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<mujoco model="z1"> |
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<compiler angle="radian" meshdir="assets"/> |
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<option integrator="implicitfast"/> |
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<default> |
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<default class="z1"> |
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<joint damping="1" frictionloss="1"/> |
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<general biastype="affine" gainprm="1000" biasprm="0 -1000 -100" forcerange="-30 30"/> |
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<default class="visual"> |
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<geom type="mesh" group="2" contype="0" conaffinity="0"/> |
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</default> |
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<default class="collision"> |
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<geom type="cylinder" group="3" mass="0" density="0"/> |
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</default> |
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</default> |
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</default> |
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<asset> |
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<mesh file="z1_Link00.stl"/> |
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<mesh file="z1_Link01.stl"/> |
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<mesh file="z1_Link02.stl"/> |
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<mesh file="z1_Link03.stl"/> |
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<mesh file="z1_Link04.stl"/> |
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<mesh file="z1_Link05.stl"/> |
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<mesh file="z1_Link06.stl"/> |
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</asset> |
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<worldbody> |
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<body name="link00" childclass="z1"> |
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<inertial pos="-0.00334984 -0.00013615 0.0249584" quat="-0.00692194 0.682592 0.00133293 0.730766" mass="0.472475" |
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diaginertia="0.000531375 0.000415207 0.000378658"/> |
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<geom class="visual" mesh="z1_Link00"/> |
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<geom size="0.0325 0.0255" pos="0 0 0.0255" class="collision"/> |
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<body name="link01" pos="0 0 0.0585"> |
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<inertial pos="2.47e-06 -0.00025198 0.0231717" quat="0.708578 0.705633 0.000281462 -0.000355927" mass="0.673326" |
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diaginertia="0.00128328 0.000839362 0.000719308"/> |
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<joint name="joint1" axis="0 0 1" range="-2.61799 2.61799"/> |
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<geom class="visual" mesh="z1_Link01"/> |
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<body name="link02" pos="0 0 0.045"> |
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<inertial pos="-0.110126 0.00240029 0.00158266" quat="0.00748058 0.707092 -0.0114473 0.70699" mass="1.19132" |
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diaginertia="0.0246612 0.0243113 0.00100468"/> |
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<joint name="joint2" axis="0 1 0" range="0 2.96706" damping="2"/> |
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<geom class="visual" mesh="z1_Link02"/> |
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<geom size="0.0325 0.051" quat="1 1 0 0" class="collision"/> |
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<geom size="0.0225 0.1175" pos="-0.1625 0 0" quat="1 0 1 0" class="collision"/> |
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<geom size="0.0325 0.0255" pos="-0.35 0 0" quat="1 1 0 0" class="collision"/> |
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<body name="link03" pos="-0.35 0 0"> |
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<inertial pos="0.106092 -0.00541815 0.0347638" quat="0.540557 0.443575 0.426319 0.573839" mass="0.839409" |
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diaginertia="0.00954365 0.00938711 0.000558432"/> |
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<joint name="joint3" axis="0 1 0" range="-2.87979 0"/> |
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<geom class="visual" mesh="z1_Link03"/> |
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<geom size="0.02 0.058" pos="0.128 0 0.055" quat="1 0 1 0" class="collision"/> |
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<geom size="0.0325 0.0295" pos="0.2205 0 0.055" quat="0.5 -0.5 0.5 0.5" class="collision"/> |
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<body name="link04" pos="0.218 0 0.057"> |
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<inertial pos="0.0436668 0.00364738 -0.00170192" quat="0.0390835 0.726445 -0.0526787 0.684087" |
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mass="0.564046" diaginertia="0.000981656 0.00094053 0.000302655"/> |
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<joint name="joint4" axis="0 1 0" range="-1.51844 1.51844"/> |
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<geom class="visual" mesh="z1_Link04"/> |
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<geom size="0.0325 0.0335" pos="0.072 0 0" class="collision"/> |
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<body name="link05" pos="0.07 0 0"> |
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<inertial pos="0.0312153 0 0.00646316" quat="0.462205 0.535209 0.53785 0.45895" mass="0.389385" |
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diaginertia="0.000558961 0.000547317 0.000167332"/> |
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<joint name="joint5" axis="0 0 1" range="-1.3439 1.3439"/> |
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<geom class="visual" mesh="z1_Link05"/> |
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<body name="link06" pos="0.0492 0 0"> |
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<inertial pos="0.0241569 -0.00017355 -0.00143876" quat="0.998779 0.0457735 -0.00663717 0.0173548" |
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mass="0.288758" diaginertia="0.00018333 0.000147464 0.000146786"/> |
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<joint name="joint6" axis="1 0 0" range="-2.79253 2.79253"/> |
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<geom class="visual" mesh="z1_Link06"/> |
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<geom size="0.0325 0.0255" pos="0.0255 0 0" quat="1 0 1 0" class="collision"/> |
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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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<general class="z1" name="joint1" joint="joint1" ctrlrange="-2.61799 2.61799"/> |
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<general class="z1" name="joint2" joint="joint2" ctrlrange="0 2.96706" forcerange="-60 60" gainprm="1500" |
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biasprm="0 -1500 -150"/> |
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<general class="z1" name="joint3" joint="joint3" ctrlrange="-2.87979 0"/> |
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<general class="z1" name="joint4" joint="joint4" ctrlrange="-1.51844 1.51844"/> |
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<general class="z1" name="joint5" joint="joint5" ctrlrange="-1.3439 1.3439"/> |
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<general class="z1" name="joint6" joint="joint6" ctrlrange="-2.79253 2.79253"/> |
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</actuator> |
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</mujoco> |
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