google_robot/robot.xml

<mujoco model="robot">
  <compiler angle="radian" assetdir="assets" autolimits="true"/>

  <option timestep="0.004" integrator="implicitfast"/>

  <asset>
    <texture type="2d" name="robot_texture" file="robot_texture.png"/>
    <texture type="2d" name="finger_base_texture" file="finger_base_texture.png"/>
    <texture type="2d" name="finger_tip_texture" file="finger_tip_texture.png"/>
    <material name="robot_mtl" texture="robot_texture"/>
    <material name="finger_base_mtl" texture="finger_base_texture"/>
    <material name="finger_tip_mtl" texture="finger_tip_texture"/>

    <!-- Collision meshes -->
    <mesh file="link_base_0_00.stl"/>
    <mesh file="link_base_0_01.stl"/>
    <mesh file="link_base_1_00.stl"/>
    <mesh file="link_base_1_01.stl"/>
    <mesh file="link_base_1_02.stl"/>
    <mesh file="link_base_1_03.stl"/>
    <mesh file="link_base_1_04.stl"/>
    <mesh file="link_base_1_05.stl"/>
    <mesh file="link_base_1_06.stl"/>
    <mesh file="link_base_1_07.stl"/>
    <mesh file="link_base_1_08.stl"/>
    <mesh file="link_base_1_09.stl"/>
    <mesh file="link_base_1_10.stl"/>
    <mesh file="link_base_1_11.stl"/>
    <mesh file="link_base_1_12.stl"/>
    <mesh file="link_base_1_13.stl"/>
    <mesh file="link_base_1_14.stl"/>
    <mesh file="link_base_1_15.stl"/>
    <mesh file="link_base_1_16.stl"/>
    <mesh file="link_base_1_17.stl"/>
    <mesh file="link_base_1_18.stl"/>
    <mesh file="link_base_1_19.stl"/>
    <mesh file="link_torso_00.stl"/>
    <mesh file="link_torso_01.stl"/>
    <mesh file="link_shoulder.stl"/>
    <mesh file="link_bicep.stl"/>
    <mesh file="link_elbow.stl"/>
    <mesh file="link_forearm.stl"/>
    <mesh file="link_wrist.stl"/>
    <mesh file="link_gripper.stl"/>
    <mesh file="link_head_pan.stl"/>
    <mesh file="link_head_tilt.stl"/>
    <mesh file="link_finger_base.stl"/>
    <mesh file="link_finger_tip.stl"/>

    <!-- Visual meshes -->
    <mesh class="visual" file="link_base_v.obj"/>
    <mesh class="visual" file="link_torso_v.obj"/>
    <mesh class="visual" file="link_shoulder_v.obj"/>
    <mesh class="visual" file="link_bicep_v.obj"/>
    <mesh class="visual" file="link_elbow_v.obj"/>
    <mesh class="visual" file="link_forearm_v.obj"/>
    <mesh class="visual" file="link_wrist_v.obj"/>
    <mesh class="visual" file="link_gripper_v.obj"/>
    <mesh class="visual" file="link_finger_base_v.obj"/>
    <mesh class="visual" file="link_finger_tip_v.obj"/>
    <mesh class="visual" file="link_wheel_v.obj"/>
    <mesh class="visual" file="link_head_pan_v.obj"/>
    <mesh class="visual" file="link_head_tilt_v.obj"/>
  </asset>

  <default>
    <default class="robot">
      <joint damping="10.0" frictionloss="1" armature=".1"/>
      <default class="visual">
        <geom type="mesh" contype="0" conaffinity="0" group="2" material="robot_mtl"/>
      </default>
      <default class="collision">
        <geom type="mesh" rgba="1 1 1 1" group="3" contype="1" conaffinity="1"/>
        <default class="finger_base">
          <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"/>
        </default>
        <default class="finger_tip">
          <geom type="capsule" rgba="1 1 1 1" size="0.01 0.008" quat="1 0 1 0" mass="0.0161862"/>
        </default>
      </default>
    </default>
  </default>

  <worldbody>
    <light pos="0 0 3"/>
    <body name="base_link" childclass="robot" pos="0 0 0.06205">
      <!-- geom for base -->
      <geom class="visual" mesh="link_base_v"/>
      <geom class="collision" mesh="link_base_0_00"/>
      <geom class="collision" mesh="link_base_0_01"/>
      <geom class="collision" mesh="link_base_1_00"/>
      <geom class="collision" mesh="link_base_1_01"/>
      <geom class="collision" mesh="link_base_1_02"/>
      <geom class="collision" mesh="link_base_1_03"/>
      <geom class="collision" mesh="link_base_1_04"/>
      <geom class="collision" mesh="link_base_1_05"/>
      <geom class="collision" mesh="link_base_1_06"/>
      <geom class="collision" mesh="link_base_1_07"/>
      <geom class="collision" mesh="link_base_1_08"/>
      <geom class="collision" mesh="link_base_1_09"/>
      <geom class="collision" mesh="link_base_1_10"/>
      <geom class="collision" mesh="link_base_1_11"/>
      <geom class="collision" mesh="link_base_1_12"/>
      <geom class="collision" mesh="link_base_1_13"/>
      <geom class="collision" mesh="link_base_1_14"/>
      <geom class="collision" mesh="link_base_1_15"/>
      <geom class="collision" mesh="link_base_1_16"/>
      <geom class="collision" mesh="link_base_1_17"/>
      <geom class="collision" mesh="link_base_1_18"/>
      <geom class="collision" mesh="link_base_1_19"/>
      <!-- geom for wheels -->
      <geom class="visual" pos="0 0.18283 0" mesh="link_wheel_v"/>
      <geom class="visual" pos="0 -0.18283 0" mesh="link_wheel_v"/>
      <geom class="collision" pos="0 0.18283 0" size="0.06035 0.00925" quat="1 1 0 0" type="cylinder"/>
      <geom class="collision" pos="0 0.18283 0" size="0.06435 5e-06" quat="1 1 0 0" type="cylinder"/>
      <geom class="collision" pos="0 -0.18283 0" size="0.06035 0.00925" quat="1 1 0 0" type="cylinder"/>
      <geom class="collision" pos="0 -0.18283 0" size="0.06435 5e-06" quat="1 1 0 0" type="cylinder"/>
      <geom class="visual" pos="0 0 1.16902" mesh="link_head_pan_v"/>
      <geom class="collision" pos="0 0 1.16902" mesh="link_head_pan"/>
      <geom class="visual" pos="0.07181 0 1.2875" mesh="link_head_tilt_v"/>
      <geom class="collision" pos="0.07181 0 1.2875" mesh="link_head_tilt"/>
      <!-- arm -->
      <body name="link_torso" pos="0 0 0.5945">
        <inertial pos="0 0 0.108398" diaginertia="0.0184592 0.0154173 0.0102031" mass="2.46883"/>
        <joint name="joint_torso" axis="0 0 1" range="-4.49 1.35"/>
        <geom class="visual" mesh="link_torso_v"/>
        <geom class="collision" mesh="link_torso_00"/>
        <geom class="collision" mesh="link_torso_01"/>
        <body name="link_shoulder" pos="0 -0.167289 0.113" gravcomp="1">
          <inertial pos="0.00108994 0.00565406 0.103479" mass="2.08054" diaginertia="0.0162136 0.0158994 0.00367842"/>
          <joint name="joint_shoulder" axis="0 1 0" range="-2.66 3.18"/>
          <geom class="visual" mesh="link_shoulder_v"/>
          <geom class="collision" mesh="link_shoulder"/>
          <body name="link_bicep" pos="0 0.002289 0.215029" gravcomp="1">
            <inertial pos="9.39565e-05 -0.0191308 0.130972" mass="1.3989"
              diaginertia="0.00828463 0.00826766 0.00210613"/>
            <joint name="joint_bicep" axis="0 0 1" range="-2.13 3.71"/>
            <geom class="visual" mesh="link_bicep_v"/>
            <geom class="collision" mesh="link_bicep"/>
            <body name="link_elbow" pos="1.9206e-12 -0.064 0.185036" gravcomp="1">
              <joint name="joint_elbow" axis="0 1 0" range="-2.05 3.79"/>
              <geom class="visual" mesh="link_elbow_v"/>
              <geom class="collision" mesh="link_elbow" mass="0.788999"/>
              <body name="link_forearm" pos="-1.92032e-12 -0.101 0.0914359" gravcomp="1">
                <joint name="joint_forearm" axis="0 0 1" range="-2.92 2.92"/>
                <geom class="visual" mesh="link_forearm_v"/>
                <geom class="collision" mesh="link_forearm" mass="0.819369"/>
                <body name="link_wrist" pos="0 -0.00604 0.2735" gravcomp="1">
                  <site name="wrist" pos="0 0 0.14"/>
                  <joint name="joint_wrist" axis="0 1 0" range="-1.79 1.79"/>
                  <geom class="visual" mesh="link_wrist_v"/>
                  <geom class="collision" mesh="link_wrist" mass="0.543658"/>
                  <body name="link_gripper" pos="0 0.0060384 0.10911" gravcomp="1">
                    <site name="gripper" pos="0 0 0.13" group="5"/>
                    <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"/>
                    <joint name="joint_gripper" axis="0 0 1" range="-4.49 1.35"/>
                    <geom class="visual" mesh="link_gripper_v"/>
                    <geom class="collision" name="gripper" quat="1 0 0 -1" type="mesh" mesh="link_gripper"/>
                    <!-- right finger -->
                    <body name="link_finger_right" pos="0 0.025 0.05886" quat="0.879969 -0.475032 0 0" gravcomp="1">
                      <joint name="joint_finger_right" axis="1 0 0" range="0.01 1.3" damping="2.0" frictionloss="1"
                        armature=".1"/>
                      <geom class="visual" mesh="link_finger_base_v" material="finger_base_mtl"/>
                      <geom class="collision" mesh="link_finger_base" mass="0.0333245"/>
                      <geom class="finger_base"/>
                      <geom class="finger_base" pos="0 -0.005 0.04"/>
                      <geom class="finger_base" pos="0 -0.005 0.05"/>
                      <body name="link_finger_tip_right" pos="0 -0.0103567 0.0641556" quat="0.995004 0.0998334 0 0"
                        gravcomp="1">
                        <geom class="visual" mesh="link_finger_tip_v" material="finger_tip_mtl"/>
                        <geom class="collision" mesh="link_finger_tip_v" mass="0.0161862"/>
                        <geom class="finger_tip"/>
                        <geom class="finger_tip" pos="0 0 0.01"/>
                        <geom class="finger_tip" pos="0 0 0.02"/>
                        <geom class="finger_tip" pos="0 0 0.03"/>
                        <geom class="finger_tip" pos="0 0 0.04"/>
                      </body>
                    </body>
                    <!-- left finger -->
                    <body name="link_finger_left" pos="0 -0.025 0.05886" quat="0 0 -0.475032 0.879969" gravcomp="1">
                      <joint name="joint_finger_left" axis="1 0 0" range="0.01 1.3" damping="2.0" frictionloss="1"
                        armature=".1"/>
                      <geom class="visual" mesh="link_finger_base_v" material="finger_base_mtl"/>
                      <geom class="collision" mesh="link_finger_base_v" mass="0.0333245"/>
                      <geom class="finger_base"/>
                      <geom class="finger_base" pos="0 -0.005 0.04"/>
                      <geom class="finger_base" pos="0 -0.005 0.05"/>
                      <body name="link_finger_tip_left" pos="0 -0.0103567 0.0641556" quat="0.995004 0.0998334 0 0"
                        gravcomp="1">
                        <geom class="visual" mesh="link_finger_tip_v" material="finger_tip_mtl"/>
                        <geom class="collision" mesh="link_finger_tip" mass="0.0161862"/>
                        <geom class="finger_tip"/>
                        <geom class="finger_tip" pos="0 0 0.01"/>
                        <geom class="finger_tip" pos="0 0 0.02"/>
                        <geom class="finger_tip" pos="0 0 0.03"/>
                        <geom class="finger_tip" pos="0 0 0.04"/>
                      </body>
                    </body>
                  </body>
                  <!-- gripper -->
                </body>
                <!-- wrist -->
              </body>
              <!-- forearm -->
            </body>
            <!-- elbow -->
          </body>
          <!-- bicep -->
        </body>
        <!-- shoulder -->
      </body>
      <!-- torso -->
    </body>
  </worldbody>

  <actuator>
    <position joint="joint_torso" kp="40" ctrlrange="-4.49 1.35" forcerange="-150 150"/>
    <position joint="joint_shoulder" kp="40" ctrlrange="-2.66 3.18" forcerange="-150 150"/>
    <position joint="joint_bicep" kp="40" ctrlrange="-2.13 3.71" forcerange="-30 30"/>
    <position joint="joint_elbow" kp="20" ctrlrange="-2.05 3.79" forcerange="-30 30"/>
    <position joint="joint_forearm" kp="20" ctrlrange="-2.92 2.92" forcerange="-30 30"/>
    <position joint="joint_wrist" kp="10" ctrlrange="-1.79 1.79" forcerange="-30 30"/>
    <position joint="joint_gripper" kp="10" ctrlrange="-4.49 1.35" forcerange="-30 30"/>
    <position joint="joint_finger_right" kp="20" ctrlrange="0.01 1.3" forcerange="-30 30"/>
    <position joint="joint_finger_left" kp="20" ctrlrange="0.01 1.3" forcerange="-30 30"/>
  </actuator>
</mujoco>