95 lines
6.3 KiB
XML
95 lines
6.3 KiB
XML
<mujoco model="iiwa_1">
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<compiler angle="radian" autolimits="true" meshdir="assets"/>
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<default>
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<default class="vis">
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<geom contype="0" conaffinity="0"/>
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</default>
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<default class="robot">
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<geom condim="4" solref="0.02 0.3" priority="2"/>
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</default>
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</default>
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<asset>
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<mesh name="link_0" file="link_0.stl"/>
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<mesh name="link_1" file="link_1.stl"/>
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<mesh name="link_2" file="link_2.stl"/>
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<mesh name="link_3" file="link_3.stl"/>
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<mesh name="link_4" file="link_4.stl"/>
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<mesh name="link_5" file="link_5.stl"/>
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<mesh name="link_6" file="link_6.stl"/>
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<mesh name="link_7" file="link_7.stl"/>
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<mesh name="EE_arm" file="EE_arm.stl"/>
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<mesh name="EE_mallet_foam" file="EE_mallet_foam.stl"/>
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</asset>
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<worldbody>
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<body name="iiwa_1/base" pos="0.0 0 0.0">
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<geom type="mesh" rgba="0.4 0.4 0.4 1" mesh="link_0" class="vis"/>
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<body name="iiwa_1/link_1" pos="0 0 0.1575">
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<inertial pos="4.007709e-06 -0.033936 0.122467" mass="8.240527"
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fullinertia="0.021981 0.022182 0.008234 -2.897243e-07 6.3165236e-07 0.003285"/>
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<joint name="iiwa_1/joint_1" pos="0 0 0" axis="0 0 1" range="-2.96706 2.96706" damping="0.33032"
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frictionloss="0.384477"/>
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<geom type="mesh" rgba="1 0.423529 0.0392157 1" mesh="link_1" class="vis"/>
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<body name="iiwa_1/link_2" pos="0 0 0.2025" quat="0 0 0.707107 0.707107">
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<inertial pos="0.003402 0.034792 0.046725" mass="6.357896"
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fullinertia="0.015565 0.005180 0.015484 -4.147301e-06 1.192255e-05 0.002538"/>
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<joint name="iiwa_1/joint_2" pos="0 0 0" axis="0 0 1" range="-2.0944 2.0944" damping="0.21216"
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frictionloss="0.496333"/>
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<geom type="mesh" rgba="1 0.423529 0.0392157 1" mesh="link_2" class="vis"/>
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<body name="iiwa_1/link_3" pos="0 0.2045 0" quat="0 0 0.707107 0.707107">
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<inertial pos="-0.001452 0.031526 0.133584" mass="4.042756"
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fullinertia="0.010914 0.010381 0.003139 -3.540575e-06 -9.059062e-06 -0.002128"/>
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<joint name="iiwa_1/joint_3" pos="0 0 0" axis="0 0 1" range="-2.96706 2.96706" damping="0.1"
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frictionloss="0.173951"/>
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<geom type="mesh" rgba="1 0.423529 0.0392157 1" mesh="link_3" class="vis"/>
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<body name="iiwa_1/link_4" pos="0 0 0.2155" quat="0.707107 0.707107 0 0">
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<inertial pos="-0.002527 0.053508 0.037205" mass="3.642249"
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fullinertia="0.007536 0.002538 0.007206 -5.707028e-06 2.781894e-06 0.001256"/>
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<joint name="iiwa_1/joint_4" pos="0 0 0" axis="0 0 1" range="-2.0944 2.0944"
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damping="0.219041" frictionloss="0.3751"/>
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<geom type="mesh" rgba="1 0.423529 0.0392157 1" mesh="link_4" class="vis"/>
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<body name="iiwa_1/link_5" pos="0 0.1845 0" quat="0 0 0.707107 0.707107">
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<inertial pos="0.001855 0.024573 0.080131" mass="2.580896"
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fullinertia="0.005201 0.004488 0.002242 1.089316e-07 9.035623e-07 -0.001613"/>
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<joint name="iiwa_1/joint_5" pos="0 0 0" axis="0 0 1" range="-2.96706 2.96706"
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damping="0.185923" frictionloss="0.481099"/>
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<geom type="mesh" rgba="1 0.423529 0.0392157 1" mesh="link_5" class="vis"/>
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<body name="iiwa_1/link_6" pos="0 0 0.2155" quat="0.707107 0.707107 0 0">
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<inertial pos="-0.001739 -0.001973 -0.002502" mass="2.760564"
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fullinertia="0.002534 0.001821 0.002393 -1.311766e-06 9.508242e-07 0.000134"/>
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<joint name="iiwa_1/joint_6" pos="0 0 0" axis="0 0 1" range="-2.0944 2.0944"
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damping="0.1" frictionloss="0.196149"/>
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<geom type="mesh" rgba="1 0.423529 0.0392157 1" mesh="link_6" class="vis"/>
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<body name="iiwa_1/link_7" pos="0 0.081 0" quat="0 0 0.707107 0.707107">
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<inertial pos="0.000735 0.000387 0.026460" mass="1.285417"
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fullinertia="0.000151 0.000150 0.000187 -7.223100e-08 2.038333e-06 -3.396830e-07"/>
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<joint name="iiwa_1/joint_7" pos="0 0 0" axis="0 0 1" range="-3.05433 3.05433"
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damping="0.1" frictionloss="0.299238" armature="0.01"/>
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<geom type="mesh" rgba="0.4 0.4 0.4 1" mesh="link_7" class="vis"/>
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<geom pos="0 0 0.07" type="mesh" rgba="0.3 0.3 0.3 1" mesh="EE_arm"
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class="vis"/>
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<body name="iiwa_1/striker_joint_link" pos="0 0 0.585">
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<inertial pos="0 0 0" mass="0.1" diaginertia="0.001 0.001 0.001"/>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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<actuator>
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<motor name="iiwa_1/joint_1" joint="iiwa_1/joint_1" ctrlrange="-320 320"/>
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<motor name="iiwa_1/joint_2" joint="iiwa_1/joint_2" ctrlrange="-320 320"/>
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<motor name="iiwa_1/joint_3" joint="iiwa_1/joint_3" ctrlrange="-176 176"/>
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<motor name="iiwa_1/joint_4" joint="iiwa_1/joint_4" ctrlrange="-176 176"/>
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<motor name="iiwa_1/joint_5" joint="iiwa_1/joint_5" ctrlrange="-110 110"/>
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<motor name="iiwa_1/joint_6" joint="iiwa_1/joint_6" ctrlrange="-40 40"/>
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<motor name="iiwa_1/joint_7" joint="iiwa_1/joint_7" ctrlrange="-40 40"/>
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</actuator>
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</mujoco>
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