refactor low_cost_robot_arm XML files

s1lent4gnt · s1lent4gnt · commit 2122b9170ff3 · 2025-04-24T11:28:27.000+02:00
diff --git a/low_cost_robot_arm/low_cost_robot_arm.xml b/low_cost_robot_arm/low_cost_robot_arm.xml
@@ -1,30 +1,32 @@
 <mujoco model="low_cost_robot_arm">
-  <compiler angle="radian" meshdir="./assets/"/>
+  <compiler angle="radian" meshdir="assets"/>
 
-  <option cone="elliptic" impratio="10"/>
+  <option integrator="implicitfast" cone="elliptic" impratio="10"/>
 
   <default>
     <default class="low_cost_robot_arm">
-      <joint armature="0.5" damping="1.5" stiffness="0" frictionloss="0.2"/>
-      <position kp="100" kv="10" inheritrange="1"/>
+      <joint armature="0.5" frictionloss="0.2"/>
+      <position kp="100" kv="10" forcerange="-87 87" inheritrange="1"/>
       <default class="visual">
         <geom type="mesh" group="2" contype="0" conaffinity="0"/>
       </default>
       <default class="collision">
         <geom type="mesh" group="3" mass="0" density="0"/>
         <default class="pad_box1">
-          <geom type="box" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" mass="0" priority="1" size="0.002 0.002 0.0025" rgba="0.2 0.2 0.2 1"/>
+          <geom type="box" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" mass="0" priority="1"
+            size="0.002 0.002 0.0025" rgba="0.2 0.2 0.2 1"/>
         </default>
         <default class="pad_box2">
-          <geom type="box" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" mass="0" priority="1" size="0.002 0.002 0.0052" rgba="0.1 0.1 0.1 1"/>
+          <geom type="box" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" mass="0" priority="1"
+            size="0.002 0.002 0.0052" rgba="0.1 0.1 0.1 1"/>
         </default>
       </default>
     </default>
   </default>
 
   <asset>
-    <material name="black" rgba="0.1 0.1 0.1 1" specular="0.1" shininess="0.1"/>
-    <material name="white" rgba="0.8 0.8 0.8 1" specular="0.1" shininess="0.1"/>
+    <material name="black" rgba="0.1 0.1 0.1 1"/>
+    <material name="white" rgba="0.8 0.8 0.8 1"/>
 
     <mesh name="base_link" file="base_link.stl"/>
     <mesh name="shoulder_rotation" file="shoulder_rotation.stl"/>
@@ -33,14 +35,12 @@
     <mesh name="elbow_to_wrist" file="elbow_to_wrist.stl"/>
     <mesh name="gripper_static_finger" file="gripper_static_finger.stl"/>
     <mesh name="gripper_moving_finger" file="gripper_moving_finger.stl"/>
-
     <mesh name="base_link_motor" file="base_link_motor.stl"/>
     <mesh name="shoulder_rotation_motor" file="shoulder_rotation_motor.stl"/>
     <mesh name="shoulder_to_elbow_motor" file="shoulder_to_elbow_motor.stl"/>
     <mesh name="elbow_to_wrist_extension_motor" file="elbow_to_wrist_extension_motor.stl"/>
     <mesh name="elbow_to_wrist_motor" file="elbow_to_wrist_motor.stl"/>
     <mesh name="gripper_static_finger_motor" file="gripper_static_finger_motor.stl"/>
-
     <mesh name="base_link_collision" file="base_link_collision.stl"/>
     <mesh name="shoulder_rotation_collision" file="shoulder_rotation_collision.stl"/>
     <mesh name="shoulder_to_elbow_collision" file="shoulder_to_elbow_collision.stl"/>
@@ -50,61 +50,58 @@
     <mesh name="gripper_static_finger_collision_2" file="gripper_static_finger_collision_2.stl"/>
     <mesh name="gripper_moving_finger_collision_1" file="gripper_moving_finger_collision_1.stl"/>
     <mesh name="gripper_moving_finger_collision_2" file="gripper_moving_finger_collision_2.stl"/>
-
   </asset>
 
   <worldbody>
-    <body name="base_link" childclass="low_cost_robot_arm" quat="-0.707 0. 0. 0.707">
+    <body name="base_link" childclass="low_cost_robot_arm">
       <geom mesh="base_link" class="visual" material="white"/>
       <geom mesh="base_link_motor" class="visual" material="black"/>
       <geom mesh="base_link_collision" class="collision"/>
-      
-      <body name="shoulder_rotation" pos="0.012 0 0.0409" >
-        <inertial pos="0.011924 -0.00048792 0.013381" quat="-0.0190903 0.705417 0.0178052 0.708312" mass="0.05014" diaginertia="1.44921e-05 1.2371e-05 7.59138e-06"/>
+      <body name="shoulder_rotation" pos="0.012 0 0.0409">
+        <inertial pos="0.011924 -0.00048792 0.013381" quat="-0.0190903 0.705417 0.0178052 0.708312" mass="0.05014"
+          diaginertia="1.44921e-05 1.2371e-05 7.59138e-06"/>
         <joint name="base_rotation" pos="0 0 0" axis="0 0 -1" range="-2.2 2.2"/>
         <geom mesh="shoulder_rotation" class="visual" material="white"/>
         <geom mesh="shoulder_rotation_motor" class="visual" material="black"/>
         <geom mesh="shoulder_rotation_collision" class="collision"/>
-
         <body name="shoulder_to_elbow" pos="0 -0.0209 0.0154">
-          <inertial pos="0.0011747 0.02097 0.071547" quat="0.998768 2.01447e-05 0.0496266 0.000367169" mass="0.050177" diaginertia="3.73065e-05 3.3772e-05 7.94901e-06"/>
+          <inertial pos="0.0011747 0.02097 0.071547" quat="0.998768 2.01447e-05 0.0496266 0.000367169" mass="0.050177"
+            diaginertia="3.73065e-05 3.3772e-05 7.94901e-06"/>
           <joint name="pitch" pos="0 0 0" axis="0 1 0" range="-1.57 0.6"/>
           <geom mesh="shoulder_to_elbow" class="visual" material="white"/>
           <geom mesh="shoulder_to_elbow_motor" class="visual" material="black"/>
           <geom mesh="shoulder_to_elbow_collision" class="collision"/>
-          
           <body name="elbow_to_wrist_extension" pos="-0.0148 0.0065 0.1083">
-            <inertial pos="-0.05537 0.014505 0.0028659" quat="8.17663e-05 0.710999 -4.16983e-05 0.703193" mass="0.06379" diaginertia="2.45081e-05 2.2231e-05 7.34061e-06"/>
+            <inertial pos="-0.05537 0.014505 0.0028659" quat="8.17663e-05 0.710999 -4.16983e-05 0.703193" mass="0.06379"
+              diaginertia="2.45081e-05 2.2231e-05 7.34061e-06"/>
             <joint name="elbow" pos="0 0 0" axis="0 -1 0" range="-1.57 1.45"/>
             <geom mesh="elbow_to_wrist_extension" class="visual" material="white"/>
             <geom mesh="elbow_to_wrist_extension_motor" class="visual" material="black"/>
             <geom mesh="elbow_to_wrist_extension_collision" class="collision"/>
-
             <body name="elbow_to_wrist" pos="-0.10048 5e-05 0.0026999">
-              <inertial pos="-0.02652 0.019195 -9.0614e-06" quat="0.707361 0.706812 0.00580344 0.00484124" mass="0.019805" diaginertia="2.95813e-06 2.8759e-06 1.07787e-06"/>
+              <inertial pos="-0.02652 0.019195 -9.0614e-06" quat="0.707361 0.706812 0.00580344 0.00484124"
+                mass="0.019805" diaginertia="2.95813e-06 2.8759e-06 1.07787e-06"/>
               <joint name="wrist_pitch" pos="0 0 0" axis="0 1 0" range="-2.0 2.0"/>
               <geom mesh="elbow_to_wrist" class="visual" material="white"/>
               <geom mesh="elbow_to_wrist_motor" class="visual" material="black"/>
               <geom mesh="elbow_to_wrist_collision" class="collision"/>
-
               <body name="gripper_static_finger" pos="-0.045 0.013097 0">
-                <inertial pos="-0.019091 0.0053379 0.00018011" quat="0.105295 0.703509 -0.0986543 0.695885" mass="0.029277" diaginertia="8.11303e-06 7.14908e-06 3.27429e-06"/>
+                <inertial pos="-0.019091 0.0053379 0.00018011" quat="0.105295 0.703509 -0.0986543 0.695885"
+                  mass="0.029277" diaginertia="8.11303e-06 7.14908e-06 3.27429e-06"/>
                 <joint name="wrist_roll" pos="0 0 0" axis="1 0 0" range="-3.14 3.14"/>
                 <geom mesh="gripper_static_finger" class="visual" material="white"/>
                 <geom mesh="gripper_static_finger_motor" class="visual" material="black"/>
                 <geom mesh="gripper_static_finger_collision_1" class="collision"/>
                 <geom mesh="gripper_static_finger_collision_2" class="collision"/>
-
                 <geom class="pad_box1" name="gripper_static_finger_pad_1" pos="-0.0668 0.0105 0.00045"/>
                 <geom class="pad_box2" name="gripper_static_finger_pad_3" pos="-0.0628 0.0105 0.0005"/>
-
                 <body name="gripper_moving_finger" pos="-0.01315 -0.0075 0.0145">
-                  <inertial pos="-0.02507 0.0010817 -0.01414" quat="0.528148 0.5474 0.466496 0.451436" mass="0.012831" diaginertia="3.49922e-06 2.45768e-06 1.4645e-06"/>
+                  <inertial pos="-0.02507 0.0010817 -0.01414" quat="0.528148 0.5474 0.466496 0.451436" mass="0.012831"
+                    diaginertia="3.49922e-06 2.45768e-06 1.4645e-06"/>
                   <joint name="gripper" pos="0 0 0" axis="0 0 -1" range="-1.60 0.032" frictionloss="0.1"/>
                   <geom mesh="gripper_moving_finger" class="visual" material="white"/>
                   <geom mesh="gripper_moving_finger_collision_1" class="collision"/>
                   <geom mesh="gripper_moving_finger_collision_2" class="collision"/>
-                  
                   <geom class="pad_box1" name="gripper_moving_finger_pad_1" pos="-0.0535 0.0113 -0.01395"/>
                   <geom class="pad_box2" name="gripper_moving_finger_pad_3" pos="-0.0495 0.0113 -0.01395"/>
                 </body>
@@ -121,16 +118,15 @@
   </contact>
 
   <actuator>
-      <position class="low_cost_robot_arm" name="base_rotation" joint="base_rotation" forcerange="-87 87"/>
-      <position class="low_cost_robot_arm" name="pitch" joint="pitch" forcerange="-87 87"/>
-      <position class="low_cost_robot_arm" name="elbow" joint="elbow" forcerange="-87 87"/>
-      <position class="low_cost_robot_arm" name="wrist_pitch" joint="wrist_pitch" forcerange="-12 12"/>
-      <position class="low_cost_robot_arm" name="wrist_roll" joint="wrist_roll" forcerange="-10 10"/>
-      <position class="low_cost_robot_arm" name="gripper" joint="gripper" forcerange="-5 5"/>
+    <position class="low_cost_robot_arm" name="base_rotation" joint="base_rotation" forcerange="-87 87"/>
+    <position class="low_cost_robot_arm" name="pitch" joint="pitch" forcerange="-87 87"/>
+    <position class="low_cost_robot_arm" name="elbow" joint="elbow" forcerange="-87 87"/>
+    <position class="low_cost_robot_arm" name="wrist_pitch" joint="wrist_pitch" forcerange="-12 12"/>
+    <position class="low_cost_robot_arm" name="wrist_roll" joint="wrist_roll" forcerange="-10 10"/>
+    <position class="low_cost_robot_arm" name="gripper" joint="gripper" forcerange="-5 5"/>
   </actuator>
 
   <keyframe>
-    <key name="home" qpos="0 0 0 0 0 0"/>
+    <key name="home" qpos="0 0 0 0 0 0" ctrl="0 0 0 0 0 0"/>
   </keyframe>
-
 </mujoco>
diff --git a/low_cost_robot_arm/scene.xml b/low_cost_robot_arm/scene.xml
@@ -20,5 +20,4 @@
     <light pos="0 0 3" dir="0 0 -1" directional="false"/>
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" pos="0 0 0" friction="0.1"/>
   </worldbody>
-  
-  </mujoco>
+</mujoco>
