| <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> |
| <light name="top" pos="0 0 2" mode="trackcom"/> |
| <body name="base" 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> |
| </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> |
| <general name="joint1" joint="joint1" class="joint1"/> |
| <general name="joint2" joint="joint2" class="joint2"/> |
| <general name="joint3" joint="joint3" class="joint1"/> |
| <general name="joint4" joint="joint4" class="joint2"/> |
| <general name="joint5" joint="joint5" class="joint1"/> |
| <general name="joint6" joint="joint6" class="joint2"/> |
| <general name="joint7" joint="joint7" class="joint3"/> |
| </actuator> |
|
|
| |
| |
| |
| </mujoco> |
|
|
