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abr_control/abr_control/arms/jaco2/jaco2.xml

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<mujoco model="jaco2">
<compiler angle="radian" meshdir="meshes" balanceinertia="true"/>
<default>
<light castshadow="false" diffuse="1 1 1" />
<camera fovy="60" />
</default>
<custom>
<numeric name="START_ANGLES" data="2.0 3.14 1.57 4.71 0.0 3.04" />
<numeric name="N_GRIPPER_JOINTS" data="3" />
<text name="google_id" data="1doam-DgkW7OSPnwWZQM84edzX84ot-GK" />
</custom>
<asset>
<!-- arm models -->
<mesh file="link0.STL" />
<mesh file="link1.STL"/>
<mesh file="link2.STL"/>
<mesh file="link3.STL"/>
<mesh file="link4_5.STL"/>
<mesh file="hand_3finger.STL"/>
<mesh file="finger_distal.STL"/>
<mesh file="finger_proximal.STL"/>
<mesh file="ring_big.STL"/>
<mesh file="ring_small.STL"/>
<texture name="floor_tile" file="meshes/floor_tile.png" width="3000" height="3000" type="2d"/>
<material name="tile" texture="floor_tile" specular="0" shininess="0" reflectance="0" emission="1" />
<material name="carbon" specular="1" shininess="1" reflectance="1" rgba="0.05 0.05 0.05 1" emission="1" />
<material name="grey_plastic" specular="0.5" shininess="0" reflectance="0" rgba="0.12 0.14 0.14 1" emission="1" />
<texture name="abr_logo" file="meshes/abr_logo.png" width="193" height="193" type="2d"/>
<material name="logo" texture="abr_logo"/>
<texture name="abr_logo_flip" file="meshes/abr_logo.png" width="193" height="193" type="2d" hflip="true"/>
<material name="logo_flip" texture="abr_logo_flip"/>
<texture name="foam_blocks" file="meshes/foam_blocks.png" width="2744" height="2744" type="2d"/>
<material name="foam" texture="foam_blocks" specular="0" shininess="0" reflectance="0" emission="1" />
</asset>
<worldbody>
<geom name="floor_foam_block" pos="0 0 0" size="0.5 0.5 0.05" type="plane" rgba="1 0.83 0.61 1" material="foam"/>
<geom name="floor_grey_tile" pos="0 0 -0.001" size="0.75 0.75 0.05" type="plane" material="tile"/>
<!-- control visualizations -->
<body name="hand" pos="0 0 -0.15" mocap="true">
<geom type="box" size=".002 .004 .006" rgba="0 .9 0 .5" contype="2" conaffinity="2"/>
</body>
<body name="target" pos="0 0 -0.15" mocap="true">
<geom name="target" type="sphere" size="0.05" rgba=".9 0 0 .5" contype="4" conaffinity="4"/>
</body>
<body name="target_orientation" pos="0 0 -0.15" mocap="true">
<geom type="box" size=".02 .04 .06" rgba=".9 0 0 .5" contype="8" conaffinity="8"/>
</body>
<body name="path_planner" pos="0 0 -0.15" mocap="true">
<geom type="sphere" size="0.05" rgba="0 1 1 0.5" contype="16" conaffinity="16"/>
</body>
<body name="path_planner_orientation" pos="0 0 -0.15" mocap="true">
<geom type="box" size=".02 .04 .06" rgba="0 1 1 .5" contype="32" conaffinity="32"/>
</body>
<body name="obstacle" pos="0 0 -0.15" mocap="true">
<geom type="sphere" size="0.05" rgba="0 0 1 1"/>
</body>
<light directional="true" pos="-0.5 0.5 3" dir="0 0 -1" />
<body name="base_link" pos="0 0 0">
<geom name="link0" type="mesh" mesh="link0" pos="0 0 0" material="carbon"/>
<inertial pos="0.000000 0.000000 0.125500" mass="1.226" diaginertia="0.25 0.25 0.25"/>
<geom type="sphere" size="0.025" pos="0.000000 0.000000 0.125500" rgba="1 0.5 0 1"/>
<body name="link1" pos="0 0 0.157">
<inertial pos="-0.000042 -0.001285 0.112784" mass="0.754000" diaginertia="0.3 0.3 0.3"/>
<geom name="link1" type="mesh" mesh="link1" pos="0 0 0" euler="0 3.14 0" material="carbon"/>
<!-- <geom name="ring0" type="mesh" mesh="ring_big" material="grey_plastic"/> -->
<geom name="joint_logo0" type="cylinder" size="0.032 0.005" material="logo" pos="0 -0.0364 0.1186" euler="1.6 0 0"/>
<joint name="joint0" axis="0 0 -1" pos="0 0 0"/>
<body name="link2" pos="0 0.0016 0.1186">
<inertial pos="0.000014 0.009353 0.329006" mass="1.010000" diaginertia="0.3 0.3 0.3"/>
<geom name="link2" type="mesh" mesh="link2" pos="0 0 0" euler="1.57 0 3.14" material="carbon"/>
<geom name="ring1" type="mesh" mesh="ring_big" material="grey_plastic" euler="1.57 0 0"/>
<geom name="joint_logo1" type="cylinder" size="0.032 0.005" material="logo_flip" pos="0 0.038 0" euler="1.52 0 0"/>
<geom name="joint_logo2" type="cylinder" size="0.032 0.005" material="logo_flip" pos="0 0.0385 0.410" euler="1.62 0 0"/>
<joint name="joint1" pos="0 0 0" axis="0 -1 0" ref="3.14" limited="true" range="0.872665 5.41052"/>
<body name="link3" pos="0 0 0.410">
<inertial pos="-0.000039 -0.018069 0.153270" mass="0.559000" diaginertia="0.275 0.275 0.275"/>
<geom name="link3" type="mesh" mesh="link3" pos="0 0 0" euler="1.57 3.14 0" material="carbon"/>
<geom name="ring2" type="mesh" mesh="ring_big" material="grey_plastic" euler="1.57 0 0"/>
<joint name="joint2" pos="0 0 0" axis="0 1 0" ref="3.14" limited="true" range="0.331613 5.95157"/>
<geom name="joint_logo3" type="cylinder" size="0.032 0.005" material="logo" pos="0 -0.038 0" euler="1.54 0 0"/>
<body name="link4" pos="0 -0.0115 0.2072">
<inertial pos="0.000000 0.032302 0.059705" mass="0.417000" diaginertia="0.175 0.175 0.175"/>
<geom name="link4" type="mesh" mesh="link4_5" euler="3.14 0 0" material="carbon"/>
<geom name="ring3" type="mesh" mesh="ring_small" material="grey_plastic"/>
<joint name="joint3" pos="0 0 0" axis="0 0 -1" ref="0"/>
<body name="link5" pos="0 0.037 0.0641">
<inertial pos="-0.000000 0.035545 0.057833" mass="0.417" diaginertia="0.175 0.175 0.175"/>
<geom name="link5" type="mesh" mesh="link4_5" euler="-1.0472 3.14 0" material="carbon"/>
<geom name="ring4" type="mesh" mesh="ring_small" material="grey_plastic" euler="-1.0471 0 0"/>
<joint name="joint4" pos="0 0 0" axis="0 -1.9 -1.1" ref="0"/>
<body name="link6" pos="0 0.037 0.0641">
<inertial pos="0.000030 -0.006840 0.082220" mass="0.727000" diaginertia="0.025 0.025 0.025"/>
<geom name="link6" type="mesh" mesh="hand_3finger" euler="3.14 0 0" material="carbon" solimp="0.97 0.97 0.01" solref="0.01 1" condim="6" />
<geom name="ring5" type="mesh" mesh="ring_small" material="grey_plastic"/>
<joint name="joint5" pos="0 0 0" axis="0 0 -1" ref="0"/>
<!-- for fingertip EE -->
<!-- <body name="EE" pos="0 0 0.20222" euler="0 0 0"> -->
<!-- </body> -->
<!-- for palm EE -->
<body name="EE" pos="0 0 0.12" euler="0 0 0">
</body>
<body name="thumb_proximal" pos="0.002786 -0.03126 0.114668" quat="0.95922726 0.262085 0.02762996 -0.10213274">
<geom name="thumb_proximal" type="mesh" mesh="finger_proximal" euler="0 -1.5707 0" friction="1 0.5 0.01" solimp="0.95 0.95 0.01 0.5 6" solref="0.01 1" condim="6" margin="0.0"/>
<joint name="joint_thumb" pos="0 0 0" axis="1 0 0" ref="1.1" limited="true" range="-0.2 1.1" solimplimit="0.95 0.95 0.01" solreflimit="0.01 1" stiffness="5" springref="0.0" damping="0.35"/>
<body name="thumb_distal" pos="0 -0.003 0.044">
<geom name="thumb_distal" type="mesh" mesh="finger_distal" euler="0 -1.5707 0" friction="1 0.5 0.01" solimp="0.95 0.95 0.01 0.5 6" solref="0.01 1" condim="6" margin="0.0"/>
<joint name="joint_thumb_distal" pos="0 0 0" axis="-1 0 0" ref="0" limited="true" range="-0.4 0.4" stiffness="5" springref="-0.4" damping="0.5" solimplimit="0.95 0.95 0.01" solreflimit="0.01 1"/>
</body>
</body>
<body name="index_proximal" pos="0.022256 0.027073 0.114668" quat="0.96181018 -0.25771638 0.0238668 -0.08907205">
<geom name="index_proximal" type="mesh" mesh="finger_proximal" quat="5.63312174e-04 7.06824957e-01 -5.62863772e-04 7.07388045e-01" friction="1 0.5 0.01" solimp="0.95 0.95 0.01 0.5 6" solref="0.01 1" condim="6" margin="0.0"/>
<joint name="joint_index" pos="0 0 0" axis="-1 0 0" ref="1.1" limited="true" range="-0.2 1.1" solimplimit="0.95 0.95 0.01" solreflimit="0.01 1" stiffness="5" springref="0.0" damping="0.35"/>
<body name="index_distal" pos="0 0.003 0.044">
<geom name="index_distal" type="mesh" mesh="finger_distal" quat="5.63312174e-04 7.06824957e-01 -5.62863772e-04 7.07388045e-01" friction="1 0.5 0.01" solimp="0.95 0.95 0.01 0.5 6" solref="0.01 1" condim="6" margin="0.0"/>
<joint name="joint_index_distal" pos="0 0 0" axis="1 0 0" ref="0" limited="true" range="-0.4 0.4" stiffness="5" springref="-0.4" damping="0.5" solimplimit="0.95 0.95 0.01" solreflimit="0.01 1"/>
</body>
</body>
<body name="pinky_proximal" pos="-0.022256 0.027073 0.114816" quat="0.96181018 -0.25771638 -0.0238668 0.08907205">
<geom name="pinky_proximal" type="mesh" mesh="finger_proximal" quat="5.63312174e-04 7.06824957e-01 -5.62863772e-04 7.07388045e-01" friction="1 0.5 0.01" solimp="0.95 0.95 0.01 0.5 6" solref="0.01 1" condim="6" margin="0.0"/>
<joint name="joint_pinky" pos="0 0 0" axis="-1 0 0" ref="1.1" limited="true" range="-0.2 1.1" solimplimit="0.95 0.95 0.01" solreflimit="0.01 1" stiffness="5" springref="0.0" damping="0.35"/>
<body name="pinky_distal" pos="0 0.003 0.044">
<geom name="pinky_distal" type="mesh" mesh="finger_distal" quat="5.63312174e-04 7.06824957e-01 -5.62863772e-04 7.07388045e-01" friction="1 0.5 0.01" solimp="0.95 0.95 0.01 0.5 6" solref="0.01 1" condim="6" margin="0.0"/>
<joint name="joint_pinky_distal" pos="0 0 0" axis="1 0 0" ref="0" limited="true" range="-0.4 0.4" stiffness="5" springref="0.4" damping="0.5" solimplimit="0.95 0.95 0.01" solreflimit="0.01 1"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="joint0_motor" joint="joint0"/>
<motor name="joint1_motor" joint="joint1"/>
<motor name="joint2_motor" joint="joint2"/>
<motor name="joint3_motor" joint="joint3"/>
<motor name="joint4_motor" joint="joint4"/>
<motor name="joint5_motor" joint="joint5"/>
<motor name="joint_thumb_motor" joint="joint_thumb"/>
<motor name="joint_index_motor" joint="joint_index"/>
<motor name="joint_pinky_motor" joint="joint_pinky"/>
</actuator>
</mujoco>