| <?xml version='1.0' encoding='utf-8'?> |
| <mujoco model="scene_enriched"> |
| <compiler angle="radian" autolimits="true" /> |
| <option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" cone="elliptic" /> |
| <visual> |
| <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0" /> |
| <global azimuth="120" elevation="-20" offwidth="1280" offheight="720" /> |
| </visual> |
| <asset> |
| <material class="ur5e" name="black" rgba="0.033 0.033 0.033 1" /> |
| <material class="ur5e" name="jointgray" rgba="0.278 0.278 0.278 1" /> |
| <material class="ur5e" name="linkgray" rgba="0.82 0.82 0.82 1" /> |
| <material class="ur5e" name="urblue" rgba="0.49 0.678 0.8 1" /> |
| <mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/base_0.obj" /> |
| <mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/base_1.obj" /> |
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| <mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/shoulder_1.obj" /> |
| <mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/shoulder_2.obj" /> |
| <mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/upperarm_0.obj" /> |
| <mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/upperarm_1.obj" /> |
| <mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/upperarm_2.obj" /> |
| <mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/upperarm_3.obj" /> |
| <mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/forearm_0.obj" /> |
| <mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/forearm_1.obj" /> |
| <mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/forearm_2.obj" /> |
| <mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/forearm_3.obj" /> |
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| <mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/wrist2_1.obj" /> |
| <mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/wrist2_2.obj" /> |
| <mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/wrist3.obj" /> |
| </asset> |
| <worldbody> |
| <light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true" diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2" /> |
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| <geom name="floor_02" type="box" pos="3.000000 1.500000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" /> |
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| <geom name="prop_concave_large_001_fume_extraction_hood" type="box" pos="3.000000 3.800000 2.900000" size="0.600000 0.600000 0.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" /> |
| <geom name="prop_concave_large_002_gas_cylinder_rack" type="box" pos="5.000000 5.200000 0.700000" size="0.400000 0.222500 0.725000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" /> |
| <geom name="prop_concave_large_003_welding_helmet" type="box" pos="1.200000 5.150000 1.575000" size="0.125000 0.212500 0.125000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" /> |
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| <body name="ur5e_mount" pos="3.6 3.65 0.445"> |
| <geom name="ur5e_mount_geom" type="box" size="0.18 0.18 0.445" rgba="0.20 0.22 0.25 1" friction="0.8 0.02 0.005" condim="6" /> |
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| <body name="ur5e_base" quat="1 0 0 0" childclass="ur5e" pos="3.6 3.65 0.89"> |
| <inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072" /> |
| <geom mesh="base_0" material="black" class="visual" /> |
| <geom mesh="base_1" material="jointgray" class="visual" /> |
| <body name="shoulder_link" pos="0 0 0.163"> |
| <inertial mass="3.7" pos="0 0 0" diaginertia="0.0102675 0.0102675 0.00666" /> |
| <joint name="shoulder_pan_joint" class="size3" axis="0 0 1" /> |
| <geom mesh="shoulder_0" material="urblue" class="visual" /> |
| <geom mesh="shoulder_1" material="black" class="visual" /> |
| <geom mesh="shoulder_2" material="jointgray" class="visual" /> |
| <geom class="collision" size="0.06 0.06" pos="0 0 -0.04" /> |
| <body name="upper_arm_link" pos="0 0.138 0" quat="1 0 1 0"> |
| <inertial mass="8.393" pos="0 0 0.2125" diaginertia="0.133886 0.133886 0.0151074" /> |
| <joint name="shoulder_lift_joint" class="size3" /> |
| <geom mesh="upperarm_0" material="linkgray" class="visual" /> |
| <geom mesh="upperarm_1" material="black" class="visual" /> |
| <geom mesh="upperarm_2" material="jointgray" class="visual" /> |
| <geom mesh="upperarm_3" material="urblue" class="visual" /> |
| <geom class="collision" pos="0 -0.04 0" quat="1 1 0 0" size="0.06 0.06" /> |
| <geom class="collision" size="0.05 0.2" pos="0 0 0.2" /> |
| <body name="forearm_link" pos="0 -0.131 0.425"> |
| <inertial mass="2.275" pos="0 0 0.196" diaginertia="0.0311796 0.0311796 0.004095" /> |
| <joint name="elbow_joint" class="size3_limited" /> |
| <geom mesh="forearm_0" material="urblue" class="visual" /> |
| <geom mesh="forearm_1" material="linkgray" class="visual" /> |
| <geom mesh="forearm_2" material="black" class="visual" /> |
| <geom mesh="forearm_3" material="jointgray" class="visual" /> |
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| <geom class="collision" size="0.038 0.19" pos="0 0 0.2" /> |
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| <geom class="collision" pos="0 0.05 0" quat="1 1 0 0" size="0.04 0.07" /> |
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| <joint name="wrist_2_joint" axis="0 0 1" class="size1" /> |
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| <geom mesh="wrist2_1" material="urblue" class="visual" /> |
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| <geom class="collision" pos="0 0.02 0.1" quat="1 1 0 0" size="0.04 0.04" /> |
| <body name="wrist_3_link" pos="0 0 0.1"> |
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| <site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0" /> |
| <body name="weld_tool_tip" pos="0 0.1 0"> |
| <geom name="weld_tool_tip_geom" type="sphere" size="0.004" mass="0.02" friction="0.6 0.01 0.002" condim="6" rgba="1 0.35 0.05 1" /> |
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| <default> |
| <default class="ur5e"> |
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| <joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1" /> |
| <general gaintype="fixed" biastype="affine" ctrlrange="-6.2831 6.2831" gainprm="2000" biasprm="0 -2000 -400" forcerange="-150 150" /> |
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| <default class="size3_limited"> |
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| <general ctrlrange="-3.1415 3.1415" /> |
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| <default class="visual"> |
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| <default class="collision"> |
| <geom type="capsule" group="3" /> |
| <default class="eef_collision"> |
| <geom type="cylinder" /> |
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| <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4" /> |
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| </default> |
| <actuator> |
| <general class="size3" name="shoulder_pan" joint="shoulder_pan_joint" /> |
| <general class="size3" name="shoulder_lift" joint="shoulder_lift_joint" /> |
| <general class="size3_limited" name="elbow" joint="elbow_joint" /> |
| <general class="size1" name="wrist_1" joint="wrist_1_joint" /> |
| <general class="size1" name="wrist_2" joint="wrist_2_joint" /> |
| <general class="size1" name="wrist_3" joint="wrist_3_joint" /> |
| </actuator> |
| <keyframe> |
| <key name="m2_init" qpos="0 -1.45 1.75 -1.85 -1.57 0" qvel="0 0 0 0 0 0" ctrl="0 -1.45 1.75 -1.85 -1.57 0" /> |
| </keyframe> |
| </mujoco> |
