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ur10e.xml
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ur10e.xml
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<mujoco model="ur10e">
<compiler angle="radian" meshdir="assets" autolimits="true"/>
<option integrator="implicitfast"/>
<default>
<default class="ur10e">
<material specular="0.5" shininess="0.25"/>
<joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1"/>
<position ctrlrange="-6.2831 6.2831"/>
<general biastype="affine" ctrlrange="-6.2831 6.2831" gainprm="5000" biasprm="0 -5000 -500"/>
<default class="size4">
<joint damping="10"/>
<general forcerange="-330 330"/>
</default>
<default class="size3">
<joint damping="5"/>
<general forcerange="-150 150"/>
<default class="size3_limited">
<joint range="-3.1415 3.1415"/>
<general ctrlrange="-3.1415 3.1415"/>
</default>
</default>
<default class="size2">
<joint damping="2"/>
<general forcerange="-56 56"/>
</default>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2"/>
</default>
<default class="collision">
<geom type="capsule" group="3"/>
<default class="eef_collision">
<geom type="cylinder"/>
</default>
</default>
<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
</default>
</default>
<asset>
<material class="ur10e" name="black" rgba="0.033 0.033 0.033 1"/>
<material class="ur10e" name="jointgray" rgba="0.278 0.278 0.278 1"/>
<material class="ur10e" name="linkgray" rgba="0.82 0.82 0.82 1"/>
<material class="ur10e" name="urblue" rgba="0.49 0.678 0.8 1"/>
<mesh file="base_0.obj"/>
<mesh file="base_1.obj"/>
<mesh file="shoulder_0.obj"/>
<mesh file="shoulder_1.obj"/>
<mesh file="shoulder_2.obj"/>
<mesh file="upperarm_0.obj"/>
<mesh file="upperarm_1.obj"/>
<mesh file="upperarm_2.obj"/>
<mesh file="upperarm_3.obj"/>
<mesh file="forearm_0.obj"/>
<mesh file="forearm_1.obj"/>
<mesh file="forearm_2.obj"/>
<mesh file="forearm_3.obj"/>
<mesh file="wrist1_0.obj"/>
<mesh file="wrist1_1.obj"/>
<mesh file="wrist1_2.obj"/>
<mesh file="wrist2_0.obj"/>
<mesh file="wrist2_1.obj"/>
<mesh file="wrist2_2.obj"/>
<mesh file="wrist3.obj"/>
</asset>
<worldbody>
<light name="spotlight" mode="targetbodycom" target="wrist_2_link" pos="0 -1 2"/>
<body name="base" quat="1 0 0 1" childclass="ur10e">
<inertial mass="4.0" pos="0 0 0" diaginertia="0.0061063308908 0.0061063308908 0.01125"/>
<geom mesh="base_0" material="black" class="visual"/>
<geom mesh="base_1" material="jointgray" class="visual"/>
<body name="shoulder_link" pos="0 0 0.181">
<inertial pos="0 0 0" mass="7.778" diaginertia="0.0314743 0.0314743 0.0218756"/>
<joint name="shoulder_pan_joint" class="size4" axis="0 0 1"/>
<geom mesh="shoulder_0" material="urblue" class="visual"/>
<geom mesh="shoulder_1" material="black" class="visual"/>
<geom mesh="shoulder_2" material="jointgray" class="visual"/>
<geom class="collision" size="0.078 0.06" pos="0 0 -0.04"/>
<body name="upper_arm_link" pos="0 0.176 0" quat="1 0 1 0">
<inertial pos="0 0 0.3065" mass="12.93" diaginertia="0.423074 0.423074 0.0363656"/>
<joint name="shoulder_lift_joint" class="size4"/>
<geom mesh="upperarm_0" material="black" class="visual"/>
<geom mesh="upperarm_1" material="jointgray" class="visual"/>
<geom mesh="upperarm_2" material="urblue" class="visual"/>
<geom mesh="upperarm_3" material="linkgray" class="visual"/>
<geom class="collision" pos="0 -0.05 0" quat="1 1 0 0" size="0.078 0.08"/>
<geom class="collision" size="0.06 0.3" pos="0 0 0.3"/>
<body name="forearm_link" pos="0 -0.137 0.613">
<inertial pos="0 0 0.2855" mass="3.87" diaginertia="0.11059 0.11059 0.0108844"/>
<joint name="elbow_joint" class="size3_limited"/>
<geom mesh="forearm_0" material="urblue" class="visual"/>
<geom mesh="forearm_1" material="black" class="visual"/>
<geom mesh="forearm_2" material="jointgray" class="visual"/>
<geom mesh="forearm_3" material="linkgray" class="visual"/>
<geom class="collision" pos="0 0.08 0" quat="1 1 0 0" size="0.058 0.065"/>
<geom class="collision" size="0.043 0.28" pos="0 0 0.29"/>
<body name="wrist_1_link" pos="0 0 0.571" quat="1 0 1 0">
<inertial pos="0 0.135 0" quat="0.5 0.5 -0.5 0.5" mass="1.96"
diaginertia="0.0055125 0.00510825 0.00510825"/>
<joint name="wrist_1_joint" class="size2"/>
<geom mesh="wrist1_0" material="black" class="visual"/>
<geom mesh="wrist1_1" material="urblue" class="visual"/>
<geom mesh="wrist1_2" material="jointgray" class="visual"/>
<geom class="collision" pos="0 0.06 0" quat="1 1 0 0" size="0.05 0.07"/>
<body name="wrist_2_link" pos="0 0.135 0">
<inertial pos="0 0 0.12" quat="0.5 0.5 -0.5 0.5" mass="1.96"
diaginertia="0.0055125 0.00510825 0.00510825"/>
<joint name="wrist_2_joint" axis="0 0 1" class="size2"/>
<geom mesh="wrist2_0" material="black" class="visual"/>
<geom mesh="wrist2_1" material="urblue" class="visual"/>
<geom mesh="wrist2_2" material="jointgray" class="visual"/>
<geom class="collision" size="0.046 0.065" pos="0 0 0.05"/>
<geom class="collision" pos="0 0.028 0.12" quat="1 1 0 0" size="0.046 0.043"/>
<body name="wrist_3_link" pos="0 0 0.12">
<inertial pos="0 0.092 0" quat="0 1 -1 0" mass="0.202"
diaginertia="0.000204525 0.000144346 0.000144346"/>
<joint name="wrist_3_joint" class="size2"/>
<geom material="linkgray" mesh="wrist3" class="visual"/>
<geom class="eef_collision" pos="0 0.097 0" quat="1 1 0 0" size="0.046 0.02"/>
<site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<general class="size4" name="shoulder_pan" joint="shoulder_pan_joint"/>
<general class="size4" name="shoulder_lift" joint="shoulder_lift_joint"/>
<general class="size3_limited" name="elbow" joint="elbow_joint"/>
<general class="size2" name="wrist_1" joint="wrist_1_joint"/>
<general class="size2" name="wrist_2" joint="wrist_2_joint"/>
<general class="size2" name="wrist_3" joint="wrist_3_joint"/>
</actuator>
<keyframe>
<key name="home" qpos="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0" ctrl="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0"/>
</keyframe>
</mujoco>