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Add Ufactory Lite6 models with internal and external facing grippers
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,152 @@ | ||
| <mujoco model="ufactory_lite6"> | ||
| <compiler angle="radian" meshdir="assets" autolimits="true"/> | ||
|
|
||
| <option integrator="implicitfast"/> | ||
|
|
||
| <default> | ||
| <default class="lite6"> | ||
| <geom type="mesh"/> | ||
| <joint axis="0 0 1" damping="1" armature="0.1"/> | ||
| <general gaintype="fixed" biastype="affine" gainprm="2000" biasprm="0 -2000 -200"/> | ||
| <default class="size1"> | ||
| <general forcerange="-50 50"/> | ||
| </default> | ||
| <default class="size2"> | ||
| <general forcerange="-32 32"/> | ||
| </default> | ||
| <default class="size3"> | ||
| <general forcerange="-20 20"/> | ||
| </default> | ||
| <default class="visual"> | ||
| <geom contype="0" conaffinity="0" group="2" material="white"/> | ||
| </default> | ||
| <default class="collision"> | ||
| <geom group="3" mass="0" density="0"/> | ||
| </default> | ||
| <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/> | ||
| </default> | ||
| </default> | ||
|
|
||
| <asset> | ||
| <material name="white" rgba="1 1 1 1"/> | ||
| <material name="silver" rgba=".753 .753 .753 1"/> | ||
| <material name="black" rgba=".1 .1 .1 1"/> | ||
|
|
||
| <mesh file="visual/link_base.stl"/> | ||
| <mesh file="visual/link1.stl"/> | ||
| <mesh file="visual/link2.stl"/> | ||
| <mesh file="visual/link3.stl"/> | ||
| <mesh file="visual/link4.stl"/> | ||
| <mesh file="visual/link5.stl"/> | ||
| <mesh file="visual/link6.stl"/> | ||
| <mesh file="visual/gripper_lite_body.stl"/> | ||
| <mesh file="visual/gripper_lite_left_finger_external.stl"/> | ||
| <mesh file="visual/gripper_lite_right_finger_external.stl"/> | ||
| <mesh name="link_base_c" file="collision/link_base.stl"/> | ||
| <mesh name="link1_c" file="collision/link1.stl"/> | ||
| <mesh name="link2_c" file="collision/link2.stl"/> | ||
| <mesh name="link3_c" file="collision/link3.stl"/> | ||
| <mesh name="link4_c" file="collision/link4.stl"/> | ||
| <mesh name="link5_c" file="collision/link5.stl"/> | ||
| <mesh name="link6_c" file="collision/link6.stl"/> | ||
| <mesh name="gripper_lite_body_c" file="collision/gripper_lite_body.stl"/> | ||
| <mesh file="collision/gripper_lite_left_finger_external_base.stl"/> | ||
| <mesh file="collision/gripper_lite_right_finger_external_base.stl"/> | ||
| <mesh file="collision/gripper_lite_left_finger_external_tip.stl"/> | ||
| <mesh file="collision/gripper_lite_right_finger_external_tip.stl"/> | ||
| </asset> | ||
|
|
||
| <worldbody> | ||
| <body name="link_base" childclass="lite6"> | ||
| <inertial pos="-0.00829545 3.26357e-05 0.0631195" mass="1.65394" diaginertia="0 0 0"/> | ||
| <geom class="visual" mesh="link_base"/> | ||
| <geom name="link_base_c" class="collision" mesh="link_base_c"/> | ||
| <body name="link1" pos="0 0 0.2435"> | ||
| <inertial pos="-0.00036 0.04195 -0.0025" quat="0.608059 0.792349 -0.0438707 0.0228718" mass="1.411" | ||
| diaginertia="0.00145276 0.00135275 0.000853355"/> | ||
| <joint name="joint1" range="-6.28319 6.28319"/> | ||
| <geom class="visual" mesh="link1"/> | ||
| <geom name="link1_c" class="collision" mesh="link1_c"/> | ||
| <body name="link2" quat="-1 1 1 1"> | ||
| <inertial pos="0.179 0 0.0584" quat="0.417561 0.571619 0.569585 0.417693" mass="1.34" | ||
| diaginertia="0.00560971 0.0052152 0.00122018"/> | ||
| <joint name="joint2" range="-2.61799 2.61799"/> | ||
| <geom class="visual" mesh="link2"/> | ||
| <geom name="link2_c" class="collision" mesh="link2_c"/> | ||
| <body name="link3" pos="0.2002 0 0" quat="-2.59734e-06 -0.707105 -0.707108 -2.59735e-06"> | ||
| <inertial pos="0.072 -0.0357 -0.001" quat="0.128259 0.662963 -0.167256 0.71837" mass="0.953" | ||
| diaginertia="0.0018521 0.00175546 0.000703807"/> | ||
| <joint name="joint3" range="-0.061087 5.23599"/> | ||
| <geom class="visual" mesh="link3"/> | ||
| <geom name="link3_c" class="collision" mesh="link3_c"/> | ||
| <body name="link4" pos="0.087 -0.22761 0" quat="0.707105 0.707108 0 0"> | ||
| <inertial pos="-0.002 -0.0285 -0.0813" quat="0.975248 0.22109 0.00203498 -0.00262178" mass="1.284" | ||
| diaginertia="0.00370503 0.00349091 0.00109586"/> | ||
| <joint name="joint4" range="-6.28319 6.28319"/> | ||
| <geom class="visual" mesh="link4"/> | ||
| <geom name="link4_c" class="collision" mesh="link4_c"/> | ||
| <body name="link5" quat="1 1 0 0"> | ||
| <inertial pos="0 0.01 0.0019" quat="0.71423 0.696388 -0.0531933 0.0456997" mass="0.804" | ||
| diaginertia="0.000567553 0.000529266 0.000507681"/> | ||
| <joint name="joint5" range="-2.1642 2.1642"/> | ||
| <geom class="visual" mesh="link5"/> | ||
| <geom name="link5_c" class="collision" mesh="link5_c"/> | ||
| <body name="link6" pos="0 0.0625 0" quat="1 -1 0 0"> | ||
| <inertial pos="0 -0.00194 -0.0102" quat="-0.0376023 0.704057 0.0446838 0.707738" mass="0.13" | ||
| diaginertia="0.000148148 8.57757e-05 7.71412e-05"/> | ||
| <joint name="joint6" range="-6.28319 6.28319"/> | ||
| <geom class="visual" mesh="link6" material="silver"/> | ||
| <geom name="link6_c" class="collision" mesh="link6_c"/> | ||
| <site name="attachment_site"/> | ||
| <body name="gripper_body" pos="0 0 0" quat="1 0 0 0"> | ||
| <inertial pos="0.0 0.0 0.026" quat="1 0 0 0" mass="0.26" | ||
| diaginertia="0.00016117 0.000118 0.00014455" /> | ||
| <geom class="visual" mesh="gripper_lite_body" material="white"/> | ||
| <geom name="gripper_lite_body_c" class="collision" mesh="gripper_lite_body_c"/> | ||
| <!-- Finger and base separated to avoid convex hull preventing gripping --> | ||
| <body name="gripper_left_finger" pos="0 0 0.054" quat="1 0 0 0"> | ||
| <inertial pos="0.0 -0.01 0.01" quat="1 0 0 0" mass="0.024" | ||
| diaginertia="1.961e-6 2.274e-6 1.238e-6" /> | ||
| <joint name="gripper_left_finger" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.0081 -1e-5" frictionloss="0.4" /> | ||
| <geom mesh="gripper_lite_left_finger_external" class="visual" material="black"/> | ||
| <geom name="gripper_left_finger_base" class="collision" mesh="gripper_lite_left_finger_external_base" material="black" condim="1" solimp="2 1 0.01" solref="0.01 1" friction="6 0.5 0.1"/> | ||
| <geom name="gripper_left_finger" class="collision" mesh="gripper_lite_left_finger_external_tip" material="black" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="6 0.5 0.1"/> | ||
| </body> | ||
| <body name="gripper_right_finger" pos="0 0 0.054" quat="1 0 0 0"> | ||
| <inertial pos="0.0 0.01 0.01" quat="1 0 0 0" mass="0.024" | ||
| diaginertia="1.961e-6 2.274e-6 1.238e-6" /> | ||
| <joint name="gripper_right_finger" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="1e-5 0.0081" frictionloss="0.4" /> | ||
| <geom mesh="gripper_lite_right_finger_external" class="visual" material="black"/> | ||
| <geom name="gripper_right_finger_base" class="collision" mesh="gripper_lite_right_finger_external_base" material="black" condim="1" solimp="2 1 0.01" solref="0.01 1" friction="5 0.5 0.1"/> | ||
| <geom name="gripper_right_finger" class="collision" mesh="gripper_lite_right_finger_external_tip" material="black" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.5 0.1"/> | ||
| </body> | ||
| <!-- End effector reference point is in the centre at the tip of the grippers --> | ||
| <site name="end_effector" pos="0 0 0.0811"/> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </worldbody> | ||
|
|
||
| <actuator> | ||
| <general joint="joint1" class="size1" ctrlrange="-6.28319 6.28319"/> | ||
| <general joint="joint2" class="size1" ctrlrange="-2.61799 2.61799"/> | ||
| <general joint="joint3" class="size2" ctrlrange="-0.061087 5.23599"/> | ||
| <general joint="joint4" class="size2" ctrlrange="-6.28319 6.28319"/> | ||
| <general joint="joint5" class="size2" ctrlrange="-2.1642 2.1642"/> | ||
| <general joint="joint6" class="size3" ctrlrange="-6.28319 6.28319"/> | ||
| <motor name="gripper" joint="gripper_left_finger" forcerange="-10 10" ctrlrange="-10 10"/> | ||
| </actuator> | ||
|
|
||
| <equality> | ||
| <joint joint1="gripper_left_finger" joint2="gripper_right_finger" polycoef="0 -1 0 0 0"/> | ||
| </equality> | ||
|
|
||
| <keyframe> | ||
| <key name="home" qpos="0 0 1.57 0 1.57 0 0 0" ctrl="0 0 1.57 0 1.57 0 0"/> | ||
| </keyframe> | ||
| </mujoco> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,143 @@ | ||
| <mujoco model="ufactory_lite6"> | ||
| <compiler angle="radian" meshdir="assets" autolimits="true"/> | ||
|
|
||
| <option integrator="implicitfast"/> | ||
|
|
||
| <default> | ||
| <default class="lite6"> | ||
| <geom type="mesh"/> | ||
| <joint axis="0 0 1" damping="1" armature="0.1"/> | ||
| <general gaintype="fixed" biastype="affine" gainprm="2000" biasprm="0 -2000 -200"/> | ||
| <default class="size1"> | ||
| <general forcerange="-50 50"/> | ||
| </default> | ||
| <default class="size2"> | ||
| <general forcerange="-32 32"/> | ||
| </default> | ||
| <default class="size3"> | ||
| <general forcerange="-20 20"/> | ||
| </default> | ||
| <default class="visual"> | ||
| <geom contype="0" conaffinity="0" group="2" material="white"/> | ||
| </default> | ||
| <default class="collision"> | ||
| <geom group="3" mass="0" density="0"/> | ||
| </default> | ||
| <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/> | ||
| </default> | ||
| </default> | ||
|
|
||
| <asset> | ||
| <material name="white" rgba="1 1 1 1"/> | ||
| <material name="silver" rgba=".753 .753 .753 1"/> | ||
| <material name="black" rgba=".1 .1 .1 1"/> | ||
|
|
||
| <mesh file="visual/link_base.stl"/> | ||
| <mesh file="visual/link1.stl"/> | ||
| <mesh file="visual/link2.stl"/> | ||
| <mesh file="visual/link3.stl"/> | ||
| <mesh file="visual/link4.stl"/> | ||
| <mesh file="visual/link5.stl"/> | ||
| <mesh file="visual/link6.stl"/> | ||
| <mesh file="visual/gripper_lite_body.stl"/> | ||
| <mesh file="visual/gripper_lite_left_finger_internal.stl"/> | ||
| <mesh file="visual/gripper_lite_right_finger_internal.stl"/> | ||
| <mesh name="link_base_c" file="collision/link_base.stl"/> | ||
| <mesh name="link1_c" file="collision/link1.stl"/> | ||
| <mesh name="link2_c" file="collision/link2.stl"/> | ||
| <mesh name="link3_c" file="collision/link3.stl"/> | ||
| <mesh name="link4_c" file="collision/link4.stl"/> | ||
| <mesh name="link5_c" file="collision/link5.stl"/> | ||
| <mesh name="link6_c" file="collision/link6.stl"/> | ||
| <mesh name="gripper_lite_body_c" file="collision/gripper_lite_body.stl"/> | ||
| </asset> | ||
|
|
||
| <worldbody> | ||
| <body name="link_base" childclass="lite6"> | ||
| <inertial pos="-0.00829545 3.26357e-05 0.0631195" mass="1.65394" diaginertia="0 0 0"/> | ||
| <geom class="visual" mesh="link_base"/> | ||
| <geom name="link_base_c" class="collision" mesh="link_base_c"/> | ||
| <body name="link1" pos="0 0 0.2435"> | ||
| <inertial pos="-0.00036 0.04195 -0.0025" quat="0.608059 0.792349 -0.0438707 0.0228718" mass="1.411" | ||
| diaginertia="0.00145276 0.00135275 0.000853355"/> | ||
| <joint name="joint1" range="-6.28319 6.28319"/> | ||
| <geom class="visual" mesh="link1"/> | ||
| <geom name="link1_c" class="collision" mesh="link1_c"/> | ||
| <body name="link2" quat="-1 1 1 1"> | ||
| <inertial pos="0.179 0 0.0584" quat="0.417561 0.571619 0.569585 0.417693" mass="1.34" | ||
| diaginertia="0.00560971 0.0052152 0.00122018"/> | ||
| <joint name="joint2" range="-2.61799 2.61799"/> | ||
| <geom class="visual" mesh="link2"/> | ||
| <geom name="link2_c" class="collision" mesh="link2_c"/> | ||
| <body name="link3" pos="0.2002 0 0" quat="-2.59734e-06 -0.707105 -0.707108 -2.59735e-06"> | ||
| <inertial pos="0.072 -0.0357 -0.001" quat="0.128259 0.662963 -0.167256 0.71837" mass="0.953" | ||
| diaginertia="0.0018521 0.00175546 0.000703807"/> | ||
| <joint name="joint3" range="-0.061087 5.23599"/> | ||
| <geom class="visual" mesh="link3"/> | ||
| <geom name="link3_c" class="collision" mesh="link3_c"/> | ||
| <body name="link4" pos="0.087 -0.22761 0" quat="0.707105 0.707108 0 0"> | ||
| <inertial pos="-0.002 -0.0285 -0.0813" quat="0.975248 0.22109 0.00203498 -0.00262178" mass="1.284" | ||
| diaginertia="0.00370503 0.00349091 0.00109586"/> | ||
| <joint name="joint4" range="-6.28319 6.28319"/> | ||
| <geom class="visual" mesh="link4"/> | ||
| <geom name="link4_c" class="collision" mesh="link4_c"/> | ||
| <body name="link5" quat="1 1 0 0"> | ||
| <inertial pos="0 0.01 0.0019" quat="0.71423 0.696388 -0.0531933 0.0456997" mass="0.804" | ||
| diaginertia="0.000567553 0.000529266 0.000507681"/> | ||
| <joint name="joint5" range="-2.1642 2.1642"/> | ||
| <geom class="visual" mesh="link5"/> | ||
| <geom name="link5_c" class="collision" mesh="link5_c"/> | ||
| <body name="link6" pos="0 0.0625 0" quat="1 -1 0 0"> | ||
| <inertial pos="0 -0.00194 -0.0102" quat="-0.0376023 0.704057 0.0446838 0.707738" mass="0.13" | ||
| diaginertia="0.000148148 8.57757e-05 7.71412e-05"/> | ||
| <joint name="joint6" range="-6.28319 6.28319"/> | ||
| <geom class="visual" mesh="link6" material="silver"/> | ||
| <geom name="link6_c" class="collision" mesh="link6_c"/> | ||
| <site name="attachment_site"/> | ||
| <body name="gripper_body" pos="0 0 0" quat="1 0 0 0"> | ||
| <inertial pos="0.0 0.0 0.026" quat="1 0 0 0" mass="0.26" | ||
| diaginertia="0.00016117 0.000118 0.00014455" /> | ||
| <geom class="visual" mesh="gripper_lite_body" material="white"/> | ||
| <geom name="gripper_lite_body_c" class="collision" mesh="gripper_lite_body_c"/> | ||
| <body name="gripper_left_finger" pos="0 0 0.054" quat="1 0 0 0"> | ||
| <inertial pos="0.0 -0.005 0.01" quat="1 0 0 0" mass="0.024" | ||
| diaginertia="1.961e-6 2.274e-6 1.238e-6" /> | ||
| <geom name="gripper_left_finger" mesh="gripper_lite_left_finger_internal" material="black" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001"/> | ||
| <joint name="gripper_left_finger" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.0081 -1e-5" frictionloss="1" /> | ||
| </body> | ||
| <body name="gripper_right_finger" pos="0 0 0.054" quat="1 0 0 0"> | ||
| <inertial pos="0.0 0.005 0.01" quat="1 0 0 0" mass="0.024" | ||
| diaginertia="1.961e-6 2.274e-6 1.238e-6" /> | ||
| <geom name="gripper_right_finger" mesh="gripper_lite_right_finger_internal" material="black" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001"/> | ||
| <joint name="gripper_right_finger" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="1e-5 0.0081" frictionloss="1" /> | ||
| </body> | ||
| <!-- End effector reference point is in the centre at the tip of the grippers --> | ||
| <site name="end_effector" pos="0 0 0.0811"/> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </worldbody> | ||
|
|
||
| <actuator> | ||
| <general joint="joint1" class="size1" ctrlrange="-6.28319 6.28319"/> | ||
| <general joint="joint2" class="size1" ctrlrange="-2.61799 2.61799"/> | ||
| <general joint="joint3" class="size2" ctrlrange="-0.061087 5.23599"/> | ||
| <general joint="joint4" class="size2" ctrlrange="-6.28319 6.28319"/> | ||
| <general joint="joint5" class="size2" ctrlrange="-2.1642 2.1642"/> | ||
| <general joint="joint6" class="size3" ctrlrange="-6.28319 6.28319"/> | ||
| <motor name="gripper" joint="gripper_left_finger" forcerange="-10 10" ctrlrange="-10 10"/> | ||
| </actuator> | ||
|
|
||
| <equality> | ||
| <joint joint1="gripper_left_finger" joint2="gripper_right_finger" polycoef="0 -1 0 0 0"/> | ||
| </equality> | ||
|
|
||
| <keyframe> | ||
| <key name="home" qpos="0 0 1.57 0 1.57 0 0 0" ctrl="0 0 1.57 0 1.57 0 0"/> | ||
| </keyframe> | ||
| </mujoco> |