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robot-simulation-lab / workstation /v01 /scene.xml
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tarzelf
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<mujoco model="dvidia_live_piper_workstation_v01">
<compiler angle="radian" meshdir="assets/"/>
<option impratio="10" integrator="implicitfast" cone="elliptic"/>
<default>
<default class="piper">
<joint armature="0.005" frictionloss="0.3"/>
<general forcerange="-100 100" biastype="affine" biasprm="0 -1"/>
<default class="finger">
<joint type="slide" frictionloss="0"/>
<general forcerange="-10 10"/>
</default>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2" density="0"/>
</default>
<default class="collision">
<geom type="capsule" group="3"/>
</default>
</default>
</default>
<asset>
<material name="gray_mat" rgba="0.59 0.59 0.59 1"/>
<material name="light_gray_mat" rgba="0.98 0.98 0.98 1"/>
<material name="light_medium_gray_mat" rgba="0.85 0.85 0.85 1"/>
<material name="dark_gray_mat" rgba="0.086 0.086 0.086 1"/>
<material name="darker_gray_mat" rgba="0.14 0.14 0.14 1"/>
<material name="white_mat"/>
<material name="red_mat" rgba="0.82 0.15 0.15 1"/>
<material name="black_mat" rgba="0 0 0 1"/>
<material name="light_blue" rgba="0.79 0.82 0.93 1"/>
<mesh name="link2_0" content_type="model/obj" file="link2_0.obj"/>
<mesh name="link2_1" content_type="model/obj" file="link2_1.obj"/>
<mesh name="link2_2" content_type="model/obj" file="link2_2.obj"/>
<mesh name="link2_3" content_type="model/obj" file="link2_3.obj"/>
<mesh name="link2_4" content_type="model/obj" file="link2_4.obj"/>
<mesh name="link2_5" content_type="model/obj" file="link2_5.obj"/>
<mesh name="link2_6" content_type="model/obj" file="link2_6.obj"/>
<mesh name="link2_7" content_type="model/obj" file="link2_7.obj"/>
<mesh name="link2_8" content_type="model/obj" file="link2_8.obj"/>
<mesh name="link2_9" content_type="model/obj" file="link2_9.obj"/>
<mesh name="link2_10" content_type="model/obj" file="link2_10.obj"/>
<mesh name="link2_11" content_type="model/obj" file="link2_11.obj"/>
<mesh name="link2_12" content_type="model/obj" file="link2_12.obj"/>
<mesh name="link2_13" content_type="model/obj" file="link2_13.obj"/>
<mesh name="link2_14" content_type="model/obj" file="link2_14.obj"/>
<mesh name="link2_15" content_type="model/obj" file="link2_15.obj"/>
<mesh name="link2_16" content_type="model/obj" file="link2_16.obj"/>
<mesh name="link2_17" content_type="model/obj" file="link2_17.obj"/>
<mesh name="link2_18" content_type="model/obj" file="link2_18.obj"/>
<mesh name="link2_19" content_type="model/obj" file="link2_19.obj"/>
<mesh name="link2_20" content_type="model/obj" file="link2_20.obj"/>
<mesh name="link2_21" content_type="model/obj" file="link2_21.obj"/>
<mesh name="link2_22" content_type="model/obj" file="link2_22.obj"/>
<mesh name="link2_23" content_type="model/obj" file="link2_23.obj"/>
<mesh name="link2_24" content_type="model/obj" file="link2_24.obj"/>
<mesh name="link2_25" content_type="model/obj" file="link2_25.obj"/>
<mesh name="link2_26" content_type="model/obj" file="link2_26.obj"/>
<mesh name="link2_27" content_type="model/obj" file="link2_27.obj"/>
<mesh name="link2_28" content_type="model/obj" file="link2_28.obj"/>
<mesh name="link2_29" content_type="model/obj" file="link2_29.obj"/>
<mesh name="link2_30" content_type="model/obj" file="link2_30.obj"/>
<mesh name="link2_31" content_type="model/obj" file="link2_31.obj"/>
<mesh name="link3_0" content_type="model/obj" file="link3_0.obj"/>
<mesh name="link3_1" content_type="model/obj" file="link3_1.obj"/>
<mesh name="link3_2" content_type="model/obj" file="link3_2.obj"/>
<mesh name="link3_3" content_type="model/obj" file="link3_3.obj"/>
<mesh name="link3_4" content_type="model/obj" file="link3_4.obj"/>
<mesh name="link3_5" content_type="model/obj" file="link3_5.obj"/>
<mesh name="link3_7" content_type="model/obj" file="link3_7.obj"/>
<mesh name="link3_8" content_type="model/obj" file="link3_8.obj"/>
<mesh name="link3_9" content_type="model/obj" file="link3_9.obj"/>
<mesh name="link3_10" content_type="model/obj" file="link3_10.obj"/>
<mesh name="link3_11" content_type="model/obj" file="link3_11.obj"/>
<mesh name="link3_12" content_type="model/obj" file="link3_12.obj"/>
<mesh name="link3_13" content_type="model/obj" file="link3_13.obj"/>
<mesh name="link3_14" content_type="model/obj" file="link3_14.obj"/>
<mesh name="link3_15" content_type="model/obj" file="link3_15.obj"/>
<mesh name="link3_16" content_type="model/obj" file="link3_16.obj"/>
<mesh name="link3_17" content_type="model/obj" file="link3_17.obj"/>
<mesh name="link3_18" content_type="model/obj" file="link3_18.obj"/>
<mesh name="link3_19" content_type="model/obj" file="link3_19.obj"/>
<mesh name="link3_20" content_type="model/obj" file="link3_20.obj"/>
<mesh name="link3_21" content_type="model/obj" file="link3_21.obj"/>
<mesh name="link3_22" content_type="model/obj" file="link3_22.obj"/>
<mesh name="link3_23" content_type="model/obj" file="link3_23.obj"/>
<mesh name="link3_24" content_type="model/obj" file="link3_24.obj"/>
<mesh name="link3_25" content_type="model/obj" file="link3_25.obj"/>
<mesh name="link3_26" content_type="model/obj" file="link3_26.obj"/>
<mesh name="link3_27" content_type="model/obj" file="link3_27.obj"/>
<mesh name="link3_28" content_type="model/obj" file="link3_28.obj"/>
<mesh name="link4_2" content_type="model/obj" file="link4_2.obj"/>
<mesh name="link4_3" content_type="model/obj" file="link4_3.obj"/>
<mesh name="link4_4" content_type="model/obj" file="link4_4.obj"/>
<mesh name="link4_5" content_type="model/obj" file="link4_5.obj"/>
<mesh name="link4_6" content_type="model/obj" file="link4_6.obj"/>
<mesh name="link5_2" content_type="model/obj" file="link5_2.obj"/>
<mesh name="link5_3" content_type="model/obj" file="link5_3.obj"/>
<mesh name="link5_4" content_type="model/obj" file="link5_4.obj"/>
<mesh name="link5_5" content_type="model/obj" file="link5_5.obj"/>
<mesh name="link5_6" content_type="model/obj" file="link5_6.obj"/>
<mesh name="link5_7" content_type="model/obj" file="link5_7.obj"/>
<mesh name="link5_8" content_type="model/obj" file="link5_8.obj"/>
<mesh name="base_link" content_type="model/stl" file="base_link.stl"/>
<mesh name="link1" content_type="model/stl" file="link1.stl"/>
<mesh name="link2" content_type="model/stl" file="link2.stl"/>
<mesh name="link2_gray" content_type="model/stl" file="link2_gray.stl"/>
<mesh name="link3" content_type="model/stl" file="link3.stl"/>
<mesh name="link4" content_type="model/stl" file="link4.stl"/>
<mesh name="link5" content_type="model/stl" file="link5.stl"/>
<mesh name="link6" content_type="model/stl" file="link6.stl"/>
<mesh name="link7" content_type="model/stl" file="link7.stl"/>
<mesh name="link8" content_type="model/stl" file="link8.stl"/>
</asset>
<worldbody>
<geom name="workstation_floor" size="2 2 0.1" pos="0 0 -0.8" type="plane" rgba="0.82 0.84 0.79 1"/>
<geom name="workstation_table_top" size="0.65 0.46 0.04" pos="0.22 0 -0.04" type="box" rgba="0.62 0.43 0.26 1"/>
<geom name="workstation_table_leg_0" size="0.028 0.028 0.36" pos="-0.34 -0.37 -0.44" type="box" rgba="0.16 0.19 0.2 1"/>
<geom name="workstation_table_leg_1" size="0.028 0.028 0.36" pos="-0.34 0.37 -0.44" type="box" rgba="0.16 0.19 0.2 1"/>
<geom name="workstation_table_leg_2" size="0.028 0.028 0.36" pos="0.77 -0.37 -0.44" type="box" rgba="0.16 0.19 0.2 1"/>
<geom name="workstation_table_leg_3" size="0.028 0.028 0.36" pos="0.77 0.37 -0.44" type="box" rgba="0.16 0.19 0.2 1"/>
<geom name="workstation_rack_shelf" size="0.2 0.1 0.012" pos="0.37 0.33 0.1" type="box" rgba="0.49 0.35 0.23 1"/>
<geom name="workstation_rack_side_0" size="0.012 0.11 0.065" pos="0.165 0.33 0.065" type="box" rgba="0.23 0.27 0.26 1"/>
<geom name="workstation_rack_side_1" size="0.012 0.11 0.065" pos="0.575 0.33 0.065" type="box" rgba="0.23 0.27 0.26 1"/>
<geom name="workstation_rack_back" size="0.2 0.009 0.065" pos="0.37 0.435 0.065" type="box" rgba="0.23 0.27 0.26 1"/>
<light name="spotlight" target="link8" pos="0 0 1" mode="targetbodycom"/>
<body name="base_link" childclass="piper" gravcomp="1">
<inertial pos="-0.00979275 1.82906e-06 0.04101" quat="0.692988 -0.137524 -0.137826 0.69416" mass="0.162549" diaginertia="0.000269445 0.000227478 0.000221437"/>
<geom class="visual" quat="1 0 0 0" material="gray_mat" mesh="base_link"/>
<geom class="collision" size="0.0357691 0.024065" pos="-0.0107422 1.86147e-06 0.0395259" quat="0.536726 0.460902 0.460261 0.536334"/>
<body name="link1" pos="0 0 0.123" quat="0.707105 0 0 -0.707108" gravcomp="1">
<inertial pos="0.00131676 0.000310289 -0.00922875" quat="0.557105 0.432155 0.377373 0.600388" mass="0.097868" diaginertia="9.25942e-05 8.3083e-05 7.69469e-05"/>
<joint name="joint1" range="-2.618 2.618"/>
<geom class="visual" quat="1 0 0 0" material="gray_mat" mesh="link1"/>
<geom class="collision" size="0.0271645 0.0182943" pos="0.00101464 -0.000188218 -0.00563398" quat="0.51914 0.484099 0.499514 0.496616"/>
<body name="link2" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="1">
<inertial pos="0.148794 -0.00242027 0.00175155" quat="-0.0249063 0.70684 0.00803509 0.706889" mass="0.290889" diaginertia="0.00177549 0.00173142 0.00014552"/>
<joint name="joint2" range="0 3.14"/>
<geom class="visual" pos="0 0 0" quat="1 0 0 0" material="gray_mat" mesh="link2_0"/>
<geom class="visual" pos="0 0 0" quat="1 0 0 0" material="darker_gray_mat" mesh="link2_1"/>
<geom class="visual" pos="0 0 0" quat="1 0 0 0" material="darker_gray_mat" mesh="link2_2"/>
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<geom class="visual" pos="0 0 0" quat="1 0 0 0" material="red_mat" mesh="link2_8"/>
<geom class="visual" pos="0 0 0" quat="1 0 0 0" material="red_mat" mesh="link2_9"/>
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<joint name="joint3" range="-2.697 0"/>
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<geom class="visual" pos="0 0 0" quat="1 0 0 0" material="white_mat" mesh="link3_10"/>
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<geom class="visual" quat="1 0 0 0" material="gray_mat" mesh="link3_17"/>
<geom class="visual" pos="0 0 0" quat="1 0 0 0" material="gray_mat" mesh="link3_18"/>
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<geom class="visual" quat="1 0 0 0" material="gray_mat" mesh="link3_23"/>
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<geom class="visual" material="gray_mat" mesh="link3_25"/>
<geom class="visual" material="gray_mat" mesh="link3_26"/>
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<joint name="joint4" range="-1.832 1.832"/>
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<geom class="visual" quat="1 0 0 0" material="gray_mat" mesh="link4_5"/>
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<geom class="collision" size="0.0238936 0.016908" pos="0.000761852 -0.00691041 -0.0082418" quat="0.955364 0.287171 -0.06124 0.0325818"/>
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<joint name="joint5" range="-1.22 1.22"/>
<geom class="visual" quat="1 0 0 0" material="black_mat" mesh="link5_2"/>
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<geom class="visual" quat="1 0 0 0" material="gray_mat" mesh="link5_5"/>
<geom class="visual" quat="1 0 0 0" material="light_gray_mat" mesh="link5_6"/>
<geom class="visual" pos="0 0 0" quat="1 0 0 0" material="gray_mat" mesh="link5_7"/>
<geom class="visual" pos="0 0 0" quat="1 0 0 0" material="gray_mat" mesh="link5_8"/>
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<joint name="joint6" range="-3.14 3.14"/>
<geom class="visual" pos="0 0 0" quat="0.707105 0 0 0.707108" material="gray_mat" mesh="link6"/>
<geom class="collision" size="0.0264136 0.0296273" pos="-0.000316499 -5.15037e-08 0.0332864" quat="0.00759712 -0.00727331 0.707074 0.707062"/>
<site name="workstation_tcp" size="0.004" pos="0 0 0.12003" rgba="0.18 0.65 0.49 1"/>
<body name="link7" pos="0 0 0.13503" quat="1.89468e-08 1.89469e-08 0.707108 0.707105" gravcomp="1">
<inertial pos="-0.000277778 -0.0467673 -0.00921029" quat="0.46134 0.536174 -0.553273 0.439968" mass="0.0264823" diaginertia="0.001 0.001 0.001"/>
<joint name="joint7" class="finger" range="0 0.035" axis="0 0 -1"/>
<geom class="visual" quat="1 0 0 0" material="gray_mat" mesh="link7"/>
<geom class="collision" size="0.012 0.015 0.0025" pos="0 -0.015 -0.0025" type="box" rgba="1 0 0 0.2"/>
<geom class="collision" size="0.015 0.015 0.0025" pos="0 -0.045 -0.0025" type="box" rgba="0 0 1 0.2"/>
</body>
<body name="link8" pos="0 0 0.13503" quat="1.89468e-08 -1.89469e-08 -0.707108 0.707105" gravcomp="1">
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<joint name="joint8" class="finger" range="-0.035 0"/>
<geom class="visual" pos="0 0 0" quat="1 0 0 0" material="gray_mat" mesh="link8"/>
<geom class="collision" size="0.012 0.015 0.0025" pos="0 0.015 -0.0025" type="box" rgba="1 0 0 0.2"/>
<geom class="collision" size="0.015 0.015 0.0025" pos="0 0.045 -0.0025" type="box" rgba="0 0 1 0.2"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="shoe_trainer_left" pos="0.32 -0.145 0.012">
<joint name="shoe_trainer_left_free" type="free"/>
<geom name="shoe_trainer_left_sole" size="0.14 0.05 0.01" pos="0 0 0.01" type="box" condim="4" priority="1" friction="0.8" rgba="0.16 0.17 0.18 1" mass="0.105"/>
<geom name="shoe_trainer_left_upper" size="0.122 0.047 0.035" pos="-0.005 0.003 0.052" type="ellipsoid" condim="4" priority="1" friction="0.8" rgba="0.2 0.38 0.58 1" mass="0.165"/>
<geom name="shoe_trainer_left_toe" size="0.04 0.047 0.026" pos="0.095 0.003 0.045" type="ellipsoid" condim="4" priority="1" friction="0.8" rgba="0.78 0.82 0.83 1" mass="0.03"/>
</body>
</worldbody>
<contact>
<exclude body1="base_link" body2="link1"/>
</contact>
<equality>
<joint joint1="joint8" joint2="joint7" polycoef="0 -1 0 0 0"/>
</equality>
<actuator>
<general name="joint1" class="piper" joint="joint1" ctrlrange="-2.618 2.618" gainprm="80" biasprm="0 -80 -5"/>
<general name="joint2" class="piper" joint="joint2" ctrlrange="0 3.14" gainprm="80" biasprm="0 -80 -5"/>
<general name="joint3" class="piper" joint="joint3" ctrlrange="-2.697 0" gainprm="80" biasprm="0 -80 -5"/>
<general name="joint4" class="piper" joint="joint4" ctrlrange="-1.832 1.832" gainprm="40" biasprm="0 -40 -5"/>
<general name="joint5" class="piper" joint="joint5" ctrlrange="-1.22 1.22" gainprm="10" biasprm="0 -10 -1.5"/>
<general name="joint6" class="piper" joint="joint6" ctrlrange="-3.14 3.14" gainprm="10" biasprm="0 -10 -1.5"/>
<general name="gripper" class="finger" joint="joint7" ctrlrange="0 0.035" gainprm="40" biasprm="0 -40 -5"/>
</actuator>
</mujoco>