| <mujoco model="assembly_skeleton"> |
| <compiler angle="radian" meshdir="meshes/"/> |
|
|
| <default> |
| <motor ctrlrange="-1 1" ctrllimited="true"/> |
| <joint actuatorfrclimited="true" type="hinge"/> |
| </default> |
|
|
| <asset> |
| <mesh name="base_link" file="base_link.STL"/> |
| <mesh name="dae_base_link" file="dae/base_link.dae"/> |
| <mesh name="dae_gripper_base_100_v2" file="dae/gripper_base_100_v2.dae"/> |
| <mesh name="dae_link1" file="dae/link1.dae"/> |
| <mesh name="dae_link2" file="dae/link2.dae"/> |
| <mesh name="dae_link3" file="dae/link3.dae"/> |
| <mesh name="dae_link4" file="dae/link4.dae"/> |
| <mesh name="dae_link5" file="dae/link5.dae"/> |
| <mesh name="dae_link7" file="dae/link7.dae"/> |
| <mesh name="dae_link8" file="dae/link8.dae"/> |
| <mesh name="link1" file="link1.STL"/> |
| <mesh name="link2" file="link2.STL"/> |
| <mesh name="link3" file="link3.STL"/> |
| <mesh name="link4" file="link4.STL"/> |
| <mesh name="link5" file="link5.STL"/> |
| <mesh name="link7" file="link7.STL"/> |
| <mesh name="link8" file="link8.STL"/> |
| </asset> |
|
|
| <worldbody> |
| <body name="piper_description_v100"> |
| <inertial pos="-0.0097927 0.0000018 0.04101" mass="0.1625486" diaginertia="0.0002266 0.0002694 0.0002223"/> |
| <freejoint name="piper_description_v100"/> |
| <geom pos="0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.098 0.098 0.098 1" type="mesh" mesh="dae_base_link"/> |
| <body name="piper_description_v100_link1" pos="0 0 0.123" quat="0.7071055 0 0 -0.7071081"> |
| <inertial pos="0.0013168 0.0003103 -0.0092287" mass="0.097868" diaginertia="0.0000777 0.0000925 0.0000825"/> |
| <joint name="piper_description_v100_joint1" pos="0 0 0" type="hinge" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-100 100"/> |
| <geom pos="0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.098 0.098 0.098 1" type="mesh" mesh="dae_link1"/> |
| <body name="piper_description_v100_link2" quat="0.5086483 0.4911975 -0.508652 -0.4911975"> |
| <inertial pos="0.1487936 -0.0024203 0.0017515" mass="0.2908889" diaginertia="0.000149 0.001728 0.0017755"/> |
| <joint name="piper_description_v100_joint2" pos="0 0 0" type="hinge" axis="0 0 1" range="0 3.14" actuatorfrcrange="-100 100"/> |
| <geom pos="0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.098 0.098 0.098 1" type="mesh" mesh="dae_link2"/> |
| <body name="piper_description_v100_link3" pos="0.28358 0.028726 0" quat="0.9994548 0 0 0.0330157"> |
| <inertial pos="-0.0996835 0.0349477 0.000508" mass="0.2908477" diaginertia="0.0001079 0.0002148 0.0002419"/> |
| <joint name="piper_description_v100_joint3" pos="0 0 0" type="hinge" axis="0 0 1" range="-2.697 0" actuatorfrcrange="-100 100"/> |
| <geom pos="0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.098 0.098 0.098 1" type="mesh" mesh="dae_link3"/> |
| <body name="piper_description_v100_link4" pos="-0.24221 0.068514 0" quat="0.5447667 -0.5447687 -0.4508092 0.4508075"> |
| <inertial pos="0.0002765 -0.001028 -0.0047283" mass="0.1270873" diaginertia="0.0000382 0.0000487 0.0000411"/> |
| <joint name="piper_description_v100_joint4" pos="0 0 0" type="hinge" axis="0 0 1" range="-1.832 1.832" actuatorfrcrange="-100 100"/> |
| <geom pos="0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.098 0.098 0.098 1" type="mesh" mesh="dae_link4"/> |
| <body name="piper_description_v100_link5" quat="0.7071055 0.7071081 0 0"> |
| <inertial pos="0.0000882 0.0566829 -0.0019612" mass="0.1447112" diaginertia="0.000044 0.0000563 0.0000489"/> |
| <joint name="piper_description_v100_joint5" pos="0 0 0" type="hinge" axis="0 0 1" range="-1.22 1.22" actuatorfrcrange="-100 100"/> |
| <geom pos="0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.098 0.098 0.098 1" type="mesh" mesh="dae_link5"/> |
| <body name="piper_description_v100_link6" pos="0 0.091 0.0014165" quat="0.4999982 -0.5 -0.5 -0.5000018"> |
| <inertial pos="0.0010312 0.0121761 0.0315481" mass="0.1951871" diaginertia="0.0000644 0.0001261 0.0001541"/> |
| <joint name="piper_description_v100_joint6" pos="0 0 0" type="hinge" axis="0 0 1" range="-3.14 3.14" actuatorfrcrange="-100 100"/> |
| <geom pos="-0.002 -0.0078 0.06" quat="0.7073883 -0.7068252 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.098 0.098 0.098 1" type="mesh" mesh="dae_gripper_base_100_v2"/> |
| <body name="piper_description_v100_link7" pos="0 0 0.13503" quat="0.4999982 0.5 0.5000018 0.5"> |
| <inertial pos="-0.0002778 -0.0467673 -0.0092103" mass="0.0264823" diaginertia="0.00001 0.0000062 0.0000142"/> |
| <joint name="piper_description_v100_joint7" pos="0 0 0" type="slide" axis="0 0 -1" range="0 0.05" actuatorfrcrange="-100 100"/> |
| <geom pos="0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.098 0.098 0.098 1" type="mesh" mesh="dae_link7"/> |
| </body> |
| <body name="piper_description_v100_link8" pos="0 0 0.13503" quat="0.4999982 -0.5 -0.5000018 0.5"> |
| <inertial pos="0.0002778 0.0467674 -0.0092103" mass="0.0264822" diaginertia="0.00001 0.0000062 0.0000142"/> |
| <joint name="piper_description_v100_joint8" pos="0 0 0" type="slide" axis="0 0 1" range="-0.05 0" actuatorfrcrange="-100 100"/> |
| <geom pos="0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.098 0.098 0.098 1" type="mesh" mesh="dae_link8"/> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </worldbody> |
|
|
| <actuator> |
| <motor name="piper_description_v100_joint1" joint="piper_description_v100_joint1"/> |
| <motor name="piper_description_v100_joint2" joint="piper_description_v100_joint2"/> |
| <motor name="piper_description_v100_joint3" joint="piper_description_v100_joint3"/> |
| <motor name="piper_description_v100_joint4" joint="piper_description_v100_joint4"/> |
| <motor name="piper_description_v100_joint5" joint="piper_description_v100_joint5"/> |
| <motor name="piper_description_v100_joint6" joint="piper_description_v100_joint6"/> |
| <motor name="piper_description_v100_joint7" joint="piper_description_v100_joint7"/> |
| <motor name="piper_description_v100_joint8" joint="piper_description_v100_joint8"/> |
| </actuator> |
| </mujoco> |
|
|
