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Update Mujoco XML files with colors (#115)

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* Update so101_new_calib.xml with URDF colors

* Update so101_old_calib.xml with URDF colors
This commit is contained in:
Aditya Kamath
2025-06-30 16:17:56 +02:00
committed by GitHub
parent 0c8e2892f2
commit ac69024c50
2 changed files with 26 additions and 26 deletions
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26
Simulation/SO101/so101_new_calib.xml
View File

@@ -136,19 +136,19 @@
<mesh file="motor_holder_so101_wrist_v1.stl"/>
<mesh file="sts3215_03a_no_horn_v1.stl"/>
<mesh file="base_so101_v2.stl"/>
<material name="base_motor_holder_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="base_so101_v2_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="sts3215_03a_v1_material" rgba="0.627451 0.627451 0.627451 1"/>
<material name="waveshare_mounting_plate_so101_v2_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="motor_holder_so101_base_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="rotation_pitch_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="upper_arm_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="under_arm_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="motor_holder_so101_wrist_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="sts3215_03a_no_horn_v1_material" rgba="0.627451 0.627451 0.627451 1"/>
<material name="wrist_roll_pitch_so101_v2_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="wrist_roll_follower_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="moving_jaw_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="base_motor_holder_so101_v1_material" rgba="1 0.82 0.12 1"/>
<material name="base_so101_v2_material" rgba="1 0.82 0.12 1"/>
<material name="sts3215_03a_v1_material" rgba="0.1 0.1 0.1 1"/>
<material name="waveshare_mounting_plate_so101_v2_material" rgba="1 0.82 0.12 1"/>
<material name="motor_holder_so101_base_v1_material" rgba="1 0.82 0.12 1"/>
<material name="rotation_pitch_so101_v1_material" rgba="1 0.82 0.12 1"/>
<material name="upper_arm_so101_v1_material" rgba="1 0.82 0.12 1"/>
<material name="under_arm_so101_v1_material" rgba="1 0.82 0.12 1"/>
<material name="motor_holder_so101_wrist_v1_material" rgba="1 0.82 0.12 1"/>
<material name="sts3215_03a_no_horn_v1_material" rgba="0.1 0.1 0.1 1.0"/>
<material name="wrist_roll_pitch_so101_v2_material" rgba="1 0.82 0.12 1"/>
<material name="wrist_roll_follower_so101_v1_material" rgba="1 0.82 0.12 1"/>
<material name="moving_jaw_so101_v1_material" rgba="1 0.82 0.12 1"/>
</asset>
<actuator>
<position class="sts3215" name="shoulder_pan" joint="shoulder_pan" forcerange="-3.35 3.35" ctrlrange="-1.91986 1.91986"/>

26
Simulation/SO101/so101_old_calib.xml
View File

@@ -134,19 +134,19 @@
<mesh file="base_motor_holder_so101_v1.stl"/>
<mesh file="wrist_roll_pitch_so101_v2.stl"/>
<mesh file="sts3215_03a_no_horn_v1.stl"/>
<material name="base_motor_holder_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="base_so101_v2_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="sts3215_03a_v1_material" rgba="0.627451 0.627451 0.627451 1"/>
<material name="waveshare_mounting_plate_so101_v2_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="motor_holder_so101_base_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="rotation_pitch_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="upper_arm_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="under_arm_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="motor_holder_so101_wrist_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="sts3215_03a_no_horn_v1_material" rgba="0.627451 0.627451 0.627451 1"/>
<material name="wrist_roll_pitch_so101_v2_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="wrist_roll_follower_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="moving_jaw_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
<material name="base_motor_holder_so101_v1_material" rgba="1 0.82 0.12 1"/>
<material name="base_so101_v2_material" rgba="1 0.82 0.12 1"/>
<material name="sts3215_03a_v1_material" rgba="0.1 0.1 0.1 1"/>
<material name="waveshare_mounting_plate_so101_v2_material" rgba="1 0.82 0.12 1"/>
<material name="motor_holder_so101_base_v1_material" rgba="1 0.82 0.12 1"/>
<material name="rotation_pitch_so101_v1_material" rgba="1 0.82 0.12 1"/>
<material name="upper_arm_so101_v1_material" rgba="1 0.82 0.12 1"/>
<material name="under_arm_so101_v1_material" rgba="1 0.82 0.12 1"/>
<material name="motor_holder_so101_wrist_v1_material" rgba="1 0.82 0.12 1"/>
<material name="sts3215_03a_no_horn_v1_material" rgba="0.1 0.1 0.1 1"/>
<material name="wrist_roll_pitch_so101_v2_material" rgba="1 0.82 0.12 1"/>
<material name="wrist_roll_follower_so101_v1_material" rgba="1 0.82 0.12 1"/>
<material name="moving_jaw_so101_v1_material" rgba="1 0.82 0.12 1"/>
</asset>
<actuator>
<position class="sts3215" name="shoulder_pan" joint="shoulder_pan" forcerange="-3.35 3.35" ctrlrange="-1.91986 1.91986"/>