mirror of
https://github.com/TheRobotStudio/SO-ARM100.git
synced 2026-01-08 15:03:50 -05:00
161 lines
13 KiB
XML
161 lines
13 KiB
XML
<?xml version="1.0" ?>
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<!-- Generated using onshape-to-robot -->
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<!-- Onshape https://cad.onshape.com/documents/7715cc284bb430fe6dab4ffd/w/4fd0791b683777b02f8d975a/e/826c553ede3b7592eb9ca800 -->
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<mujoco model="so101_new_calib">
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<compiler angle="radian" meshdir="assets" autolimits="true"/>
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<default>
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<default class="so101_new_calib">
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<joint frictionloss="0.1" armature="0.005"/>
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<position kp="50" dampratio="1"/>
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<default class="visual">
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<geom type="mesh" contype="0" conaffinity="0" group="2"/>
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</default>
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<default class="collision">
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<geom group="3"/>
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</default>
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</default>
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</default>
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<!-- Additional joints_properties.xml -->
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<default>
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<default class="sts3215">
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<geom contype="0" conaffinity="0"/>
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<joint damping="0.60" frictionloss="0.052" armature="0.028"/>
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<position kp="17.8" kv="0.0" forcerange="-3.35 3.35"/>
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</default>
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<default class="backlash">
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<!-- +/- 0.5° of backlash -->
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<joint damping="0.01" frictionloss="0" armature="0.01" limited="true" range="-0.008726646259971648 0.008726646259971648"/>
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</default>
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</default>
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<worldbody>
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<!-- Link base -->
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<body name="base" pos="0 0 0" quat="1 0 0 0" childclass="so101_new_calib">
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<inertial pos="0.020739 0.00204287 0.065966" mass="0.147" fullinertia="0.000136117 0.000114686 0.000130364 4.59787e-07 9.75275e-08 -4.97151e-06"/>
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<!-- Part base_motor_holder_so101_v1 -->
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<geom type="mesh" class="visual" pos="0.0206915 0.0221255 0.0300817" quat="0.707107 0.707107 7.85046e-16 8.68107e-16" mesh="base_motor_holder_so101_v1" material="base_motor_holder_so101_v1_material"/>
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<!-- Part base_so101_v2 -->
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<geom type="mesh" class="visual" pos="0.0207909 0.0221255 0.0300817" quat="0.707107 0.707107 -0 -0" mesh="base_so101_v2" material="base_so101_v2_material"/>
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<!-- Part sts3215_03a_v1 -->
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<geom type="mesh" class="visual" pos="0.0207909 -0.0105745 0.0761817" quat="0.707107 -7.69919e-16 8.95976e-16 -0.707107" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
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<!-- Part waveshare_mounting_plate_so101_v2 -->
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<geom type="mesh" class="visual" pos="0.0205915 0.0467435 0.0798817" quat="0.707107 0.707107 -3.34318e-15 5.1276e-15" mesh="waveshare_mounting_plate_so101_v2" material="waveshare_mounting_plate_so101_v2_material"/>
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<!-- Frame base -->
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<site group="3" name="base" pos="0.020791 0.0157608 0.0324817" quat="0 1 0 0"/>
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<!-- Link shoulder -->
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<body name="shoulder" pos="0.0207909 -0.0230745 0.0948817" quat="7.88629e-16 -0.707107 -0.707107 7.69003e-16">
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<!-- Joint from base to shoulder -->
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<joint axis="0 0 1" name="1" type="hinge" range="-1.9198621771937616 1.9198621771937634" class="sts3215"/>
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<inertial pos="-0.0307604 -1.66727e-05 -0.0252713" mass="0.100006" fullinertia="8.3759e-05 8.10403e-05 2.39783e-05 7.55525e-08 -1.16342e-06 1.54663e-07"/>
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<!-- Part sts3215_03a_v1_2 -->
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<geom type="mesh" class="visual" pos="-0.0303992 0.000422241 -0.0417" quat="0.5 0.5 0.5 -0.5" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
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<geom type="mesh" class="collision" pos="-0.0303992 0.000422241 -0.0417" quat="0.5 0.5 0.5 -0.5" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
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<!-- Part motor_holder_so101_base_v1 -->
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<geom type="mesh" class="visual" pos="-0.0675992 -0.000177759 0.0158499" quat="0.5 0.5 -0.5 0.5" mesh="motor_holder_so101_base_v1" material="motor_holder_so101_base_v1_material"/>
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<geom type="mesh" class="collision" pos="-0.0675992 -0.000177759 0.0158499" quat="0.5 0.5 -0.5 0.5" mesh="motor_holder_so101_base_v1" material="motor_holder_so101_base_v1_material"/>
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<!-- Part rotation_pitch_so101_v1 -->
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<geom type="mesh" class="visual" pos="0.0122008 2.22413e-05 0.0464" quat="0.707107 -0.707107 0 0" mesh="rotation_pitch_so101_v1" material="rotation_pitch_so101_v1_material"/>
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<geom type="mesh" class="collision" pos="0.0122008 2.22413e-05 0.0464" quat="0.707107 -0.707107 0 0" mesh="rotation_pitch_so101_v1" material="rotation_pitch_so101_v1_material"/>
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<!-- Link upper_arm -->
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<body name="upper_arm" pos="-0.0303992 -0.0182778 -0.0542" quat="0.5 -0.5 -0.5 -0.5">
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<!-- Joint from shoulder to upper_arm -->
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<joint axis="0 0 1" name="2" type="hinge" range="-1.7453292519943269 1.7453292519943322" class="sts3215"/>
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<inertial pos="-0.0898471 -0.00838224 0.0184089" mass="0.103" fullinertia="4.08002e-05 0.000147318 0.000142487 -1.97819e-05 -4.03016e-08 8.97326e-09"/>
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<!-- Part sts3215_03a_v1_3 -->
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<geom type="mesh" class="visual" pos="-0.11257 -0.0155 0.0187" quat="4.31775e-16 -0.707107 0.707107 -2.94392e-16" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
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<geom type="mesh" class="collision" pos="-0.11257 -0.0155 0.0187" quat="4.31775e-16 -0.707107 0.707107 -2.94392e-16" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
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<!-- Part upper_arm_so101_v1 -->
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<geom type="mesh" class="visual" pos="-0.065085 0.012 0.0182" quat="0 1 0 0" mesh="upper_arm_so101_v1" material="upper_arm_so101_v1_material"/>
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<geom type="mesh" class="collision" pos="-0.065085 0.012 0.0182" quat="0 1 0 0" mesh="upper_arm_so101_v1" material="upper_arm_so101_v1_material"/>
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<!-- Link lower_arm -->
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<body name="lower_arm" pos="-0.11257 -0.028 2.46331e-16" quat="0.707107 -2.94392e-16 -3.85906e-16 0.707107">
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<!-- Joint from upper_arm to lower_arm -->
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<joint axis="0 0 1" name="3" type="hinge" range="-1.7453292519943295 1.5707963267948966" class="sts3215"/>
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<inertial pos="-0.0980701 0.00324376 0.0182831" mass="0.104" fullinertia="2.87438e-05 0.000159844 0.00014529 7.41152e-06 1.26409e-06 -4.90188e-08"/>
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<!-- Part under_arm_so101_v1 -->
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<geom type="mesh" class="visual" pos="-0.0648499 -0.032 0.0182" quat="0 1 0 0" mesh="under_arm_so101_v1" material="under_arm_so101_v1_material"/>
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<geom type="mesh" class="collision" pos="-0.0648499 -0.032 0.0182" quat="0 1 0 0" mesh="under_arm_so101_v1" material="under_arm_so101_v1_material"/>
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<!-- Part motor_holder_so101_wrist_v1 -->
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<geom type="mesh" class="visual" pos="-0.0648499 -0.032 0.018" quat="3.3891e-16 -1 -1.9186e-15 6.33174e-16" mesh="motor_holder_so101_wrist_v1" material="motor_holder_so101_wrist_v1_material"/>
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<geom type="mesh" class="collision" pos="-0.0648499 -0.032 0.018" quat="3.3891e-16 -1 -1.9186e-15 6.33174e-16" mesh="motor_holder_so101_wrist_v1" material="motor_holder_so101_wrist_v1_material"/>
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<!-- Part sts3215_03a_v1_4 -->
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<geom type="mesh" class="visual" pos="-0.1224 0.0052 0.0187" quat="8.32667e-16 -1.56949e-15 -1 5.55112e-16" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
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<geom type="mesh" class="collision" pos="-0.1224 0.0052 0.0187" quat="8.32667e-16 -1.56949e-15 -1 5.55112e-16" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
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<!-- Link wrist -->
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<body name="wrist" pos="-0.1349 0.0052 1.65232e-16" quat="0.707107 1.31614e-15 9.90601e-17 -0.707107">
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<!-- Joint from lower_arm to wrist -->
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<joint axis="0 0 1" name="4" type="hinge" range="-1.6580627969561903 1.658062781833036" class="sts3215"/>
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<inertial pos="-0.000103312 -0.0386143 0.0281156" mass="0.079" fullinertia="3.68263e-05 2.5391e-05 2.1e-05 1.7893e-08 -5.28128e-08 3.6412e-06"/>
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<!-- Part sts3215_03a_no_horn_v1 -->
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<geom type="mesh" class="visual" pos="5.55112e-17 -0.0424 0.0306" quat="0.5 0.5 0.5 -0.5" mesh="sts3215_03a_no_horn_v1" material="sts3215_03a_no_horn_v1_material"/>
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<geom type="mesh" class="collision" pos="5.55112e-17 -0.0424 0.0306" quat="0.5 0.5 0.5 -0.5" mesh="sts3215_03a_no_horn_v1" material="sts3215_03a_no_horn_v1_material"/>
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<!-- Part wrist_roll_pitch_so101_v2 -->
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<geom type="mesh" class="visual" pos="0 -0.028 0.0181" quat="0.5 -0.5 -0.5 -0.5" mesh="wrist_roll_pitch_so101_v2" material="wrist_roll_pitch_so101_v2_material"/>
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<geom type="mesh" class="collision" pos="0 -0.028 0.0181" quat="0.5 -0.5 -0.5 -0.5" mesh="wrist_roll_pitch_so101_v2" material="wrist_roll_pitch_so101_v2_material"/>
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<!-- Link gripper -->
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<body name="gripper" pos="0 -0.0611 0.0181" quat="3.31663e-08 -3.31663e-08 -0.707107 -0.707107">
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<!-- Joint from wrist to gripper -->
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<joint axis="0 0 1" name="5" type="hinge" range="-2.7925268969992407 2.7925267093826136" class="sts3215"/>
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<inertial pos="0.000213627 0.000245138 -0.025187" mass="0.087" fullinertia="2.75087e-05 4.33657e-05 3.45059e-05 -3.35241e-07 -5.7352e-06 -5.17847e-08"/>
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<!-- Part sts3215_03a_v1_5 -->
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<geom type="mesh" class="visual" pos="0.0077 0.0001 -0.0234" quat="0.707107 -0.707107 6.48145e-15 1.58472e-15" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
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<geom type="mesh" class="collision" pos="0.0077 0.0001 -0.0234" quat="0.707107 -0.707107 6.48145e-15 1.58472e-15" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>
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<!-- Part wrist_roll_follower_so101_v1 -->
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<geom type="mesh" class="visual" pos="5.55112e-17 -0.000218214 0.000949706" quat="0 1 0 0" mesh="wrist_roll_follower_so101_v1" material="wrist_roll_follower_so101_v1_material"/>
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<geom type="mesh" class="collision" pos="5.55112e-17 -0.000218214 0.000949706" quat="0 1 0 0" mesh="wrist_roll_follower_so101_v1" material="wrist_roll_follower_so101_v1_material"/>
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<!-- Frame gripper -->
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<site group="3" name="gripper" pos="-0.0079 -0.000218121 -0.0981274" quat="0.5 -0.5 0.5 -0.5"/>
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<!-- Link moving_jaw_so101_v1 -->
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<body name="moving_jaw_so101_v1" pos="0.0202 0.0188 -0.0234" quat="0.707107 0.707107 1.47485e-15 -6.52758e-15">
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<!-- Joint from gripper to moving_jaw_so101_v1 -->
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<joint axis="0 0 1" name="6" type="hinge" range="-0.17453292519943295 1.7453292519943295" class="sts3215"/>
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<inertial pos="-0.00157495 -0.0300244 0.0192755" mass="0.012" fullinertia="6.61427e-06 1.89032e-06 5.28738e-06 -3.19807e-07 -5.90717e-09 -1.09945e-07"/>
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<!-- Part moving_jaw_so101_v1 -->
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<geom type="mesh" class="visual" pos="-5.55112e-17 -1.94746e-17 0.0189" quat="1 -0 1.86338e-16 6.90343e-24" mesh="moving_jaw_so101_v1" material="moving_jaw_so101_v1_material"/>
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<geom type="mesh" class="collision" pos="-5.55112e-17 -1.94746e-17 0.0189" quat="1 -0 1.86338e-16 6.90343e-24" mesh="moving_jaw_so101_v1" material="moving_jaw_so101_v1_material"/>
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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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<asset>
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<mesh file="rotation_pitch_so101_v1.stl"/>
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<mesh file="moving_jaw_so101_v1.stl"/>
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<mesh file="sts3215_03a_v1.stl"/>
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<mesh file="motor_holder_so101_wrist_v1.stl"/>
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<mesh file="wrist_roll_follower_so101_v1.stl"/>
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<mesh file="base_so101_v2.stl"/>
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<mesh file="under_arm_so101_v1.stl"/>
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<mesh file="wrist_roll_pitch_so101_v2.stl"/>
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<mesh file="waveshare_mounting_plate_so101_v2.stl"/>
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<mesh file="sts3215_03a_no_horn_v1.stl"/>
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<mesh file="motor_holder_so101_base_v1.stl"/>
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<mesh file="base_motor_holder_so101_v1.stl"/>
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<mesh file="upper_arm_so101_v1.stl"/>
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<material name="base_motor_holder_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
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<material name="base_so101_v2_material" rgba="0.964706 0.964706 0.952941 1"/>
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<material name="sts3215_03a_v1_material" rgba="0.627451 0.627451 0.627451 1"/>
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<material name="waveshare_mounting_plate_so101_v2_material" rgba="0.964706 0.964706 0.952941 1"/>
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<material name="motor_holder_so101_base_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
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<material name="rotation_pitch_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
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<material name="upper_arm_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
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<material name="under_arm_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
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<material name="motor_holder_so101_wrist_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
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<material name="sts3215_03a_no_horn_v1_material" rgba="0.627451 0.627451 0.627451 1"/>
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<material name="wrist_roll_pitch_so101_v2_material" rgba="0.964706 0.964706 0.952941 1"/>
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<material name="wrist_roll_follower_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
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<material name="moving_jaw_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
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</asset>
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<actuator>
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<position class="sts3215" name="1" joint="1" inheritrange="1"/>
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<position class="sts3215" name="2" joint="2" inheritrange="1"/>
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<position class="sts3215" name="3" joint="3" inheritrange="1"/>
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<position class="sts3215" name="4" joint="4" inheritrange="1"/>
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<position class="sts3215" name="5" joint="5" inheritrange="1"/>
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<position class="sts3215" name="6" joint="6" inheritrange="1"/>
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</actuator>
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<equality/>
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</mujoco>
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