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juelgjuelg
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feat: added mjcf xarm7
1 parent 41b43a7 commit 00dd69d

24 files changed

Lines changed: 321 additions & 4 deletions

‎assets/scenes/xarm7_empty_world/assets‎

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../../xarm7/stl

‎assets/scenes/xarm7_empty_world/robot.xml‎

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../../xarm7/mjcf/xarm7.xml

‎assets/scenes/xarm7_empty_world/scene.xml‎

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<mujoco model="xarm7 scene">
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<include file="robot.xml"/>
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<statistic center="0.2 0 0.4" extent=".65"/>
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<visual>
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<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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<global azimuth="150" elevation="-20"/>
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</visual>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
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<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
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markrgb="0.8 0.8 0.8" width="300" height="300"/>
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<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
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</asset>
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<worldbody>
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<light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
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<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
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<geom type="cylinder" size=".06 .06" pos="0 0 .06" rgba="1 1 1 1"/>
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</worldbody>
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</mujoco>

‎assets/xarm7/mjcf/xarm7.xml‎

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<mujoco model="xarm7 nohand">
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<compiler angle="radian" autolimits="true" meshdir="assets"/>
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<option integrator="implicitfast"/>
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<asset>
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<material name="white" rgba="1 1 1 1"/>
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<material name="gray" rgba="0.753 0.753 0.753 1"/>
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<mesh file="link_base.stl"/>
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<mesh file="link1.stl"/>
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<mesh file="link2.stl"/>
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<mesh file="link3.stl"/>
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<mesh file="link4.stl"/>
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<mesh file="link5.stl"/>
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<mesh file="link6.stl"/>
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<mesh file="link7.stl"/>
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<mesh file="end_tool.stl"/>
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</asset>
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<default>
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<default class="xarm7">
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<geom type="mesh" material="white"/>
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<joint axis="0 0 1" armature="0.1" range="-6.28319 6.28319" frictionloss="1"/>
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<general biastype="affine" ctrlrange="-6.28319 6.28319"/>
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<default class="size1">
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<joint damping="10" actuatorgravcomp="true"/>
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<general gainprm="1500" biasprm="0 -1500 -150" forcerange="-50 50"/>
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</default>
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<default class="size2">
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<joint damping="5" actuatorgravcomp="true"/>
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<general gainprm="1000" biasprm="0 -1000 -100" forcerange="-30 30"/>
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</default>
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<default class="size3">
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<joint damping="2" actuatorgravcomp="true"/>
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<general gainprm="800" biasprm="0 -800 -80" forcerange="-20 20"/>
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</default>
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<site size="0.001" rgba="1 0 0 1" group="4"/>
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</default>
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</default>
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<worldbody>
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<body name="base" pos="0 0 .12" childclass="xarm7" gravcomp="1">
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<inertial pos="-0.021131 -0.0016302 0.056488" quat="0.696843 0.20176 0.10388 0.680376" mass="0.88556"
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diaginertia="0.00382023 0.00335282 0.00167725"/>
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<geom mesh="link_base"/>
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<body name="link1" pos="0 0 0.267" gravcomp="1">
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<inertial pos="-0.0002 0.02905 -0.01233" quat="0.978953 -0.202769 -0.00441617 -0.0227264" mass="2.382"
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diaginertia="0.00569127 0.00533384 0.00293865"/>
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<joint name="joint1" class="size1"/>
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<geom mesh="link1"/>
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<body name="link2" quat="1 -1 0 0" gravcomp="1">
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<inertial pos="0.00022 -0.12856 0.01735" quat="0.50198 0.86483 -0.00778841 0.00483285" mass="1.869"
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diaginertia="0.00959898 0.00937717 0.00201315"/>
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<joint name="joint2" range="-2.059 2.0944" class="size1"/>
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<geom mesh="link2"/>
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<body name="link3" pos="0 -0.293 0" quat="1 1 0 0" gravcomp="1">
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<inertial pos="0.0466 -0.02463 -0.00768" quat="0.913819 0.289775 0.281481 -0.0416455" mass="1.6383"
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diaginertia="0.00351721 0.00294089 0.00195868"/>
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<joint name="joint3" class="size2"/>
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<geom mesh="link3"/>
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<body name="link4" pos="0.0525 0 0" quat="1 1 0 0" gravcomp="1">
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<inertial pos="0.07047 -0.11575 0.012" quat="0.422108 0.852026 -0.126025 0.282832" mass="1.7269"
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diaginertia="0.00657137 0.00647948 0.00186763"/>
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<joint name="joint4" range="-0.19198 3.927" class="size2"/>
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<geom mesh="link4"/>
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<body name="link5" pos="0.0775 -0.3425 0" quat="1 1 0 0" gravcomp="1">
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<inertial pos="-0.00032 0.01604 -0.026" quat="0.999311 -0.0304457 0.000577067 0.0212082" mass="1.3203"
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diaginertia="0.00534729 0.00499076 0.0013489"/>
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<joint name="joint5" class="size2"/>
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<geom mesh="link5"/>
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<body name="link6" quat="1 1 0 0" gravcomp="1">
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<inertial pos="0.06469 0.03278 0.02141" quat="-0.217672 0.772419 0.16258 0.574069" mass="1.325"
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diaginertia="0.00245421 0.00221646 0.00107273"/>
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<joint name="joint6" range="-1.69297 3.14159" class="size3"/>
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<geom mesh="link6"/>
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<body name="link7" pos="0.076 0.097 0" quat="1 -1 0 0" gravcomp="1">
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<inertial pos="0 -0.00677 -0.01098" quat="0.487612 0.512088 -0.512088 0.487612" mass="0.17"
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diaginertia="0.000132176 9.3e-05 5.85236e-05"/>
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<joint name="joint7" class="size3"/>
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<geom material="gray" mesh="end_tool"/>
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<site name="attachment_site"/>
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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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<general name="act1" joint="joint1" class="size1"/>
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<general name="act2" joint="joint2" class="size1" ctrlrange="-2.059 2.0944"/>
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<general name="act3" joint="joint3" class="size2"/>
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<general name="act4" joint="joint4" class="size2" ctrlrange="-0.19198 3.927"/>
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<general name="act5" joint="joint5" class="size2"/>
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<general name="act6" joint="joint6" class="size3" ctrlrange="-1.69297 3.14159"/>
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<general name="act7" joint="joint7" class="size3"/>
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</actuator>
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<keyframe>
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<key name="home" qpos="0 -.247 0 .909 0 1.15644 0" ctrl="0 -.247 0 .909 0 1.15644 0"/>
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</keyframe>
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</mujoco>

‎assets/xarm7/stl/base_link.stl‎

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version https://git-lfs.github.com/spec/v1
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oid sha256:cdaa4cff22f7c9cff05c6a8ed32f94fd2b11a69d37dd97a159ccee2d8dd32f13
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size 1211434

‎assets/xarm7/stl/end_tool.stl‎

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version https://git-lfs.github.com/spec/v1
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oid sha256:e06112781cdd615b7df536569f50addb445a6f4b4acced6d53b0742018b6c768
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size 13084

‎assets/xarm7/stl/left_finger.stl‎

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version https://git-lfs.github.com/spec/v1
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oid sha256:a44756eb72f9c214cb37e61dc209cd7073fdff3e4271a7423476ef6fd090d2d4
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size 242684

‎assets/xarm7/stl/left_inner_knuckle.stl‎

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version https://git-lfs.github.com/spec/v1
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oid sha256:e8e48692ad26837bb3d6a97582c89784d09948fc09bfe4e5a59017859ff04dac
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size 366284

‎assets/xarm7/stl/left_outer_knuckle.stl‎

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version https://git-lfs.github.com/spec/v1
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oid sha256:501665812b08d67e764390db781e839adc6896a9540301d60adf606f57648921
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size 22284

‎assets/xarm7/stl/link1.stl‎

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version https://git-lfs.github.com/spec/v1
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oid sha256:34b541122df84d2ef5fcb91b715eb19659dc15ad8d44a191dde481f780265636
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size 184184

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