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<mujoco model="ur5gripper">
<compiler angle="radian"
inertiafromgeom="true"
texturedir="textures/"
eulerseq="xyz"
meshdir="mesh/visual/"/>
<option timestep="2e-3"
iterations="10"
tolerance="1e-10"
impratio="20"/>
<size njmax="600" nconmax="150" nstack="300000"/>
<default>
<site rgba="0.8 0.6 0.7 0.3" type="ellipsoid" group="3"/>
<geom contype='1' conaffinity='1' condim='4' margin="1e-3" solref=".01 1" solimp=".99 .99 .01" />
<joint armature="0.01" damping=".1"/>
<default class="UR5">
<joint damping='65'/>
</default>
<default class="UR5e">
<joint damping='45'/>
</default>
<default class="GRIPPER">
<joint damping='5'/>
</default>
</default>
<visual>
<map fogstart="3" fogend="5" znear="0.05"/>
<quality shadowsize="2048"/>
<scale framelength="0.1"
framewidth="0.005"
contactwidth="0.1"
contactheight="0.005"
forcewidth="0.01"
/>
</visual>
<!--Assets-->
<asset>
<!--Meshes-->
<mesh name="base" file="base.stl" />
<mesh name="shoulder" file="shoulder.stl" />
<mesh name="upperarm" file="upperarm.stl" />
<mesh name="forearm" file="forearm.stl" />
<mesh name="wrist1" file="wrist1.stl" />
<mesh name="wrist2" file="wrist2.stl" />
<mesh name="wrist3" file="wrist3.stl" />
<mesh name="link_0" file="link_0.STL" />
<mesh name="link_1" file="link_1.STL" />
<mesh name="link_2" file="link_2.STL" />
<mesh name="link_3" file="link_3.STL" />
<mesh name="ee_mount" file="end_effector_mount.stl" scale="0.001 0.001 0.001"/>
<mesh name="handle" file="handle_c.STL" scale="0.001 0.001 0.001"/>
<mesh name="main_tray" file="tray_ass.STL" scale="0.001 0.001 0.001"/>
<!--Textures-->
<texture name="ur5_tex" type="2d" builtin="flat" height="32" width="32" rgb1="0.45 0.45 0.45" />
<texture name="bench_tex" type="2d" builtin="flat" height="32" width="32" rgb1="0.7 0.7 0.7" />
<texture name="sky_tex" type="skybox" builtin="gradient" width="100" height="100" rgb1="1 1 1" rgb2="0.3 0.3 0.8" />
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01" />
<texture name="floor_tex" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 .2 .3" width="100" height="100" />
<texture name="wood" type="cube" file="wood2.png"/>
<texture name="plywood" type="cube" file="wood3.png"/>
<texture name="green_pla" type="cube" file="pla.png"/>
<texture name="metal" type="cube" file="metal2.png"/>
<!--Materials-->
<material name="ur5_mat" texture="ur5_tex" shininess="0.9" specular="0.75" reflectance="0.3"/>
<material name='floor_mat' texture="floor_tex" shininess="0.8" texrepeat="10 10" specular="0.7" reflectance="0.5" />
<material name='geom' texture="texgeom" texuniform="true" />
<material name="bench_mat" texture="metal" shininess="0.1" specular="0.5" reflectance="0.2"/>
<material name="tablecube" texture="wood" rgba=".8 .8 .8 1"/>
<material name="plywood" texture="plywood" rgba=".8 .8 .8 1"/>
<material name="pla" texture="green_pla" rgba=".8 .8 .8 1"/>
</asset>
<!--Contacts-->
<contact>
<exclude body1="box_link" body2="base_link"/>
<exclude body1="base_link" body2="shoulder_link"/>
<exclude body1="shoulder_link" body2="upper_arm_link"/>
<exclude body1="upper_arm_link" body2="forearm_link"/>
<exclude body1="forearm_link" body2="wrist_1_link"/>
<exclude body1="wrist_1_link" body2="wrist_2_link"/>
<exclude body1="wrist_2_link" body2="wrist_3_link"/>
<exclude body1="ee_link" body2="wrist_3_link"/>
<exclude body1="ee_link" body2="handle_link"/>
<exclude body1="main_tray_link" body2="handle_link"/>
</contact>
<!--MODEL DESCRIPTION-->
<worldbody>
<!--Lighting parameters-->
<light name="light3" mode="targetbody" target="box_link" directional="true" pos="1 1 3" />
<!--Camera parameters.-->
<camera name="main1" mode="fixed" target="main_tray_link" pos="1 1 3" euler="-0.4 0.4 0"/>
<!--Floor Property-->
<geom name='floor' material="floor_mat" pos='0 0 0' size='2.5 2.5 0.1' type='plane' />
<!--Robot UR5-->
<body name="box_link" pos="0 0 0.435">
<!--<geom size=".3 .2 .435" type="box" material="bench_mat"/>-->
<geom size=".29 .19 .03" pos ="0 0 0.4" type="box" material="bench_mat"/>
<geom size=".29 .19 .03" pos ="0 0 -0.2" type="box" material="bench_mat"/>
<geom size=".04 .04 .435" pos =".26 .16 0" type="box" material="bench_mat"/>
<geom size=".04 .04 .435" pos ="-.26 .16 0" type="box" material="bench_mat"/>
<geom size=".04 .04 .435" pos =".26 -.16 0" type="box" material="bench_mat"/>
<geom size=".04 .04 .435" pos ="-.26 -.16 0" type="box" material="bench_mat"/>
<inertial pos="0 0 0" mass="1000" diaginertia="0 0 0" />
<body name="base_link" pos="0 0 0.435">
<inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="4" diaginertia="0.0072 0.00443333 0.00443333" />
<geom type="mesh" mesh="base" material="ur5_mat"/>
<body name="shoulder_link" pos="0 0 0.089159">
<inertial pos="0 0 0" mass="3.7" diaginertia="0.0102675 0.0102675 0.00666" />
<joint name="shoulder_pan_joint" class="UR5" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14159 3.14159" />
<geom type="mesh" mesh="shoulder" material="ur5_mat"/>
<body name="upper_arm_link" pos="0 0.13585 0" quat="0.707107 0 0.707107 0">
<inertial pos="0 0 0.28" mass="8.393" diaginertia="0.226891 0.226891 0.0151074" />
<joint name="shoulder_lift_joint" class="UR5" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 0" /> <!--Range= -3.14159 3.14159-->
<geom type="mesh" mesh="upperarm" material="ur5_mat"/>
<body name="forearm_link" pos="0 -0.1197 0.425">
<inertial pos="0 0 0.25" mass="2.275" diaginertia="0.0494433 0.0494433 0.004095" />
<joint name="elbow_joint" class="UR5" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" />
<geom type="mesh" mesh="forearm" material="ur5_mat"/>
<body name="wrist_1_link" pos="0 0 0.39225" quat="0.707107 0 0.707107 0">
<inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="1.219" diaginertia="0.21942 0.111173 0.111173" />
<joint name="wrist_1_joint" class="UR5e" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" />
<geom type="mesh" mesh="wrist1" material="ur5_mat"/>
<body name="wrist_2_link" pos="0 0.093 0">
<inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="1.219" diaginertia="0.21942 0.111173 0.111173" />
<joint name="wrist_2_joint" class="UR5e" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14159 3.14159" />
<geom type="mesh" mesh="wrist2" material="ur5_mat"/>
<body name="wrist_3_link" pos="0 0 0.09465">
<inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="0.1879" diaginertia="0.033822 0.0171365 0.0171365" />
<joint name="wrist_3_joint" class="UR5e" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14159 3.14159" />
<geom type="mesh" mesh="wrist3" material="ur5_mat"/>
<body name="ee_link" pos="0.0380 0.0823 -0.0377" quat="0.707107 0 -0.707107 0">
<site name="ee_link"/>
<inertial pos="0.0380 0.0823 -0.0377" quat="0.707107 0 -0.707107 0" mass="0.2" diaginertia="0 0 0" />
<geom type="mesh" mesh="ee_mount" material="plywood"/>
<body name="handle_link" pos="0.05 0.1105 -0.026" euler="1.570796 0 1.570796">
<inertial pos="0.05 0.1105 -0.026" euler="1.570796 0 1.570796" mass="0.2" diaginertia="0 0 0" />
<geom type="mesh" mesh="handle" material="pla"/>
<body name="main_tray_link" pos="-0.25 0 -0.22" euler="1.570796 1.570796 0">
<site name="main_tray_link"/>
<inertial pos="-0.25 0 -0.22" euler="1.570796 1.570796 0" mass="0.5" diaginertia="0 0 0" />
<joint name="tray_joint" class="UR5e" type="hinge" pos="0 0.233 0.22" axis="0 0 1" limited="true" range="-2 1.770796" />
<geom type="mesh" mesh="main_tray" material="plywood"/>
</body>
</body>
</body>
<!--GRIPPER-->
</body>
</body>
</body>
</body>
</body>
</body>
<body name="base" pos="0 0 0" quat="1.7949e-09 0 0 -1">
<inertial pos="0 0 0" quat="1.7949e-09 0 0 -1" mass="0" diaginertia="0 0 0" />
</body>
</body>
</body>
</worldbody>
<!--ACTUATORS-->
<actuator>
<!--UR5-->
<!--<position name='shoulder_pan' ctrllimited="true" ctrlrange="-3.14159 3.14159" joint='shoulder_pan_joint' kp="500"/>-->
<!--<position name='shoulder_lift' ctrllimited="true" ctrlrange="-3.14159 3.14159" joint='shoulder_lift_joint' kp="500"/>-->
<!--<position name='forearm' ctrllimited="true" ctrlrange="-3.14159 3.14159" joint='elbow_joint' kp="500"/>-->
<!--<position name='wrist_1' ctrllimited="true" ctrlrange="-3.14159 3.14159" joint='wrist_1_joint' kp="100"/>-->
<!--<position name='wrist_2' ctrllimited="true" ctrlrange="-3.14159 3.14159" joint='wrist_2_joint' kp="100"/>-->
<!--<position name='wrist_3' ctrllimited="true" ctrlrange="-3.14159 3.14159" joint='wrist_3_joint' kp="100"/>-->
<motor name='shoulder_pan_T' ctrllimited="true" ctrlrange="-2 2" joint='shoulder_pan_joint' gear="101"/> <!--range -150 150-->
<motor name='shoulder_lift_T' ctrllimited="true" ctrlrange="-2 2" joint='shoulder_lift_joint' gear="101"/>
<motor name='forearm_T' ctrllimited="true" ctrlrange="-2 2" joint='elbow_joint' gear="101" />
<motor name='wrist_1_T' ctrllimited="true" ctrlrange="-1 1" joint='wrist_1_joint' gear="101"/> <!--range -28 28-->
<motor name='wrist_2_T' ctrllimited="true" ctrlrange="-1 1" joint='wrist_2_joint' gear="101"/>
<motor name='wrist_3_T' ctrllimited="true" ctrlrange="-1 1" joint='wrist_3_joint' gear="101"/>
<motor name='tray_lift_T' ctrllimited="true" ctrlrange="-1 1" joint='tray_joint' gear="101"/>
<!--<velocity name='shoulder_pan_v' class="UR5" joint='shoulder_pan_joint' kv="10"/>-->
<!--<velocity name='shoulder_lift_v' class="UR5" joint='shoulder_lift_joint' />-->
<!--<velocity name='forearm_v' class="UR5" joint='elbow_joint' />-->
<!--<velocity name='wrist_1_v' class="UR5" joint='wrist_1_joint' />-->
<!--<velocity name='wrist_2_v' class="UR5" joint='wrist_2_joint'/>-->
<!--<velocity name='wrist_3_v' class="UR5" joint='wrist_3_joint'/>-->
<!--Gripper-->
<!--<position name='finger_1' ctrllimited="true" kp="20" joint='gripperfinger_1_joint_1' ctrlrange='0 1.2217'/>-->
<!--<position name='finger_2' ctrllimited="true" kp="20" joint='gripperfinger_2_joint_1' ctrlrange='0 1.2217'/>-->
<!--<position name='middle_finger' ctrllimited="true" kp="20" joint='gripperfinger_middle_joint_1' ctrlrange='0 1.2217'/>-->
<!--<position name='finger_scissor' ctrllimited="true" kp="20" joint='gripperpalm_finger_1_joint' ctrlrange="-0.2967 0.2967"/>-->
<!--
<motor name='finger_1_T' ctrllimited="true" joint='gripperfinger_1_joint_1' ctrlrange='-0.1 .8' gear="20"/>
<motor name='finger_2_T' ctrllimited="true" joint='gripperfinger_2_joint_1' ctrlrange='-0.1 .8' gear="20"/>
<motor name='middle_finger_T' ctrllimited="true" joint='gripperfinger_middle_joint_1' ctrlrange='-0.1 .8' gear="20"/>
<motor name='finger_scissor_T' ctrllimited="true" joint='gripperpalm_finger_1_joint' ctrlrange="-0.8 0.8" gear="15"/> -->
</actuator>
<sensor>
<force name="ee_frc" site="ee_link"/>
</sensor>
</mujoco>
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