0755" />
<geom class="collision" size="0.05" pos="0.012 0.031 0.0755" />
<geom class="collision" size="0.04" pos="-0.012 0.06 0.1155" />
<geom class="collision" size="0.04" pos="0.012 0.06 0.1155" />
<geom class="collision" size="0.04" pos="-0.01 0.065 0.1655" />
<geom class="collision" size="0.04" pos="0.01 0.065 0.1655" />
<geom class="collision" size="0.035" pos="-0.012 0.065 0.1855" />
<geom class="collision" size="0.035" pos="0.012 0.065 0.1855" />
<body name="link6" pos="0 0 0.2155" quat="1 1 0 0">
<inertial mass="1.8" pos="0 0.0006 0.0004" diaginertia="0.0049 0.0047 0.0036"
quat="1 1 0 0" />
<joint name="joint6" class="joint2" />
<geom class="visual" material="orange" mesh="link_6_orange" />
<geom class="visual" mesh="link_6_grey" />
<geom class="collision" size="0.055" pos="0 0 -0.059" />
<geom class="collision" size="0.065" pos="0 -0.03 0.011" />
<geom class="collision" size="0.08" />
<body name="link7" pos="0 0.081 0" quat="0 0 1 1">
<inertial mass="1.2" pos="0 0 0.02" diaginertia="0.001 0.001 0.001" />
<joint name="joint7" class="joint3" />
<geom class="visual" mesh="link_7" />
<geom class="collision" size="0.06" pos="0 0 0.001" />
<site pos="0 0 0.045" name="attachment_site" />
<body name="endeffector" pos="0 0 0.1">
<geom class="visual" type="sphere" size="0.01" rgba="0 1 0 1" />
<geom class="collision" size="0.03" />
<site name="ee_site" pos="0 0 0" size="0.01" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="base" body2="link1" />
<exclude body1="base" body2="link2" />
<exclude body1="base" body2="link3" />
<exclude body1="link1" body2="link3" />
<exclude body1="link3" body2="link5" />
<exclude body1="link4" body2="link7" />
<exclude body1="link5" body2="link7" />
</contact>
<actuator>
<position name="actuator1" joint="joint1" kp="1000" kv="100" class="joint1" />
<position name="actuator2" joint="joint2" kp="1000" kv="100" class="joint2" />
<position name="actuator3" joint="joint3" kp="1000" kv="100" class="joint1" />
<position name="actuator4" joint="joint4" kp="1000" kv="100" class="joint2" />
<position name="actuator5" joint="joint5" kp="1000" kv="100" class="joint1" />
<position name="actuator6" joint="joint6" kp="1000" kv="100" class="joint2" />
<position name="actuator7" joint="joint7" kp="1000" kv="100" class="joint3" />
<!-- <general name="actuator2" joint="joint2" class="joint2"/>
<general name="actuator3" joint="joint3" class="joint1"/>
<general name="actuator4" joint="joint4" class="joint2"/>
<general name="actuator5" joint="joint5" class="joint1"/>
<general name="actuator6" joint="joint6" class="joint2"/>
<general name="actuator7" joint="joint7" class="joint3"/> -->
</actuator>
<!-- <keyframe>-->
<!-- <key name="home" qpos="0 0.785398 0 -1.5708 0 0 0" />-->
<!-- </keyframe>-->
<!-- <keyframe>-->
<!-- <key name="home" qpos="0 0.785398 0 -1.5708 0 0 0" ctrl="0 0.785398 0 -1.5708 0 0 0"/>-->
<!-- </keyframe>-->
<sensor>
<framepos name="mocap_pos_sens" objtype="body" objname="mocap_sphere" />
<subtreelinvel name="mocap_vel_sens" body="mocap_sphere" />
<framepos name="ee_position_sensor" objtype="site" objname="ee_site" />
<framelinvel name="ee_velocity_sensor" objtype="site" objname="ee_site" />
</sensor>
</mujoco>