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dora/examples/alexk-lcr/assets/simulation/stack_two_cubes.xml

stack_two_cubes.xml 12 kB
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Reconfigure the folder structure
1 year ago
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 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141 
  1. <mujoco model="bd1 scene">

  2. 	<option timestep="0.005"/>

  3. 

  4. 	<compiler angle="radian" autolimits="true"/>

  5. 

  6. 	<asset>

  7. 		<mesh name="base" file="base.stl"/>

  8. 		<mesh name="dc11_a01_spacer_dummy" file="dc11_a01_spacer_dummy.stl"/>

  9. 		<mesh name="dc11_a01_dummy" file="dc11_a01_dummy.stl"/>

  10. 		<mesh name="rotation_connector" file="rotation_connector.stl"/>

  11. 		<mesh name="arm_connector" file="arm_connector.stl"/>

  12. 		<mesh name="dc15_a01_horn_idle2_dummy" file="dc15_a01_horn_idle2_dummy.stl"/>

  13. 		<mesh name="dc15_a01_case_m_dummy" file="dc15_a01_case_m_dummy.stl"/>

  14. 		<mesh name="dc15_a01_case_f_dummy" file="dc15_a01_case_f_dummy.stl"/>

  15. 		<mesh name="dc15_a01_horn_dummy" file="dc15_a01_horn_dummy.stl"/>

  16. 		<mesh name="dc15_a01_case_b_dummy" file="dc15_a01_case_b_dummy.stl"/>

  17. 		<mesh name="connector" file="connector.stl"/>

  18. 		<mesh name="shoulder_rotation" file="shoulder_rotation.stl"/>

  19. 		<mesh name="static_side" file="static_side.stl"/>

  20. 		<mesh name="moving_side" file="moving_side.stl"/>

  21. 		<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />

  22. 		<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />

  23. 		<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />

  24. 	</asset>

  25. 

  26. 	<visual>

  27. 		<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />

  28. 		<rgba haze="0.15 0.25 0.35 1" />

  29. 		<global azimuth="150" elevation="-20" offheight="640" />

  30. 	</visual>

  31. 

  32. 	<worldbody>

  33. 		<light pos="0 0 3" dir="0 0 -1" directional="false" />

  34. 		<body name="floor">

  35. 			<geom pos="0 0 0" name="floor" size="0 0 .125" type="plane" material="groundplane" conaffinity="1" contype="1" />

  36. 		</body>

  37. 

  38. 		<body name="cube_red" pos="0.1 0.1 0.01">

  39. 			<freejoint name="cube_red"/>

  40. 			<inertial pos="0 0 0" mass="0.1" diaginertia="0.00001125 0.00001125 0.00001125"/>

  41. 			<geom friction="0.5" condim="3" pos="0 0 0" size="0.015 0.015 0.015" type="box" name="cube_red" rgba="0.5 0 0 1" priority="1"/>

  42. 		</body>

  43. 

  44. 		<body name="cube_blue" pos="-0.1 -0.1 0.01">

  45. 			<freejoint name="cube_blue"/>

  46. 			<inertial pos="0 0 0" mass="0.1" diaginertia="0.00001125 0.00001125 0.00001125"/>

  47. 			<geom friction="0.5" condim="3" pos="0 0 0" size="0.015 0.015 0.015" type="box" name="cube_blue" rgba="0 0 0.5 1" priority="1"/>

  48. 		</body>

  49. 

  50. 

  51. 		<camera name="camera_front" pos="0.049 0.888 0.317" xyaxes="-0.998 0.056 -0.000 -0.019 -0.335 0.942"/>

  52. 		<camera name="camera_top" pos="0 0 1" euler="0 0 0" mode="fixed"/>

  53. 		<camera name="camera_vizu" pos="-0.1 0.6 0.3" quat="-0.15 -0.1 0.6 1"/>

  54. 		

  55. 		<geom pos="0.0401555 -0.0353754 -0.0242427" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="base"/>

  56. 		<geom pos="0.0511555 0.0406246 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>

  57. 		<geom pos="0.0291555 0.000624643 0.0099573" quat="0 0 0 1" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>

  58. 		<geom pos="0.0511555 0.000624643 -0.0184427" quat="0 0 1 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>

  59. 		<geom pos="0.0401555 0.0326246 -0.0042427" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>

  60. 		<geom pos="0.0291555 0.000624643 -0.0184427" quat="0 0.707107 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>

  61. 		<geom pos="0.0291555 0.0406246 0.0099573" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>

  62. 		<geom pos="0.0511555 0.0406246 -0.0184427" quat="0 0.707107 -0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>

  63. 		<geom pos="0.0291555 0.0406246 -0.0184427" quat="0 -1 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>

  64. 		<geom pos="0.0511555 0.000624643 0.0099573" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>

  65. 

  66. 		<body name="pitch1_assembly" pos="0.0401555 0.0326246 0.0166573">

  67. 

  68. 			<inertial pos="-0.000767103 -0.0121505 0.0134241" quat="0.498429 0.53272 -0.473938 0.493113" mass="0.0606831" diaginertia="1.86261e-05 1.72746e-05 1.11693e-05"/>

  69. 			<joint name="shoulder_pan_joint" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>

  70. 			<geom pos="0 0 -0.0209" type="mesh" rgba="0.231373 0.380392 0.705882 1" mesh="rotation_connector"/>

  71. 			<geom pos="-0.014 0.008 0.0264" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>

  72. 			<geom pos="-0.014 -0.032 0.0044" quat="0 -0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>

  73. 			<geom pos="0.0144 -0.032 0.0264" quat="0.707107 0 0.707107 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>

  74. 			<geom pos="0.0002 0 0.0154" quat="0.707107 0 -0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc11_a01_dummy"/>

  75. 			<geom pos="0.0144 -0.032 0.0044" quat="0.5 0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>

  76. 			<geom pos="-0.014 0.008 0.0044" quat="0.5 0.5 -0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>

  77. 			<geom pos="0.0144 0.008 0.0264" quat="0.5 -0.5 0.5 -0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>

  78. 			<geom pos="0.0144 0.008 0.0044" quat="0 0.707107 0 0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>

  79. 			<geom pos="-0.014 -0.032 0.0264" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc11_a01_spacer_dummy"/>

  80. 

  81. 			<body name="pitch2_assembly" pos="-0.0188 0 0.0154" quat="0 0.707107 0 0.707107">

  82. 

  83. 				<inertial pos="0.0766242 -0.00031229 0.0187402" quat="0.52596 0.513053 0.489778 0.469319" mass="0.0432446" diaginertia="7.21796e-05 7.03107e-05 1.07533e-05"/>

  84. 				<joint name="shoulder_lift_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 1.22173" damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>

  85. 				<geom pos="0 0 0.019" quat="0.5 -0.5 -0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="arm_connector"/>

  86. 				<geom pos="0.1083 -0.0148 0.03035" quat="1 0 0 0" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>

  87. 				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>

  88. 				<geom pos="0.1083 -0.0148 0.01075" quat="0 -1 0 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>

  89. 				<geom pos="0.1083 -0.0148 0.00715" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>

  90. 				<geom pos="0.1083 -0.0148 0.03025" quat="0 -1 0 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>

  91. 

  92. 				<body name="pitch3_assembly" pos="0.1083 -0.0148 0.00425" quat="0.707107 0 0 0.707107">

  93. 					<inertial pos="-0.0551014 -0.00287792 0.0144813" quat="0.500323 0.499209 0.499868 0.5006" mass="0.0788335" diaginertia="6.80912e-05 6.45748e-05 9.84479e-06"/>

  94. 					<joint name="elbow_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.48353 1.74533"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>

  95. 					<geom pos="-0.00863031 0.00847376 0.0145" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="connector"/>

  96. 					<geom pos="-0.100476 -0.00269986 0.02635" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>

  97. 					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>

  98. 					<geom pos="-0.100476 -0.00269986 0.00675" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>

  99. 					<geom pos="-0.100476 -0.00269986 0.00315" quat="0.5 -0.5 -0.5 0.5" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>

  100. 					<geom pos="-0.100476 -0.00269986 0.02625" quat="0 -0.707107 0.707107 0" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>

  101. 

  102. 					<body name="effector_roll_assembly" pos="-0.100476 -0.00269986 0.02925" quat="0 -0.707107 -0.707107 0">

  103. 						<inertial pos="-1.65017e-05 -0.02659 0.0195388" quat="0.936813 0.349829 -0.00055331 -0.000300569" mass="0.0240506" diaginertia="6.03208e-06 4.12894e-06 3.3522e-06"/>

  104. 						<joint name="wrist_flex_joint" pos="0 0 0" axis="0 0 1" range="-1.91986 1.91986"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>

  105. 						<geom pos="-0.0109998 -0.0190002 0.039" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="shoulder_rotation"/>

  106. 						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>

  107. 						<geom pos="-7.44154e-06 -0.0385002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>

  108. 						<geom pos="-7.44154e-06 -0.0421002 0.0133967" quat="0 1 0 0" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>

  109. 						<geom pos="-7.44154e-06 -0.0190002 0.0133967" quat="0 0 0.707107 -0.707107" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>

  110. 

  111. 						<body name="gripper_assembly" pos="-7.44154e-06 -0.0450002 0.0133967" quat="0.5 -0.5 -0.5 -0.5">

  112. 							<inertial pos="-0.00548595 -0.000433143 -0.0190793" quat="0.700194 0.164851 0.167361 0.674197" mass="0.0360627" diaginertia="1.3261e-05 1.231e-05 5.3532e-06"/>

  113. 							<joint name="wrist_roll_joint" pos="0 0 0" axis="0 0 1" range="-2.96706 2.96706"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>

  114. 							<geom pos="-0.00075 -0.01475 -0.02" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0.917647 0.917647 0.917647 1" mesh="static_side"/>

  115. 							<geom pos="0.00755 0.01135 -0.013" quat="0.5 -0.5 0.5 0.5" type="mesh" rgba="0.647059 0.647059 0.647059 1" mesh="dc15_a01_horn_idle2_dummy"/>

  116. 							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.615686 0.811765 0.929412 1" mesh="dc15_a01_case_m_dummy"/>

  117. 							<geom pos="0.00755 -0.00825 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.980392 0.713726 0.00392157 1" mesh="dc15_a01_case_f_dummy"/>

  118. 							<geom pos="0.00755 -0.01185 -0.013" quat="0 -0.707107 0 -0.707107" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="dc15_a01_horn_dummy"/>

  119. 							<geom pos="0.00755 0.01125 -0.013" quat="0.5 0.5 0.5 -0.5" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="dc15_a01_case_b_dummy"/>

  120. 

  121. 							<body name="moving_side" pos="0.00755 -0.01475 -0.013" quat="0.707107 -0.707107 0 0">

  122. 								<inertial pos="-0.000395599 0.022415 0.0145636" quat="0.722353 0.689129 0.0389102 0.0423547" mass="0.0089856" diaginertia="3.28451e-06 2.24898e-06 1.41539e-06"/>

  123. 								<joint name="gripper_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0.0523599"  damping="0.1" actuatorfrcrange="-0.5 0.5" actuatorfrclimited="true"/>

  124. 								<geom pos="-0.00838199 -0.000256591 -0.003" type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="moving_side"/>

  125. 							</body>

  126. 						</body>

  127. 					</body>

  128. 				</body>

  129. 			</body>

  130. 		</body>

  131. 	</worldbody>

  132. 

  133. 	<actuator>

  134. 		<position joint="shoulder_pan_joint" ctrlrange="-3.14159 3.14159" ctrllimited="true" kp="20" />

  135. 		<position joint="shoulder_lift_joint" ctrlrange="-1.5708 1.22173" ctrllimited="true" kp="20" />

  136. 		<position joint="elbow_flex_joint" ctrlrange="-1.48353 1.74533" ctrllimited="true" kp="20" />

  137. 		<position joint="wrist_flex_joint" ctrlrange="-1.91986 1.91986" ctrllimited="true" kp="20" />

  138. 		<position joint="wrist_roll_joint" ctrlrange="-2.96706 2.96706" ctrllimited="true" kp="20" />

  139. 		<position joint="gripper_joint" ctrlrange="-1.74533 0.0523599" ctrllimited="true" kp="20" />

  140. 	</actuator>

  141. </mujoco>

DORA (Dataflow-Oriented Robotic Architecture) is middleware designed to streamline and simplify the creation of AI-based robotic applications. It offers low latency, composable, and distributed datafl