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jaco_arm.xml
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76 lines (71 loc) · 3.12 KB
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<mujoco model="jaco_arm">
<compiler angle="radian" meshdir="meshes_decimated/"/>
<include file="common.xml"/>
<asset>
<mesh name="base" file="base.stl"/>
<mesh name="shoulder" file="shoulder.stl"/>
<mesh name="arm" file="arm.stl"/>
<mesh name="forearm" file="forearm.stl"/>
<mesh name="wrist" file="wrist.stl"/>
</asset>
<default>
<geom type="mesh" material="dark_gray" condim="3" contype="3" conaffinity="2"/>
<joint type="hinge" damping="0.01"/>
<default class="large_joint">
<joint armature="4" frictionloss="2"/>
</default>
<default class="small_joint">
<joint armature="2" frictionloss="1"/>
</default>
<default class="ring">
<geom type="cylinder" material="light_gray" mass="0"/>
<default class="large_ring">
<geom size="0.044 0.011"/>
</default>
<default class="small_ring">
<geom size="0.035 0.009"/>
</default>
</default>
</default>
<worldbody>
<body name="b_base">
<geom name="base" mesh="base" mass="0.718306"/>
<body name="b_1" pos="0 0 0.15675" quat="0 0 1 0">
<joint name="joint_1" class="large_joint"/>
<geom name="link_1" mesh="shoulder" mass="0.643205"/>
<geom name="ring_1" class="large_ring"/>
<body name="b_2" pos="0 0.0016 -0.11875" quat="0 0 -0.707107 0.707107">
<joint name="joint_2" class="large_joint" limited="true" range="0.820305 5.462881" />
<geom name="link_2" mesh="arm" mass="1.16915"/>
<geom name="ring_2" class="large_ring"/>
<body name="b_3" pos="0 -0.41 0" quat="0 0 1 0">
<joint name="joint_3" class="large_joint" limited="true" range="0.331613 5.951573"/>
<geom name="link_3" mesh="forearm" mass="0.673443"/>
<geom name="ring_3" class="large_ring"/>
<body name="b_4" pos="0 0.2073 -0.0114" quat="0 0 -0.707107 0.707107">
<joint name="joint_4" class="small_joint"/>
<geom name="link_4" mesh="wrist" mass="0.221432"/>
<geom name="ring_4" class="small_ring"/>
<body name="b_5" pos="0 -0.03703 -0.06414" quat="0 0 0.5 0.866025">
<joint name="joint_5" class="small_joint"/>
<geom name="link_5" mesh="wrist" mass="0.221432"/>
<geom name="ring_5" class="small_ring"/>
<body name="b_6" pos="0 -0.03703 -0.06414" quat="0 0 0.5 0.866025">
<joint name="joint_6" class="small_joint"/>
<!-- This geom has a tiny mass because MuJoCo doesn't allow massless bodies with
DOFs. Normally the gripper would be attached as a child of this body. -->
<geom name="ring_6" class="small_ring" mass="1e-9"/>
<site name="wristsite" quat="0. 0.70710678118 0.70710678118 0."/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<!-- Prevent contact between the base and the first body when the base is a direct child of the worldbody. -->
<contact>
<exclude body1='b_base' body2='b_1'/>
</contact>
</mujoco>