chore(project): 项目初始化
This commit is contained in:
JiajunLI
126
.gitignore
vendored
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126
.gitignore
vendored
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||||
# Python
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__pycache__/
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*.py[cod]
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*$py.class
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.Python
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build/
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develop-eggs/
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dist/
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downloads/
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eggs/
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.eggs/
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lib/
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!diana_driver/lib/
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lib64/
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parts/
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sdist/
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var/
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wheels/
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pip-wheel-metadata/
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share/python-wheels/
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*.egg-info/
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.installed.cfg
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*.egg
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MANIFEST
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# Virtual Environment
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venv/
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ENV/
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env/
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.venv
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# IDE
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.vscode/
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.idea/
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*.swp
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*.swo
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*~
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.project
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.pydevproject
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.settings/
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*.sublime-project
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*.sublime-workspace
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# Jupyter Notebook
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.ipynb_checkpoints
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# Uncomment to ignore all notebooks (if you don't want to track them)
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# *.ipynb
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# PyTorch / ML
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*.pth
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*.pt
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*.ckpt
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*.pkl
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*.pickle
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checkpoints/
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ckpt_models/
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runs/
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wandb/
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weights/
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# Dataset
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dataset/
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demos/dataset/
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# Only ignore data files in dataset directories, not test data
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# *.hdf5
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# *.h5
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# *.npz
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# Logs
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*.log
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logs/
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tensorboard/
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# MuJoCo
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*.xmlc
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*.mjb
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*.mjt
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# OS
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.DS_Store
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.DS_Store?
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._*
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.Spotlight-V100
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.Trashes
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ehthumbs.db
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Thumbs.db
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Desktop.ini
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# Temporary files
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*.tmp
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*.bak
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*.swp
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tmp/
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temp/
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# Robot-specific
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# diana_driver/lib/*.so # Commented out - track pre-compiled Diana robot drivers
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!diana_driver/lib/add_lib.sh
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# Model assets (commented out - MuJoCo XML and textures should be tracked)
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# assets/models/*.xml
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# assets/textures/*.png
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# assets/textures/*.jpg
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# Test coverage
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.coverage
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htmlcov/
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.pytest_cache/
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# MyPy
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.mypy_cache/
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.dmypy.json
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dmypy.json
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# Environments
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.env
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.conda
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# Claude
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CLAUDE.md
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# GEMINI
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GEMINI.md
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# Copilot
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.github/copilot-instructions.md
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36
README.en.md
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36
README.en.md
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@@ -0,0 +1,36 @@
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# robo-imi-act
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#### Description
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{**When you're done, you can delete the content in this README and update the file with details for others getting started with your repository**}
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#### Software Architecture
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Software architecture description
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#### Installation
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1. xxxx
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2. xxxx
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3. xxxx
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#### Instructions
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1. xxxx
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2. xxxx
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3. xxxx
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#### Contribution
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1. Fork the repository
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2. Create Feat_xxx branch
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3. Commit your code
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4. Create Pull Request
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#### Gitee Feature
|
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1. You can use Readme\_XXX.md to support different languages, such as Readme\_en.md, Readme\_zh.md
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2. Gitee blog [blog.gitee.com](https://blog.gitee.com)
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||||
3. Explore open source project [https://gitee.com/explore](https://gitee.com/explore)
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||||
4. The most valuable open source project [GVP](https://gitee.com/gvp)
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5. The manual of Gitee [https://gitee.com/help](https://gitee.com/help)
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||||
6. The most popular members [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)
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39
README.md
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39
README.md
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@@ -0,0 +1,39 @@
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# robo-imi-act
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#### 介绍
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{**以下是 Gitee 平台说明，您可以替换此简介**
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Gitee 是 OSCHINA 推出的基于 Git 的代码托管平台（同时支持 SVN）。专为开发者提供稳定、高效、安全的云端软件开发协作平台
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无论是个人、团队、或是企业，都能够用 Gitee 实现代码托管、项目管理、协作开发。企业项目请看 [https://gitee.com/enterprises](https://gitee.com/enterprises)}
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#### 软件架构
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软件架构说明
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#### 安装教程
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1. xxxx
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2. xxxx
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3. xxxx
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#### 使用说明
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1. xxxx
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2. xxxx
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3. xxxx
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#### 参与贡献
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1. Fork 本仓库
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2. 新建 Feat_xxx 分支
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3. 提交代码
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4. 新建 Pull Request
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||||
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#### 特技
|
||||
|
||||
1. 使用 Readme\_XXX.md 来支持不同的语言，例如 Readme\_en.md, Readme\_zh.md
|
||||
2. Gitee 官方博客 [blog.gitee.com](https://blog.gitee.com)
|
||||
3. 你可以 [https://gitee.com/explore](https://gitee.com/explore) 这个地址来了解 Gitee 上的优秀开源项目
|
||||
4. [GVP](https://gitee.com/gvp) 全称是 Gitee 最有价值开源项目，是综合评定出的优秀开源项目
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||||
5. Gitee 官方提供的使用手册 [https://gitee.com/help](https://gitee.com/help)
|
||||
6. Gitee 封面人物是一档用来展示 Gitee 会员风采的栏目 [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)
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327
roboimi/assets/models/chassises/Omnidirect/Omnidirect.xml
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327
roboimi/assets/models/chassises/Omnidirect/Omnidirect.xml
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@@ -0,0 +1,327 @@
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<mujoco model="carurdf">
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<asset>
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<mesh name="base_car_link" file="meshes/base_link.STL" />
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<mesh name="wheel_1" file="meshes/wheel_1.STL" />
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<mesh name="wheel_1_1" file="meshes/wheel_1_1.STL" />
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<mesh name="wheel_1_2" file="meshes/wheel_1_2.STL" />
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<mesh name="wheel_1_3" file="meshes/wheel_1_3.STL" />
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<mesh name="wheel_1_4" file="meshes/wheel_1_4.STL" />
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<mesh name="wheel_1_5" file="meshes/wheel_1_5.STL" />
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<mesh name="wheel_1_6" file="meshes/wheel_1_6.STL" />
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<mesh name="wheel_1_7" file="meshes/wheel_1_7.STL" />
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<mesh name="wheel_1_8" file="meshes/wheel_1_8.STL" />
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<mesh name="wheel_1_9" file="meshes/wheel_1_9.STL" />
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<mesh name="wheel_1_10" file="meshes/wheel_1_10.STL" />
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<mesh name="wheel_2" file="meshes/wheel_2.STL" />
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<mesh name="wheel_2_1" file="meshes/wheel_2_1.STL" />
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<mesh name="wheel_2_2" file="meshes/wheel_2_2.STL" />
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<mesh name="wheel_2_3" file="meshes/wheel_2_3.STL" />
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<mesh name="wheel_2_4" file="meshes/wheel_2_4.STL" />
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<mesh name="wheel_2_5" file="meshes/wheel_2_5.STL" />
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<mesh name="wheel_2_6" file="meshes/wheel_2_6.STL" />
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<mesh name="wheel_2_7" file="meshes/wheel_2_7.STL" />
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<mesh name="wheel_2_8" file="meshes/wheel_2_8.STL" />
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<mesh name="wheel_2_9" file="meshes/wheel_2_9.STL" />
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<mesh name="wheel_2_10" file="meshes/wheel_2_10.STL" />
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<mesh name="wheel_3" file="meshes/wheel_3.STL" />
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<mesh name="wheel_3_1" file="meshes/wheel_3_1.STL" />
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<mesh name="wheel_3_2" file="meshes/wheel_3_2.STL" />
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<mesh name="wheel_3_3" file="meshes/wheel_3_3.STL" />
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<mesh name="wheel_3_4" file="meshes/wheel_3_4.STL" />
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<mesh name="wheel_3_5" file="meshes/wheel_3_5.STL" />
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<mesh name="wheel_3_6" file="meshes/wheel_3_6.STL" />
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<mesh name="wheel_3_7" file="meshes/wheel_3_7.STL" />
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<mesh name="wheel_3_8" file="meshes/wheel_3_8.STL" />
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<mesh name="wheel_3_9" file="meshes/wheel_3_9.STL" />
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<mesh name="wheel_3_10" file="meshes/wheel_3_10.STL" />
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<mesh name="wheel_4" file="meshes/wheel_4.STL" />
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<mesh name="wheel_4_1" file="meshes/wheel_4_1.STL" />
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<mesh name="wheel_4_2" file="meshes/wheel_4_2.STL" />
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<mesh name="wheel_4_3" file="meshes/wheel_4_3.STL" />
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<mesh name="wheel_4_4" file="meshes/wheel_4_4.STL" />
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<mesh name="wheel_4_5" file="meshes/wheel_4_5.STL" />
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<mesh name="wheel_4_6" file="meshes/wheel_4_6.STL" />
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<mesh name="wheel_4_7" file="meshes/wheel_4_7.STL" />
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||||
<mesh name="wheel_4_8" file="meshes/wheel_4_8.STL" />
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||||
<mesh name="wheel_4_9" file="meshes/wheel_4_9.STL" />
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<mesh name="wheel_4_10" file="meshes/wheel_4_10.STL" />
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</asset>
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<worldbody>
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<body name="base_car_link" pos="0 0 0.29">
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<inertial diaginertia="1.2869 1.2236 0.9868" mass="70.1294" pos="-0.0036 0 0.0014" quat="0.7605 -0.0133 -0.0061 0.6491" />
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||||
<geom type="mesh" pos="0 0 -0.1" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="base_car_link" />
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||||
<geom type="mesh" pos="0 0 -0.1" rgba="0.792157 0.819608 0.933333 1" mesh="base_car_link" />
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||||
<joint name="base_x_slide_joint" type="slide" pos="0 0 0" axis="1 0 0" limited="true" range="-1 0.5" damping="15000"/>
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||||
<joint name="base_y_slide_joint" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-1 0.5" damping="15000"/>
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||||
<joint name="base_z_hinge_joint" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.57 0.57" damping="10000"/>
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||||
<body name="wheel_1" pos="0.320177 -0.247677 -0.1594375" quat="0.92388 0 0 -0.382683">
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||||
<inertial pos="-0.40093 -0.0516986 0.0569862" quat="-0.27013 0.653441 0.270227 0.653469" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
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||||
<joint name="wheel_1_x" pos="0 0 0" axis="-1 0 0" />
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||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_1" />
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||||
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_1" />
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||||
<body name="wheel_1_1" pos="0.0115 -0.0134816 0.104635" quat="0.997948 0.0640252 0 0">
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||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
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||||
<joint name="wheel_1_1_y" pos="0 0 0" axis="0 -1 0" />
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||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_1" />
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||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_1" />
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||||
</body>
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||||
<body name="wheel_1_2" pos="0.0115 0.0458003 0.0838009" quat="0.96889 -0.247491 0 0">
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||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_1_2_y" pos="0 0 0" axis="0 -1 0" />
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||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_2" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_2" />
|
||||
</body>
|
||||
<body name="wheel_1_3" pos="0.0115 0.0953478 0.0451558" quat="0.84499 -0.534782 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_1_3_y" pos="0 0 0" axis="0 -1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_3" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_3" />
|
||||
</body>
|
||||
<body name="wheel_1_4" pos="0.0115 0.0938524 -0.0176627" quat="0.638377 -0.769724 0 0">
|
||||
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_1_4_y" pos="0 0 0" axis="0 -1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_4" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_4" />
|
||||
</body>
|
||||
<body name="wheel_1_5" pos="0.0115 0.0724098 -0.0767273" quat="0.369275 -0.92932 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_1_5_y" pos="0 0 0" axis="0 -1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_5" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_5" />
|
||||
</body>
|
||||
<body name="wheel_1_6" pos="0.0115 0.0122037 -0.094717" quat="0.0640252 -0.997948 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_1_6_y" pos="0 0 0" axis="0 -1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_6" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_6" />
|
||||
</body>
|
||||
<body name="wheel_1_7" pos="0.0115 -0.0505961 -0.0925758" quat="0.247491 0.96889 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_1_7_y" pos="0 0 0" axis="0 -1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_7" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_7" />
|
||||
</body>
|
||||
<body name="wheel_1_8" pos="0.0115 -0.0863101 -0.0408756" quat="0.534782 0.84499 0 0">
|
||||
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_1_8_y" pos="0 0 0" axis="0 -1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_8" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_8" />
|
||||
</body>
|
||||
<body name="wheel_1_9" pos="0.0115 -0.10368 0.0195122" quat="0.769724 0.638377 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_1_9_y" pos="0 0 0" axis="0 -1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_9" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_9" />
|
||||
</body>
|
||||
<body name="wheel_1_10" pos="0.0115 -0.0655463 0.0694545" quat="0.92932 0.369275 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_1_10_y" pos="0 0 0" axis="0 -1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_10" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_10" />
|
||||
</body>
|
||||
</body>
|
||||
<body name="wheel_2" pos="0.320177 0.247677 -0.1594375" quat="0.92388 0 0 0.382683">
|
||||
<inertial pos="-0.401966 0.0506629 0.0569862" quat="0.271061 0.653132 -0.270974 0.653083" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
|
||||
<joint name="wheel_2_x" pos="0 0 0" axis="-1 0 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_2" />
|
||||
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_2" />
|
||||
<body name="wheel_2_1" pos="0.0115 0.0134816 0.104635" quat="0.997948 -0.0640252 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_2_1_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_1" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_1" />
|
||||
</body>
|
||||
<body name="wheel_2_2" pos="0.0115 0.0655463 0.0694545" quat="0.92932 -0.369275 0 0">
|
||||
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_2_2_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_2" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_2" />
|
||||
</body>
|
||||
<body name="wheel_2_3" pos="0.0115 0.10368 0.0195122" quat="0.769724 -0.638377 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_2_3_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_3" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_3" />
|
||||
</body>
|
||||
<body name="wheel_2_4" pos="0.0115 0.0863101 -0.0408756" quat="0.534782 -0.84499 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_2_4_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_4" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_4" />
|
||||
</body>
|
||||
<body name="wheel_2_5" pos="0.0115 0.0505961 -0.0925758" quat="0.247491 -0.96889 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_2_5_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_5" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_5" />
|
||||
</body>
|
||||
<body name="wheel_2_6" pos="0.0115 -0.0122037 -0.094717" quat="0.0640252 0.997948 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_2_6_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_6" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_6" />
|
||||
</body>
|
||||
<body name="wheel_2_7" pos="0.0115 -0.0724098 -0.0767273" quat="0.369275 0.92932 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_2_7_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_7" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_7" />
|
||||
</body>
|
||||
<body name="wheel_2_8" pos="0.0115 -0.0938524 -0.0176627" quat="0.638377 0.769724 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_2_8_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_8" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_8" />
|
||||
</body>
|
||||
<body name="wheel_2_9" pos="0.0115 -0.0953478 0.0451558" quat="0.84499 0.534782 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_2_9_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_9" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_9" />
|
||||
</body>
|
||||
<body name="wheel_2_10" pos="0.0115 -0.0458003 0.0838009" quat="0.96889 0.247491 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_2_10_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_10" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_10" />
|
||||
</body>
|
||||
</body>
|
||||
<body name="wheel_3" pos="-0.320177 0.247677 -0.1594375" quat="0.382683 0 0 0.92388">
|
||||
<inertial pos="-0.402135 -0.0508319 0.0569862" quat="-0.270227 0.653469 0.27013 0.653441" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
|
||||
<joint name="wheel_3_x" pos="0 0 0" axis="-1 0 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_3" />
|
||||
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_3" />
|
||||
<body name="wheel_3_1" pos="0.0115 0.00556754 0.0953376" quat="0.999575 -0.0291618 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_3_1_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_1" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_1" />
|
||||
</body>
|
||||
<body name="wheel_3_2" pos="0.0115 0.0668818 0.0815909" quat="0.941641 -0.33662 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_3_2_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_2" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_2" />
|
||||
</body>
|
||||
<body name="wheel_3_3" pos="0.0115 0.0923919 0.0241659" quat="0.791532 -0.611128 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_3_3_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_3" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_3" />
|
||||
</body>
|
||||
<body name="wheel_3_4" pos="0.0115 0.0982652 -0.0383953" quat="0.563943 -0.825814 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_3_4_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_4" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_4" />
|
||||
</body>
|
||||
<body name="wheel_3_5" pos="0.0115 0.0515338 -0.0804022" quat="0.281151 -0.959664 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_3_5_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_5" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_5" />
|
||||
</body>
|
||||
<body name="wheel_3_6" pos="0.0115 -0.00615053 -0.105321" quat="0.0291618 0.999575 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_3_6_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_6" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_6" />
|
||||
</body>
|
||||
<body name="wheel_3_7" pos="0.0115 -0.0605423 -0.0738572" quat="0.33662 0.941641 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_3_7_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_7" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_7" />
|
||||
</body>
|
||||
<body name="wheel_3_8" pos="0.0115 -0.102066 -0.0266963" quat="0.611128 0.791532 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_3_8_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_8" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_8" />
|
||||
</body>
|
||||
<body name="wheel_3_9" pos="0.0115 -0.088951 0.034756" quat="0.825814 0.563943 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_3_9_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_9" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_9" />
|
||||
</body>
|
||||
<body name="wheel_3_10" pos="0.0115 -0.05693 0.0888213" quat="0.959664 0.281151 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_3_10_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_10" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_10" />
|
||||
</body>
|
||||
</body>
|
||||
<body name="wheel_4" pos="-0.320177 -0.247677 -0.1594375" quat="0.382683 0 0 -0.92388">
|
||||
<inertial pos="-0.401099 0.0518676 0.0569862" quat="0.270974 0.653083 -0.271061 0.653132" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
|
||||
<joint name="wheel_4_x" pos="0 0 0" axis="-1 0 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_4" />
|
||||
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_4" />
|
||||
<body name="wheel_4_1" pos="0.0115 0.0134816 0.104635" quat="0.997948 -0.0640252 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_4_1_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_1" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_1" />
|
||||
</body>
|
||||
<body name="wheel_4_2" pos="0.0115 0.0655463 0.0694545" quat="0.92932 -0.369275 0 0">
|
||||
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_4_2_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_2" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_2" />
|
||||
</body>
|
||||
<body name="wheel_4_3" pos="0.0115 0.10368 0.0195122" quat="0.769724 -0.638377 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_4_3_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_3" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_3" />
|
||||
</body>
|
||||
<body name="wheel_4_4" pos="0.0115 0.0863101 -0.0408756" quat="0.534782 -0.84499 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_4_4_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_4" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_4" />
|
||||
</body>
|
||||
<body name="wheel_4_5" pos="0.0115 0.0505961 -0.0925758" quat="0.247491 -0.96889 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_4_5_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_5" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_5" />
|
||||
</body>
|
||||
<body name="wheel_4_6" pos="0.0115 -0.0122037 -0.094717" quat="0.0640252 0.997948 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_4_6_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_6" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_6" />
|
||||
</body>
|
||||
<body name="wheel_4_7" pos="0.0115 -0.0724098 -0.0767273" quat="0.369275 0.92932 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_4_7_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_7" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_7" />
|
||||
</body>
|
||||
<body name="wheel_4_8" pos="0.0115 -0.0938524 -0.0176627" quat="0.638377 0.769724 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_4_8_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_8" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_8" />
|
||||
</body>
|
||||
<body name="wheel_4_9" pos="0.0115 -0.0953478 0.0451558" quat="0.84499 0.534782 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_4_9_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_9" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_9" />
|
||||
</body>
|
||||
<body name="wheel_4_10" pos="0.0115 -0.0458003 0.0838009" quat="0.96889 0.247491 0 0">
|
||||
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_4_10_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_10" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_10" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
|
||||
<actuator>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/base_link.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/base_link.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_1.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_1.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_10.STL
Normal file
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roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_10.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_2.STL
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BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_2.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_3.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_3.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_4.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_4.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_5.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_5.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_6.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_6.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_7.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_7.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_8.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_8.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_9.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_1_9.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_1.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_1.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_10.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_10.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_2.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_2.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_3.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_3.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_4.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_4.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_5.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_5.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_6.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_6.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_7.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_7.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_8.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_8.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_9.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_2_9.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_1.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_1.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_10.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_10.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_2.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_2.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_3.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_3.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_4.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_4.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_5.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_5.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_6.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_6.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_7.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_7.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_8.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_8.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_9.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_3_9.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_1.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_1.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_10.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_10.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_2.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_2.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_3.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_3.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_4.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_4.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_5.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_5.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_6.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_6.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_7.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_7.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_8.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_8.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_9.STL
Normal file
BIN
roboimi/assets/models/chassises/Omnidirect/meshes/wheel_4_9.STL
Normal file
Binary file not shown.
32
roboimi/assets/models/grippers/Swab_gripper/Swab_gripper.xml
Normal file
32
roboimi/assets/models/grippers/Swab_gripper/Swab_gripper.xml
Normal file
@@ -0,0 +1,32 @@
|
||||
<mujoco>
|
||||
<asset>
|
||||
<mesh name="cambase" file="meshes/cambase.STL" />
|
||||
<mesh name="cam" file="meshes/cam.STL" />
|
||||
<mesh name="stick" file="meshes/stick.STL" />
|
||||
</asset>
|
||||
<worldbody>
|
||||
<body name="end_effector">
|
||||
<inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0"/>
|
||||
<geom type="mesh" rgba="1 1 1 1" mesh="cambase" />
|
||||
|
||||
<body name="cam" pos="0.065054 0.00068038 -0.013835" quat="-2.59734e-06 0.707105 0.707108 -2.59735e-06">
|
||||
<inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.69804 0.69804 0.69804 1" mesh="cam" />
|
||||
<camera name="cam" mode="fixed" pos="0.0175 0.00 0.0038" quat="0 0 1 0" fovy="45"/>
|
||||
</body>
|
||||
<body name="rod" pos="0 0 0" quat="0.707105 -0.707108 0 0" >
|
||||
<inertial pos="0 0 0" quat="1 0 0 0" mass="0.0000" diaginertia="0.0000 0.0000 0.0000"/>
|
||||
<geom type="mesh" mesh="stick" rgba="1 1 1 1" friction="0.2 0.05 0.01"/>
|
||||
<body name="end" pos="0 0.15 0">
|
||||
<inertial pos="0 0 0" quat="1 0 0 0" mass="0.0000" diaginertia="0.0000 0.0000 0.0000"/>
|
||||
<geom size="0.005" quat="0 0 1 1" rgba="1 0 0 1" type="sphere" friction="0.3 0.005 0.001"/>
|
||||
<site name="gripper_frame" size="0.001" quat="0 0 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<sensor>
|
||||
<force name="wall_force_sensor" site="gripper_frame" cutoff="3.0"/>
|
||||
</sensor>
|
||||
</mujoco>
|
||||
|
||||
BIN
roboimi/assets/models/grippers/Swab_gripper/meshes/cam.STL
Normal file
BIN
roboimi/assets/models/grippers/Swab_gripper/meshes/cam.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/grippers/Swab_gripper/meshes/cambase.STL
Normal file
BIN
roboimi/assets/models/grippers/Swab_gripper/meshes/cambase.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/grippers/Swab_gripper/meshes/stick.STL
Normal file
BIN
roboimi/assets/models/grippers/Swab_gripper/meshes/stick.STL
Normal file
Binary file not shown.
@@ -0,0 +1,763 @@
|
||||
<mujoco model="carurdf">
|
||||
<compiler angle="radian" autolimits="true"/>
|
||||
<size njmax="500" nconmax="100" />
|
||||
<asset>
|
||||
<!-- car meshs -->
|
||||
<mesh name="base_car_link" file="../meshes/base_link.STL" />
|
||||
<mesh name="wheel_1" file="../meshes/wheel_1.STL" />
|
||||
<mesh name="wheel_1_1" file="../meshes/wheel_1_1.STL" />
|
||||
<mesh name="wheel_1_2" file="../meshes/wheel_1_2.STL" />
|
||||
<mesh name="wheel_1_3" file="../meshes/wheel_1_3.STL" />
|
||||
<mesh name="wheel_1_4" file="../meshes/wheel_1_4.STL" />
|
||||
<mesh name="wheel_1_5" file="../meshes/wheel_1_5.STL" />
|
||||
<mesh name="wheel_1_6" file="../meshes/wheel_1_6.STL" />
|
||||
<mesh name="wheel_1_7" file="../meshes/wheel_1_7.STL" />
|
||||
<mesh name="wheel_1_8" file="../meshes/wheel_1_8.STL" />
|
||||
<mesh name="wheel_1_9" file="../meshes/wheel_1_9.STL" />
|
||||
<mesh name="wheel_1_10" file="../meshes/wheel_1_10.STL" />
|
||||
<mesh name="wheel_2" file="../meshes/wheel_2.STL" />
|
||||
<mesh name="wheel_2_1" file="../meshes/wheel_2_1.STL" />
|
||||
<mesh name="wheel_2_2" file="../meshes/wheel_2_2.STL" />
|
||||
<mesh name="wheel_2_3" file="../meshes/wheel_2_3.STL" />
|
||||
<mesh name="wheel_2_4" file="../meshes/wheel_2_4.STL" />
|
||||
<mesh name="wheel_2_5" file="../meshes/wheel_2_5.STL" />
|
||||
<mesh name="wheel_2_6" file="../meshes/wheel_2_6.STL" />
|
||||
<mesh name="wheel_2_7" file="../meshes/wheel_2_7.STL" />
|
||||
<mesh name="wheel_2_8" file="../meshes/wheel_2_8.STL" />
|
||||
<mesh name="wheel_2_9" file="../meshes/wheel_2_9.STL" />
|
||||
<mesh name="wheel_2_10" file="../meshes/wheel_2_10.STL" />
|
||||
<mesh name="wheel_3" file="../meshes/wheel_3.STL" />
|
||||
<mesh name="wheel_3_1" file="../meshes/wheel_3_1.STL" />
|
||||
<mesh name="wheel_3_2" file="../meshes/wheel_3_2.STL" />
|
||||
<mesh name="wheel_3_3" file="../meshes/wheel_3_3.STL" />
|
||||
<mesh name="wheel_3_4" file="../meshes/wheel_3_4.STL" />
|
||||
<mesh name="wheel_3_5" file="../meshes/wheel_3_5.STL" />
|
||||
<mesh name="wheel_3_6" file="../meshes/wheel_3_6.STL" />
|
||||
<mesh name="wheel_3_7" file="../meshes/wheel_3_7.STL" />
|
||||
<mesh name="wheel_3_8" file="../meshes/wheel_3_8.STL" />
|
||||
<mesh name="wheel_3_9" file="../meshes/wheel_3_9.STL" />
|
||||
<mesh name="wheel_3_10" file="../meshes/wheel_3_10.STL" />
|
||||
<mesh name="wheel_4" file="../meshes/wheel_4.STL" />
|
||||
<mesh name="wheel_4_1" file="../meshes/wheel_4_1.STL" />
|
||||
<mesh name="wheel_4_2" file="../meshes/wheel_4_2.STL" />
|
||||
<mesh name="wheel_4_3" file="../meshes/wheel_4_3.STL" />
|
||||
<mesh name="wheel_4_4" file="../meshes/wheel_4_4.STL" />
|
||||
<mesh name="wheel_4_5" file="../meshes/wheel_4_5.STL" />
|
||||
<mesh name="wheel_4_6" file="../meshes/wheel_4_6.STL" />
|
||||
<mesh name="wheel_4_7" file="../meshes/wheel_4_7.STL" />
|
||||
<mesh name="wheel_4_8" file="../meshes/wheel_4_8.STL" />
|
||||
<mesh name="wheel_4_9" file="../meshes/wheel_4_9.STL" />
|
||||
<mesh name="wheel_4_10" file="../meshes/wheel_4_10.STL" />
|
||||
|
||||
<mesh name="robot_stand" file="meshes/dual_robot_stand.stl" />
|
||||
<mesh name="dual_robot_stand_ring" file="meshes/dual_robot_stand_ring.stl" />
|
||||
<mesh name="robot_stand2" file="meshes/dual_robot_stand4.stl" />
|
||||
<!-- arm meshes -->
|
||||
<mesh name="base_link" file="meshes/robot/base_link.STL"/>
|
||||
<mesh name="link1" file="meshes/robot/link1.STL"/>
|
||||
<mesh name="link2" file="meshes/robot/link2.STL"/>
|
||||
<mesh name="link3" file="meshes/robot/link3.STL"/>
|
||||
<mesh name="link4" file="meshes/robot/link4.STL"/>
|
||||
<mesh name="link5" file="meshes/robot/link5.STL"/>
|
||||
<mesh name="link6" file="meshes/robot/link6.STL"/>
|
||||
<mesh name="link7" file="meshes/robot/link7.STL"/>
|
||||
<material name="silver" specular="1" shininess="0.5" reflectance="1" emission="0.25" rgba="0.82 0.82 0.82 1"/>
|
||||
<material name="grey" specular="1" shininess="0.5" reflectance="1" emission="0.1" rgba="0.5 0.5 0.5 1"/>
|
||||
<material name="blue" specular="1" shininess="0.5" reflectance="1" emission="0" rgba="0.678 0.847 0.902 1"/>
|
||||
<material name="black" specular="1" shininess="0.5" reflectance="1" emission="0" rgba="0.2 0.2 0.2 1"/>
|
||||
<mesh name="cam" file="../diana_med/meshes/robot/cam.STL" />
|
||||
<!-- gripper meshes -->
|
||||
<mesh name="dual_arm_bulkhead" file="meshes/dual_ur5_husky/dual_arm_bulkhead.stl" />
|
||||
<mesh name="flir-ptu-simple" file="meshes/dual_ur5_husky/flir-ptu-simple.stl" />
|
||||
<mesh name="sick-lms1xx" file="meshes/dual_ur5_husky/sick-lms1xx.stl" />
|
||||
<mesh name="pointgrey_bumblebee2" file="meshes/dual_ur5_husky/pointgrey_bumblebee2.stl" />
|
||||
<mesh name="robotiq_fts300" file="meshes/dual_ur5_husky/robotiq_fts300.stl" />
|
||||
<mesh name="link_0" file="meshes/dual_ur5_husky/link_0.STL" />
|
||||
<mesh name="link_1" file="meshes/dual_ur5_husky/link_1.STL" />
|
||||
<mesh name="link_2" file="meshes/dual_ur5_husky/link_2.STL" />
|
||||
<mesh name="link_3" file="meshes/dual_ur5_husky/link_3.STL" />
|
||||
<mesh name="palm" file="meshes/dual_ur5_husky/palm.STL" />
|
||||
<!-- from Standford robosuite -->
|
||||
<mesh name="collision_link_0" file="meshes/dual_ur5_husky/collision_link_0.STL" />
|
||||
<mesh name="collision_link_1" file="meshes/dual_ur5_husky/collision_link_1.STL" />
|
||||
<mesh name="collision_link_2" file="meshes/dual_ur5_husky/collision_link_2.STL" />
|
||||
<mesh name="collision_link_3" file="meshes/dual_ur5_husky/collision_link_3.STL" />
|
||||
<mesh name="collision_palm" file="meshes/dual_ur5_husky/collision_palm.STL" />
|
||||
</asset>
|
||||
<worldbody>
|
||||
<!-- <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="base_car_link" />
|
||||
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="base_car_link" /> -->
|
||||
<body name="base_car_link" pos="0.0 0.0 0.0" euler="0 0 0">
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="base_car_link" />
|
||||
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="base_car_link" />
|
||||
<joint armature="0.0001" axis="1 0 0" damping="1e+11" name="robot0:slide0" pos="0 0 0" type="slide"></joint>
|
||||
<joint armature="0.0001" axis="0 1 0" damping="1e+11" name="robot0:slide1" pos="0 0 0" type="slide"></joint>
|
||||
<joint armature="0.0001" axis="0 0 1" damping="1e+0" name="robot0:slide2" pos="0 0 0" type="slide"></joint>
|
||||
<inertial diaginertia="1.2869 1.2236 0.9868" mass="70.1294" pos="-0.0036 0 0.0014" quat="0.7605 -0.0133 -0.0061 0.6491"></inertial>
|
||||
<joint name="base_x_slide_joint" type="slide" pos="0 0 0" axis="1 0 0" limited="true" range="-1 0.5" damping="15000"/>
|
||||
<joint name="base_y_slide_joint" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-1 0.5" damping="15000"/>
|
||||
<joint name="base_z_hinge_joint" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.57 0.57" damping="10000"/>
|
||||
|
||||
<body name="wheel_1" pos="0.320177 -0.247677 -0.0594375" quat="0.92388 0 0 -0.382683">
|
||||
<inertial pos="-0.40093 -0.0516986 0.0569862" quat="-0.27013 0.653441 0.270227 0.653469" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
|
||||
<joint name="wheel_1_x" pos="0 0 0" axis="-1 0 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_1" />
|
||||
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_1" />
|
||||
<body name="wheel_1_1" pos="0.0115 -0.0134816 0.104635" quat="0.997948 0.0640252 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_1_1_y" pos="0 0 0" axis="0 -1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_1" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_1" />
|
||||
</body>
|
||||
<body name="wheel_1_2" pos="0.0115 0.0458003 0.0838009" quat="0.96889 -0.247491 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_1_2_y" pos="0 0 0" axis="0 -1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_2" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_2" />
|
||||
</body>
|
||||
<body name="wheel_1_3" pos="0.0115 0.0953478 0.0451558" quat="0.84499 -0.534782 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_1_3_y" pos="0 0 0" axis="0 -1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_3" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_3" />
|
||||
</body>
|
||||
<body name="wheel_1_4" pos="0.0115 0.0938524 -0.0176627" quat="0.638377 -0.769724 0 0">
|
||||
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_1_4_y" pos="0 0 0" axis="0 -1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_4" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_4" />
|
||||
</body>
|
||||
<body name="wheel_1_5" pos="0.0115 0.0724098 -0.0767273" quat="0.369275 -0.92932 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_1_5_y" pos="0 0 0" axis="0 -1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_5" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_5" />
|
||||
</body>
|
||||
<body name="wheel_1_6" pos="0.0115 0.0122037 -0.094717" quat="0.0640252 -0.997948 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_1_6_y" pos="0 0 0" axis="0 -1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_6" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_6" />
|
||||
</body>
|
||||
<body name="wheel_1_7" pos="0.0115 -0.0505961 -0.0925758" quat="0.247491 0.96889 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_1_7_y" pos="0 0 0" axis="0 -1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_7" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_7" />
|
||||
</body>
|
||||
<body name="wheel_1_8" pos="0.0115 -0.0863101 -0.0408756" quat="0.534782 0.84499 0 0">
|
||||
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_1_8_y" pos="0 0 0" axis="0 -1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_8" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_8" />
|
||||
</body>
|
||||
<body name="wheel_1_9" pos="0.0115 -0.10368 0.0195122" quat="0.769724 0.638377 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_1_9_y" pos="0 0 0" axis="0 -1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_9" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_9" />
|
||||
</body>
|
||||
<body name="wheel_1_10" pos="0.0115 -0.0655463 0.0694545" quat="0.92932 0.369275 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_1_10_y" pos="0 0 0" axis="0 -1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_10" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_10" />
|
||||
</body>
|
||||
</body>
|
||||
<body name="wheel_2" pos="0.320177 0.247677 -0.0594375" quat="0.92388 0 0 0.382683">
|
||||
<inertial pos="-0.401966 0.0506629 0.0569862" quat="0.271061 0.653132 -0.270974 0.653083" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
|
||||
<joint name="wheel_2_x" pos="0 0 0" axis="-1 0 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_2" />
|
||||
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_2" />
|
||||
<body name="wheel_2_1" pos="0.0115 0.0134816 0.104635" quat="0.997948 -0.0640252 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_2_1_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_1" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_1" />
|
||||
</body>
|
||||
<body name="wheel_2_2" pos="0.0115 0.0655463 0.0694545" quat="0.92932 -0.369275 0 0">
|
||||
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_2_2_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_2" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_2" />
|
||||
</body>
|
||||
<body name="wheel_2_3" pos="0.0115 0.10368 0.0195122" quat="0.769724 -0.638377 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_2_3_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_3" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_3" />
|
||||
</body>
|
||||
<body name="wheel_2_4" pos="0.0115 0.0863101 -0.0408756" quat="0.534782 -0.84499 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_2_4_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_4" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_4" />
|
||||
</body>
|
||||
<body name="wheel_2_5" pos="0.0115 0.0505961 -0.0925758" quat="0.247491 -0.96889 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_2_5_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_5" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_5" />
|
||||
</body>
|
||||
<body name="wheel_2_6" pos="0.0115 -0.0122037 -0.094717" quat="0.0640252 0.997948 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_2_6_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_6" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_6" />
|
||||
</body>
|
||||
<body name="wheel_2_7" pos="0.0115 -0.0724098 -0.0767273" quat="0.369275 0.92932 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_2_7_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_7" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_7" />
|
||||
</body>
|
||||
<body name="wheel_2_8" pos="0.0115 -0.0938524 -0.0176627" quat="0.638377 0.769724 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_2_8_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_8" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_8" />
|
||||
</body>
|
||||
<body name="wheel_2_9" pos="0.0115 -0.0953478 0.0451558" quat="0.84499 0.534782 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_2_9_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_9" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_9" />
|
||||
</body>
|
||||
<body name="wheel_2_10" pos="0.0115 -0.0458003 0.0838009" quat="0.96889 0.247491 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_2_10_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_10" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_10" />
|
||||
</body>
|
||||
</body>
|
||||
<body name="wheel_3" pos="-0.320177 0.247677 -0.0594375" quat="0.382683 0 0 0.92388">
|
||||
<inertial pos="-0.402135 -0.0508319 0.0569862" quat="-0.270227 0.653469 0.27013 0.653441" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
|
||||
<joint name="wheel_3_x" pos="0 0 0" axis="-1 0 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_3" />
|
||||
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_3" />
|
||||
<body name="wheel_3_1" pos="0.0115 0.00556754 0.0953376" quat="0.999575 -0.0291618 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_3_1_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_1" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_1" />
|
||||
</body>
|
||||
<body name="wheel_3_2" pos="0.0115 0.0668818 0.0815909" quat="0.941641 -0.33662 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_3_2_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_2" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_2" />
|
||||
</body>
|
||||
<body name="wheel_3_3" pos="0.0115 0.0923919 0.0241659" quat="0.791532 -0.611128 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_3_3_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_3" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_3" />
|
||||
</body>
|
||||
<body name="wheel_3_4" pos="0.0115 0.0982652 -0.0383953" quat="0.563943 -0.825814 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_3_4_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_4" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_4" />
|
||||
</body>
|
||||
<body name="wheel_3_5" pos="0.0115 0.0515338 -0.0804022" quat="0.281151 -0.959664 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_3_5_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_5" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_5" />
|
||||
</body>
|
||||
<body name="wheel_3_6" pos="0.0115 -0.00615053 -0.105321" quat="0.0291618 0.999575 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_3_6_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_6" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_6" />
|
||||
</body>
|
||||
<body name="wheel_3_7" pos="0.0115 -0.0605423 -0.0738572" quat="0.33662 0.941641 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_3_7_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_7" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_7" />
|
||||
</body>
|
||||
<body name="wheel_3_8" pos="0.0115 -0.102066 -0.0266963" quat="0.611128 0.791532 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_3_8_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_8" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_8" />
|
||||
</body>
|
||||
<body name="wheel_3_9" pos="0.0115 -0.088951 0.034756" quat="0.825814 0.563943 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_3_9_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_9" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_9" />
|
||||
</body>
|
||||
<body name="wheel_3_10" pos="0.0115 -0.05693 0.0888213" quat="0.959664 0.281151 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_3_10_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_10" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_10" />
|
||||
</body>
|
||||
</body>
|
||||
<body name="wheel_4" pos="-0.320177 -0.247677 -0.0594375" quat="0.382683 0 0 -0.92388">
|
||||
<inertial pos="-0.401099 0.0518676 0.0569862" quat="0.270974 0.653083 -0.271061 0.653132" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
|
||||
<joint name="wheel_4_x" pos="0 0 0" axis="-1 0 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_4" />
|
||||
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_4" />
|
||||
<body name="wheel_4_1" pos="0.0115 0.0134816 0.104635" quat="0.997948 -0.0640252 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_4_1_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_1" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_1" />
|
||||
</body>
|
||||
<body name="wheel_4_2" pos="0.0115 0.0655463 0.0694545" quat="0.92932 -0.369275 0 0">
|
||||
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_4_2_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_2" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_2" />
|
||||
</body>
|
||||
<body name="wheel_4_3" pos="0.0115 0.10368 0.0195122" quat="0.769724 -0.638377 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_4_3_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_3" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_3" />
|
||||
</body>
|
||||
<body name="wheel_4_4" pos="0.0115 0.0863101 -0.0408756" quat="0.534782 -0.84499 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_4_4_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_4" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_4" />
|
||||
</body>
|
||||
<body name="wheel_4_5" pos="0.0115 0.0505961 -0.0925758" quat="0.247491 -0.96889 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_4_5_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_5" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_5" />
|
||||
</body>
|
||||
<body name="wheel_4_6" pos="0.0115 -0.0122037 -0.094717" quat="0.0640252 0.997948 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_4_6_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_6" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_6" />
|
||||
</body>
|
||||
<body name="wheel_4_7" pos="0.0115 -0.0724098 -0.0767273" quat="0.369275 0.92932 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_4_7_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_7" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_7" />
|
||||
</body>
|
||||
<body name="wheel_4_8" pos="0.0115 -0.0938524 -0.0176627" quat="0.638377 0.769724 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_4_8_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_8" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_8" />
|
||||
</body>
|
||||
<body name="wheel_4_9" pos="0.0115 -0.0953478 0.0451558" quat="0.84499 0.534782 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
|
||||
<joint name="wheel_4_9_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_9" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_9" />
|
||||
</body>
|
||||
<body name="wheel_4_10" pos="0.0115 -0.0458003 0.0838009" quat="0.96889 0.247491 0 0">
|
||||
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
|
||||
<joint name="wheel_4_10_y" pos="0 0 0" axis="0 1 0" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_10" />
|
||||
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_10" />
|
||||
</body>
|
||||
</body>
|
||||
<body name="my_cylinder">
|
||||
<geom size="0.085 0.28" pos="0.0 0.0 0.38" type="cylinder" rgba="0.3 0.3 0.3 1" />
|
||||
<inertial pos="0.0 0.0 0.0" mass="0.5" diaginertia="0.184 0.1 0.1"/>
|
||||
</body>
|
||||
<body name="dual_robot_stand" pos="0.0 0.0 0.66" euler="0 0 0">
|
||||
<inertial pos="0 0 0" mass="2.0" diaginertia="0.15 0.15 0.15"/>
|
||||
<joint name="base_stand_joint" axis="0 0 1" pos="0 0 0" limited="true" range="-3.0 3.0"/>
|
||||
<geom name="robot_stand" type="mesh" mesh="robot_stand2" pos="0 0 0" conaffinity="0" contype="0"/>
|
||||
<body name="cam" pos="0.0 0.0 0.5425" euler="1.570796 0.0 0.0">
|
||||
<inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.69804 0.69804 0.69804 1" mesh="cam" />
|
||||
<camera name="cam" mode="fixed" pos="0.0175 0.00 0.00" quat="0 0 1 0" fovy="45"/>
|
||||
</body>
|
||||
<!-- right arm -->
|
||||
|
||||
<body name="right_base_link" pos="0.15 0 0.46" euler="0.0 0.785398 0.0">
|
||||
<geom type="mesh" rgba="1 1 1 1" mesh="base_link" pos="0 0 0"/>
|
||||
<body name="right_link1" pos="8.7058e-05 -0.00063474 0.2985" quat="-3.67321e-06 1 0 0">
|
||||
<inertial pos="4.57641e-06 -0.0439746 0.0236145" quat="0.685631 -0.172505 0.172644 0.685818" mass="2.72698" diaginertia="0.0122186 0.0113371 0.00692616"/>
|
||||
<joint name="right_j1" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
|
||||
<geom type="mesh" rgba="1 1 1 1" mesh="link1"/>
|
||||
<body name="right_link2" pos="0 0 -0.00092116" quat="0.707105 0.707108 0 0">
|
||||
<inertial pos="8.26088e-06 -0.040728 -0.0363117" quat="0.596612 0.379593 -0.379572 0.596564" mass="3.18168" diaginertia="0.0189254 0.0180721 0.00757505"/>
|
||||
<joint name="right_j2" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
|
||||
<geom type="mesh" rgba="1 1 1 1" mesh="link2"/>
|
||||
<body name="right_link3" pos="0 -0.45818 0.0005" quat="0.707105 -0.707108 0 0">
|
||||
<inertial pos="0.0148079 -0.0159925 0.127198" quat="0.874546 -0.136758 -0.0611978 0.461217" mass="3.93616" diaginertia="0.0569273 0.0547312 0.00935482"/>
|
||||
<joint name="right_j3" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
|
||||
<geom type="mesh" rgba="1 1 1 1" mesh="link3"/>
|
||||
<body name="right_link4" pos="0.064454 0.0005 -0.00070508" quat="0.707105 0.707108 0 0">
|
||||
<inertial pos="-0.0145884 -0.0117113 -0.0406158" quat="0.00473736 0.651043 0.564294 0.507635" mass="1.58469" diaginertia="0.00499445 0.00482606 0.00267104"/>
|
||||
<joint name="right_j4" pos="0 0 0" axis="0 0 1" limited="true" range="0.0 3.05" damping="0.8"/>
|
||||
<geom type="mesh" rgba="1 1 1 1" mesh="link4"/>
|
||||
<body name="right_link5" pos="-0.052254 -0.45668 0.0005" quat="0.707105 -0.707108 0 0">
|
||||
<inertial pos="-0.00209922 0.0288297 0.222845" quat="0.985159 0.138333 -0.00891494 0.101222" mass="1.92688" diaginertia="0.0293358 0.0290794 0.00210656"/>
|
||||
<joint name="right_j5" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
|
||||
<geom type="mesh" rgba="1 1 1 1" mesh="link5"/>
|
||||
<body name="right_link6" pos="0 -0.005 -1.1713e-05" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
|
||||
<inertial pos="0.038358 -0.00071885 -0.0021112" quat="0.0131349 0.678937 -0.0198942 0.733809" mass="1.7304" diaginertia="0.005268 0.00492614 0.00345065"/>
|
||||
<joint name="right_j6" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" damping="0.1"/>
|
||||
<geom type="mesh" rgba="1 1 1 1" mesh="link6"/>
|
||||
<body name="right_link7" pos="0.076728 -0.1059 0" quat="0.707105 -0.707108 0 0">
|
||||
<inertial pos="0.00068467 1.5999e-05 0.020834" quat="0.000547318 0.708756 -0.000448023 0.705453" mass="0.16696" diaginertia="0.000143911 8.8902e-05 8.75358e-05"/>
|
||||
<joint name="right_j7" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" damping="0.01"/>
|
||||
<geom type="mesh" rgba="1 1 1 1" mesh="link7"/>
|
||||
|
||||
<body name="r_gripper" pos="0 0 0.13" quat="0.707105 -0.707105 0 0">
|
||||
<body name="r_gripper_palm_link" pos="1.64197e-10 0.17378 7.2848e-05" quat="-0.382132 8.29339e-10 0.924108 0.000735892">
|
||||
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="palm" />
|
||||
<geom name="r_gripper_palm" type="mesh" group="0" mesh="collision_palm" />
|
||||
</body>
|
||||
<body name="r_finger_1_link_0" pos="0.00679839 0.195255 -0.0575191" quat="-0.653702 -0.270618 -0.269798 -0.653184" >
|
||||
<inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
|
||||
<joint name="r_palm_finger_1_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.25" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link_0" />
|
||||
<geom name="f1_l0" type="mesh" group="0" mesh="collision_link_0" />
|
||||
<body name="r_finger_1_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
|
||||
<inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
|
||||
<joint name="r_finger_1_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
|
||||
<geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" mesh="link_1" />
|
||||
<geom name="f1_l1" type="mesh" group="0" pos="0 0.05717 0" quat="0.707105 0 0 0.707108" mesh="collision_link_1" />
|
||||
<body name="r_finger_1_link_2" pos="0 0.05715 0">
|
||||
<inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
|
||||
<joint name="r_finger_1_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
|
||||
<geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" mesh="link_2" />
|
||||
<geom name="f1_l2" pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" mesh="collision_link_2" />
|
||||
<body name="r_finger_1_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075">
|
||||
<inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
|
||||
<joint name="r_finger_1_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link_3" />
|
||||
<geom name="f1_l3" type="mesh" mesh="collision_link_3" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="r_finger_2_link_0" pos="0.0576492 0.195157 -0.00654675" quat="-0.653702 -0.270618 -0.269798 -0.653184" >
|
||||
<inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
|
||||
<joint name="r_palm_finger_2_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.25 0.16" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link_0" />
|
||||
<geom name="f2_l0" type="mesh" mesh="collision_link_0" />
|
||||
<body name="r_finger_2_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
|
||||
<inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
|
||||
<joint name="r_finger_2_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
|
||||
<geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" mesh="link_1" />
|
||||
<geom name="f2_l1" pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" mesh="collision_link_1" />
|
||||
<body name="r_finger_2_link_2" pos="0 0.05715 0">
|
||||
<inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
|
||||
<joint name="r_finger_2_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
|
||||
<geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" mesh="link_2" />
|
||||
<geom name="f2_l2" pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" mesh="collision_link_2" />
|
||||
<body name="r_finger_2_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075">
|
||||
<inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
|
||||
<joint name="r_finger_2_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link_3" />
|
||||
<geom name="f2_l3" type="mesh" mesh="collision_link_3" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="r_finger_middle_link_0" pos="-0.0321997 0.195154 0.0322368" quat="-0.270836 0.653183 0.653703 -0.26958" >
|
||||
<inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
|
||||
<joint name="r_palm_finger_middle_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1e-3 1e-3"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link_0" />
|
||||
<geom name="f3_l0" type="mesh" mesh="collision_link_0" />
|
||||
<body name="r_finger_middle_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
|
||||
<inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
|
||||
<joint name="r_finger_middle_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
|
||||
<geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" mesh="link_1" />
|
||||
<geom name="f3_l1" pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" mesh="collision_link_1" />
|
||||
<body name="r_finger_middle_link_2" pos="0 0.05715 0">
|
||||
<inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
|
||||
<joint name="r_finger_middle_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
|
||||
<geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" mesh="link_2" />
|
||||
<geom name="f3_l2" pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" mesh="collision_link_2" />
|
||||
<body name="r_finger_middle_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075">
|
||||
<inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
|
||||
<joint name="r_finger_middle_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link_3" />
|
||||
<geom name="f3_l3" type="mesh" mesh="collision_link_3" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<!-- left arm -->
|
||||
<body name="left_base_link" pos="-0.15 0 0.46" euler="0.0 -0.785398 3.14">
|
||||
<geom type="mesh" rgba="1 1 1 1" mesh="base_link" pos="0 0 0"/>
|
||||
<body name="left_link1" pos="8.7058e-05 -0.00063474 0.2985" quat="-3.67321e-06 1 0 0">
|
||||
<inertial pos="4.57641e-06 -0.0439746 0.0236145" quat="0.685631 -0.172505 0.172644 0.685818" mass="2.72698" diaginertia="0.0122186 0.0113371 0.00692616"/>
|
||||
<joint name="left_j1" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
|
||||
<geom type="mesh" rgba="1 1 1 1" mesh="link1"/>
|
||||
<body name="left_link2" pos="0 0 -0.00092116" quat="0.707105 0.707108 0 0">
|
||||
<inertial pos="8.26088e-06 -0.040728 -0.0363117" quat="0.596612 0.379593 -0.379572 0.596564" mass="3.18168" diaginertia="0.0189254 0.0180721 0.00757505"/>
|
||||
<joint name="left_j2" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
|
||||
<geom type="mesh" rgba="1 1 1 1" mesh="link2"/>
|
||||
<body name="left_link3" pos="0 -0.45818 0.0005" quat="0.707105 -0.707108 0 0">
|
||||
<inertial pos="0.0148079 -0.0159925 0.127198" quat="0.874546 -0.136758 -0.0611978 0.461217" mass="3.93616" diaginertia="0.0569273 0.0547312 0.00935482"/>
|
||||
<joint name="left_j3" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
|
||||
<geom type="mesh" rgba="1 1 1 1" mesh="link3"/>
|
||||
<body name="left_link4" pos="0.064454 0.0005 -0.00070508" quat="0.707105 0.707108 0 0">
|
||||
<inertial pos="-0.0145884 -0.0117113 -0.0406158" quat="0.00473736 0.651043 0.564294 0.507635" mass="1.58469" diaginertia="0.00499445 0.00482606 0.00267104"/>
|
||||
<joint name="left_j4" pos="0 0 0" axis="0 0 1" limited="true" range="0.0 3.05" damping="0.8"/>
|
||||
<geom type="mesh" rgba="1 1 1 1" mesh="link4"/>
|
||||
<body name="left_link5" pos="-0.052254 -0.45668 0.0005" quat="0.707105 -0.707108 0 0">
|
||||
<inertial pos="-0.00209922 0.0288297 0.222845" quat="0.985159 0.138333 -0.00891494 0.101222" mass="1.92688" diaginertia="0.0293358 0.0290794 0.00210656"/>
|
||||
<joint name="left_j5" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
|
||||
<geom type="mesh" rgba="1 1 1 1" mesh="link5"/>
|
||||
<body name="left_link6" pos="0 -0.005 -1.1713e-05" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
|
||||
<inertial pos="0.038358 -0.00071885 -0.0021112" quat="0.0131349 0.678937 -0.0198942 0.733809" mass="1.7304" diaginertia="0.005268 0.00492614 0.00345065"/>
|
||||
<joint name="left_j6" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" damping="0.1"/>
|
||||
<geom type="mesh" rgba="1 1 1 1" mesh="link6"/>
|
||||
<body name="left_link7" pos="0.076728 -0.1059 0" quat="0.707105 -0.707108 0 0">
|
||||
<inertial pos="0.00068467 1.5999e-05 0.020834" quat="0.000547318 0.708756 -0.000448023 0.705453" mass="0.16696" diaginertia="0.000143911 8.8902e-05 8.75358e-05"/>
|
||||
<joint name="left_j7" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" damping="0.01"/>
|
||||
<geom type="mesh" rgba="1 1 1 1" mesh="link7"/>
|
||||
<body name="l_gripper" pos="0 0 0.135" quat=" 0.707 -0.707 0 0">
|
||||
|
||||
<body name="l_gripper_palm_link" pos="1.64197e-10 0.17378 7.2848e-05" quat="0.28154 8.61146e-10 0.959549 0.000764115" >
|
||||
<geom type="mesh" mesh="palm" />
|
||||
</body>
|
||||
<body name="l_finger_1_link_0" pos="0.0577286 0.195213 -0.00560494" quat="-0.678775 0.198461 0.199695 -0.678233" >
|
||||
<inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
|
||||
<joint name="l_palm_finger_1_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.2967 0.2967" />
|
||||
<geom type="mesh" mesh="link_0" />
|
||||
<body name="l_finger_1_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
|
||||
<inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
|
||||
<joint name="l_finger_1_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.2217" />
|
||||
<geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" mesh="link_1" />
|
||||
<body name="l_finger_1_link_2" pos="0 0.05715 0">
|
||||
<inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
|
||||
<joint name="l_finger_1_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" />
|
||||
<geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" mesh="link_2" />
|
||||
<body name="l_finger_1_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075" >
|
||||
<inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
|
||||
<joint name="l_finger_1_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-0.6632 1.0471" />
|
||||
<geom type="mesh" mesh="link_3" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="l_finger_2_link_0" pos="0.0188268 0.195108 0.0549809" quat="-0.678775 0.198461 0.199695 -0.678233" >
|
||||
<inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
|
||||
<joint name="l_palm_finger_2_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.2967 0.2967" />
|
||||
<geom type="mesh" mesh="link_0" />
|
||||
<body name="l_finger_2_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
|
||||
<inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
|
||||
<joint name="l_finger_2_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.2217" />
|
||||
<geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" mesh="link_1" />
|
||||
<body name="l_finger_2_link_2" pos="0 0.05715 0">
|
||||
<inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
|
||||
<joint name="l_finger_2_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" />
|
||||
<geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" mesh="link_2" />
|
||||
<body name="l_finger_2_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075" >
|
||||
<inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
|
||||
<joint name="l_finger_2_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-0.6632 1.0471" />
|
||||
<geom type="mesh" mesh="link_3" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="l_finger_middle_link_0" pos="-0.0382961 0.1952 -0.0244795" quat="0.198618 0.678234 0.678774 0.19954" >
|
||||
<inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
|
||||
<joint name="l_palm_finger_middle_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1e-3 1e-3"/>
|
||||
<geom type="mesh" mesh="link_0" />
|
||||
|
||||
<body name="l_finger_middle_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
|
||||
<inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
|
||||
<joint name="l_finger_middle_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.2217" />
|
||||
<geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" mesh="link_1" />
|
||||
|
||||
<body name="l_finger_middle_link_2" pos="0 0.05715 0">
|
||||
<inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
|
||||
<joint name="l_finger_middle_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" />
|
||||
<geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" mesh="link_2" />
|
||||
<body name="l_finger_middle_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075" >
|
||||
<inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
|
||||
<joint name="l_finger_middle_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-0.6632 1.0471" />
|
||||
<geom type="mesh" mesh="link_3" />
|
||||
</body>
|
||||
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="object" pos="1.1 0 0.4">
|
||||
<inertial pos="0.0 0.0 0.0" mass="2" diaginertia="0.184 0.1 0.1"/>
|
||||
<joint type="free" stiffness="0" damping="0.01" frictionloss="0" armature="0"/>
|
||||
<geom name="wall" type="box" size="0.1 0.4 0.4" rgba="0.8 0.8 0.8 1" friction="0.0000 0.000 0.0000"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
|
||||
<actuator>
|
||||
<position ctrllimited="true" ctrlrange="-10.0 10.0" joint="base_x_slide_joint" kp="18000" name="base_x_slide_joint" user="1"/>
|
||||
<position ctrllimited="true" ctrlrange="-10.0 10.0" joint="base_y_slide_joint" kp="18000" name="base_y_slide_joint" user="1"/>
|
||||
<position ctrllimited="true" ctrlrange="-0.57 0.57" kp="20000" joint="base_z_hinge_joint" name="base_z_hinge_joint" user="1"/>
|
||||
<motor name="base_stand_joint_motor" joint="base_stand_joint" ctrllimited="true" ctrlrange="-80.0 80.0"/>
|
||||
<!-- right arm -->
|
||||
<motor name="right_m1" joint="right_j1" ctrllimited="true" ctrlrange="-80.0 80.0"/>
|
||||
<motor name="right_m2" joint="right_j2" ctrllimited="true" ctrlrange="-80.0 80.0"/>
|
||||
<motor name="right_m3" joint="right_j3" ctrllimited="true" ctrlrange="-80.0 80.0"/>
|
||||
<motor name="right_m4" joint="right_j4" ctrllimited="true" ctrlrange="-80.0 80.0"/>
|
||||
<motor name="right_m5" joint="right_j5" ctrllimited="true" ctrlrange="-80.0 80.0"/>
|
||||
<motor name="right_m6" joint="right_j6" ctrllimited="true" ctrlrange="-80.0 80.0"/>
|
||||
<motor name="right_m7" joint="right_j7" ctrllimited="true" ctrlrange="-80.0 80.0"/>
|
||||
|
||||
<!-- left arm -->
|
||||
<motor name="left_m1" joint="left_j1" ctrllimited="true" ctrlrange="-80.0 80.0"/>
|
||||
<motor name="left_m2" joint="left_j2" ctrllimited="true" ctrlrange="-80.0 80.0"/>
|
||||
<motor name="left_m3" joint="left_j3" ctrllimited="true" ctrlrange="-80.0 80.0"/>
|
||||
<motor name="left_m4" joint="left_j4" ctrllimited="true" ctrlrange="-80.0 80.0"/>
|
||||
<motor name="left_m5" joint="left_j5" ctrllimited="true" ctrlrange="-80.0 80.0"/>
|
||||
<motor name="left_m6" joint="left_j6" ctrllimited="true" ctrlrange="-80.0 80.0"/>
|
||||
<motor name="left_m7" joint="left_j7" ctrllimited="true" ctrlrange="-80.0 80.0"/>
|
||||
</actuator>
|
||||
<tendon>
|
||||
<!--Middlefinger tendons-->
|
||||
<fixed name="r_middle12_cpl" range="0 1">
|
||||
<joint joint="r_finger_middle_joint_1" coef="1"/>
|
||||
<joint joint="r_finger_middle_joint_2" coef="-1.5"/>
|
||||
</fixed>
|
||||
<fixed name="r_middle23_cpl" range="0 1">
|
||||
<joint joint="r_finger_middle_joint_2" coef="1"/>
|
||||
<joint joint="r_finger_middle_joint_3" coef="-3.5"/>
|
||||
</fixed>
|
||||
|
||||
<!--finger2 tendons-->
|
||||
<fixed name="r_finger2_12_cpl" range="0 1">
|
||||
<joint joint="r_finger_2_joint_1" coef="1"/>
|
||||
<joint joint="r_finger_2_joint_2" coef="-1.5"/>
|
||||
</fixed>
|
||||
<fixed name="r_finger2_23_cpl" range="0 1">
|
||||
<joint joint="r_finger_2_joint_2" coef="1"/>
|
||||
<joint joint="r_finger_2_joint_3" coef="-3.5"/>
|
||||
</fixed>
|
||||
|
||||
<!--Finger1 tendons-->
|
||||
<fixed name="r_finger1_12_cpl" range="0 1">
|
||||
<joint joint="r_finger_1_joint_1" coef="1"/>
|
||||
<joint joint="r_finger_1_joint_2" coef="-1.5"/>
|
||||
</fixed>
|
||||
<fixed name="r_finger1_23_cpl" range="0 1">
|
||||
<joint joint="r_finger_1_joint_2" coef="1"/>
|
||||
<joint joint="r_finger_1_joint_3" coef="-3.5"/>
|
||||
</fixed>
|
||||
</tendon>
|
||||
|
||||
<!-- left gripper -->
|
||||
<tendon>
|
||||
<!--Middlefinger tendons-->
|
||||
<fixed name="l_middle12_cpl" range="0 1">
|
||||
<joint joint="l_finger_middle_joint_1" coef="1"/>
|
||||
<joint joint="l_finger_middle_joint_2" coef="-1.5"/>
|
||||
</fixed>
|
||||
<fixed name="l_middle23_cpl" range="0 1">
|
||||
<joint joint="l_finger_middle_joint_2" coef="1"/>
|
||||
<joint joint="l_finger_middle_joint_3" coef="-3.5"/>
|
||||
</fixed>
|
||||
|
||||
<!--finger2 tendons-->
|
||||
<fixed name="l_finger2_12_cpl" range="0 1">
|
||||
<joint joint="l_finger_2_joint_1" coef="1"/>
|
||||
<joint joint="l_finger_2_joint_2" coef="-1.5"/>
|
||||
</fixed>
|
||||
<fixed name="l_finger2_23_cpl" range="0 1">
|
||||
<joint joint="l_finger_2_joint_2" coef="1"/>
|
||||
<joint joint="l_finger_2_joint_3" coef="-3.5"/>
|
||||
</fixed>
|
||||
|
||||
<!--Finger1 tendons-->
|
||||
<fixed name="l_finger1_12_cpl" range="0 1">
|
||||
<joint joint="l_finger_1_joint_1" coef="1"/>
|
||||
<joint joint="l_finger_1_joint_2" coef="-1.5"/>
|
||||
</fixed>
|
||||
<fixed name="l_finger1_23_cpl" range="0 1">
|
||||
<joint joint="l_finger_1_joint_2" coef="1"/>
|
||||
<joint joint="l_finger_1_joint_3" coef="-3.5"/>
|
||||
</fixed>
|
||||
</tendon>
|
||||
|
||||
<!-- right gripper -->
|
||||
<equality>
|
||||
<!-- GRIPPER Couplings -->
|
||||
<tendon name="r_middle12_cpl" tendon1="r_middle12_cpl"/>
|
||||
<tendon name="r_middle23_cpl" tendon1="r_middle23_cpl"/>
|
||||
|
||||
<tendon name="r_finger2_12_cpl" tendon1="r_finger2_12_cpl"/>
|
||||
<tendon name="r_finger2_23_cpl" tendon1="r_finger2_23_cpl"/>
|
||||
|
||||
<tendon name="r_finger1_12_cpl" tendon1="r_finger1_12_cpl"/>
|
||||
<tendon name="r_finger1_23_cpl" tendon1="r_finger1_23_cpl"/>
|
||||
|
||||
<!-- SCISSOR Coupling -->
|
||||
<joint name="r_finger_12_scissor" joint1="r_palm_finger_2_joint" joint2="r_palm_finger_1_joint" polycoef="0 -1 0 0 0"/>
|
||||
</equality>
|
||||
|
||||
<!-- left gripper -->
|
||||
<equality>
|
||||
<!-- GRIPPER Couplings -->
|
||||
<tendon name="l_middle12_cpl" tendon1="l_middle12_cpl"/>
|
||||
<tendon name="l_middle23_cpl" tendon1="l_middle23_cpl"/>
|
||||
|
||||
<tendon name="l_finger2_12_cpl" tendon1="l_finger2_12_cpl"/>
|
||||
<tendon name="l_finger2_23_cpl" tendon1="l_finger2_23_cpl"/>
|
||||
|
||||
<tendon name="l_finger1_12_cpl" tendon1="l_finger1_12_cpl"/>
|
||||
<tendon name="l_finger1_23_cpl" tendon1="l_finger1_23_cpl"/>
|
||||
|
||||
<!-- SCISSOR Coupling -->
|
||||
<joint name="l_finger_12_scissor" joint1="l_palm_finger_2_joint" joint2="l_palm_finger_1_joint" polycoef="0 -1 0 0 0"/>
|
||||
</equality>
|
||||
|
||||
<contact>
|
||||
<!-- left gripper -->
|
||||
<exclude body1="l_finger_1_link_1" body2="l_gripper_palm_link"/>
|
||||
<exclude body1="l_finger_2_link_1" body2="l_gripper_palm_link"/>
|
||||
<exclude body1="l_finger_middle_link_1" body2="l_gripper_palm_link"/>
|
||||
<exclude body1="l_finger_1_link_0" body2="l_gripper_palm_link"/>
|
||||
<exclude body1="l_finger_2_link_0" body2="l_gripper_palm_link"/>
|
||||
<exclude body1="l_finger_middle_link_0" body2="l_gripper_palm_link"/>
|
||||
<exclude body1="l_finger_1_link_0" body2="l_finger_1_link_1"/>
|
||||
<exclude body1="l_finger_2_link_0" body2="l_finger_2_link_1"/>
|
||||
<exclude body1="l_finger_middle_link_0" body2="l_finger_middle_link_1"/>
|
||||
|
||||
<!-- right gripper -->
|
||||
<exclude body1="r_finger_1_link_1" body2="r_gripper_palm_link"/>
|
||||
<exclude body1="r_finger_2_link_1" body2="r_gripper_palm_link"/>
|
||||
<exclude body1="r_finger_middle_link_1" body2="r_gripper_palm_link"/>
|
||||
<exclude body1="r_finger_1_link_0" body2="r_gripper_palm_link"/>
|
||||
<exclude body1="r_finger_2_link_0" body2="r_gripper_palm_link"/>
|
||||
<exclude body1="r_finger_middle_link_0" body2="r_gripper_palm_link"/>
|
||||
<exclude body1="r_finger_1_link_0" body2="r_finger_1_link_1"/>
|
||||
<exclude body1="r_finger_2_link_0" body2="r_finger_2_link_1"/>
|
||||
<exclude body1="r_finger_middle_link_0" body2="r_finger_middle_link_1"/>
|
||||
</contact>
|
||||
<include file ="empty_floor.xml"/>
|
||||
|
||||
</mujoco>
|
||||
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/base.stl
Normal file
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/base.stl
Normal file
Binary file not shown.
Binary file not shown.
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/bottle.stl
Normal file
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/bottle.stl
Normal file
Binary file not shown.
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/bumper.stl
Normal file
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/bumper.stl
Normal file
Binary file not shown.
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/can.stl
Normal file
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/can.stl
Normal file
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/forearm.stl
Normal file
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/forearm.stl
Normal file
Binary file not shown.
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/link_0.STL
Normal file
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/link_0.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/link_1.STL
Normal file
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/link_1.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/link_2.STL
Normal file
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/link_2.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/link_3.STL
Normal file
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/link_3.STL
Normal file
Binary file not shown.
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/milk.stl
Normal file
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/milk.stl
Normal file
Binary file not shown.
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/palm.STL
Normal file
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/palm.STL
Normal file
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/wheel.stl
Normal file
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/wheel.stl
Normal file
Binary file not shown.
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/wrist1.stl
Normal file
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/wrist1.stl
Normal file
Binary file not shown.
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/wrist2.stl
Normal file
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/wrist2.stl
Normal file
Binary file not shown.
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/wrist3.stl
Normal file
BIN
roboimi/assets/models/grippers/dual_ur5_husky/meshes/wrist3.stl
Normal file
Binary file not shown.
File diff suppressed because one or more lines are too long
@@ -0,0 +1,12 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl Material_001
|
||||
Ns 225.000000
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.001651 0.001651 0.001651
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.100000 0.100000 0.100000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
Binary file not shown.
File diff suppressed because one or more lines are too long
@@ -0,0 +1,22 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 2
|
||||
|
||||
newmtl Material_001
|
||||
Ns 225.000000
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.640000 0.000000 0.000000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Material_002
|
||||
Ns 225.000000
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
Binary file not shown.
File diff suppressed because one or more lines are too long
@@ -0,0 +1,12 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl Material_001_001
|
||||
Ns 225.000000
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.000000 0.000000 0.000000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
Binary file not shown.
File diff suppressed because one or more lines are too long
@@ -0,0 +1,12 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl Material_001_002
|
||||
Ns 225.000000
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.000000 0.000000 0.000000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user