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Fix yaml file

tags/v0.3.12-rc0
haixuantao 7 months ago
parent
57dd955c9d
commit
313a97cdae
8 changed files with 33 additions and 733 deletions
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  1. +0
    -338
      examples/mujoco-sim/URDF/franka_panda/panda.urdf
  2. +0
    -289
      examples/mujoco-sim/URDF/kuka_iiwa/model.urdf
  3. +3
    -3
      examples/mujoco-sim/basic_simulation/basic.yml
  4. +7
    -7
      examples/mujoco-sim/gamepad_control/gamepad_control_advanced.yml
  5. +11
    -22
      examples/mujoco-sim/gamepad_control/gamepad_control_basic.yml
  6. +5
    -5
      examples/mujoco-sim/target_pose_control/control.yml
  7. +7
    -7
      examples/mujoco-sim/target_pose_control/control_advanced.yml
  8. +0
    -62
      node-hub/dora-mujoco/dora_mujoco/robot_models.json

+ 0
- 338
examples/mujoco-sim/URDF/franka_panda/panda.urdf View File

@@ -1,338 +0,0 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from panda_arm_hand.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="panda_link0">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.05"/>
<mass value="2.9"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/collision/link0.obj"/>
</geometry>
<material name="panda_white">
<color rgba="1. 1. 1. 1."/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link0.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<link name="panda_link1">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.05"/>
<mass value="2.7"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/link1.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link1.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint1" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="0 0 0" xyz="0 0 0.333"/>
<parent link="panda_link0"/>
<child link="panda_link1"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
</joint>
<link name="panda_link2">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 0.06"/>
<mass value="2.73"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/link2.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link2.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint2" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
<parent link="panda_link1"/>
<child link="panda_link2"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.1750"/>
</joint>
<link name="panda_link3">
<inertial>
<origin rpy="0 0 0" xyz="0.01 0.01 -0.05"/>
<mass value="2.04"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/link3.obj"/>
</geometry>
<material name="panda_red">
<color rgba="1. 1. 1. 1."/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link3.obj"/>
</geometry>
</collision>
</link>
<joint name="panda_joint3" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
<parent link="panda_link2"/>
<child link="panda_link3"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
</joint>
<link name="panda_link4">
<inertial>
<origin rpy="0 0 0" xyz="-0.03 0.03 0.02"/>
<mass value="2.08"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/link4.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link4.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint4" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
<parent link="panda_link3"/>
<child link="panda_link4"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-3.1416" upper="0.0" velocity="2.1750"/>
</joint>
<link name="panda_link5">
<inertial>
<origin rpy="0 0 0" xyz="0 0.04 -0.12"/>
<mass value="3"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/link5.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link5.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint5" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
<parent link="panda_link4"/>
<child link="panda_link5"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
</joint>
<link name="panda_link6">
<inertial>
<origin rpy="0 0 0" xyz="0.04 0 0"/>
<mass value="1.3"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/link6.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link6.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint6" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<parent link="panda_link5"/>
<child link="panda_link6"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.6100"/>
</joint>
<link name="panda_link7">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.08"/>
<mass value=".2"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/collision/link7.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link7.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint7" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
<parent link="panda_link6"/>
<child link="panda_link7"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
</joint>
<link name="panda_link8">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
</link>
<joint name="panda_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107"/>
<parent link="panda_link7"/>
<child link="panda_link8"/>
<axis xyz="0 0 0"/>
</joint>
<joint name="panda_hand_joint" type="fixed">
<parent link="panda_link8"/>
<child link="panda_hand"/>
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
</joint>
<link name="panda_hand">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.04"/>
<mass value=".81"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/hand.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/hand.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<link name="panda_leftfinger">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0.01 0.02"/>
<mass value="0.1"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/finger.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/finger.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<link name="panda_rightfinger">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>

<inertial>
<origin rpy="0 0 0" xyz="0 -0.01 0.02"/>
<mass value="0.1"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://meshes/visual/finger.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://meshes/collision/finger.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_finger_joint1" type="prismatic">
<parent link="panda_hand"/>
<child link="panda_leftfinger"/>
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
<axis xyz="0 1 0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
</joint>
<joint name="panda_finger_joint2" type="prismatic">
<parent link="panda_hand"/>
<child link="panda_rightfinger"/>
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
<axis xyz="0 -1 0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
<mimic joint="panda_finger_joint1"/>
</joint>
<link name="panda_grasptarget">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
</link>
<joint name="panda_grasptarget_hand" type="fixed">
<parent link="panda_hand"/>
<child link="panda_grasptarget"/>
<origin rpy="0 0 0" xyz="0 0 0.105"/>
</joint>
</robot>

+ 0
- 289
examples/mujoco-sim/URDF/kuka_iiwa/model.urdf View File

@@ -1,289 +0,0 @@
<?xml version="1.0" ?>
<!-- ======================================================================= -->
<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro | -->
<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- | Changes (kohlhoff): | -->
<!-- | * Removed gazebo tags. | -->
<!-- | * Removed unused materials. | -->
<!-- | * Made mesh paths relative. | -->
<!-- | * Removed material fields from collision segments. | -->
<!-- | * Removed the self_collision_checking segment. | -->
<!-- | * Removed transmission segments, since they didn't match the | -->
<!-- | convention, will have to added back later. | -->
<!-- ======================================================================= -->
<!--LICENSE: -->
<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center, -->
<!--Orebro University, Sweden -->
<!--All rights reserved. -->
<!-- -->
<!--Redistribution and use in source and binary forms, with or without -->
<!--modification, are permitted provided that the following conditions are -->
<!--met: -->
<!-- -->
<!--1. Redistributions of source code must retain the above copyright notice,-->
<!-- this list of conditions and the following disclaimer. -->
<!-- -->
<!--2. Redistributions in binary form must reproduce the above copyright -->
<!-- notice, this list of conditions and the following disclaimer in the -->
<!-- documentation and/or other materials provided with the distribution. -->
<!-- -->
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Import Rviz colors -->
<material name="Grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="Orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="Blue">
<color rgba="0.5 0.7 1.0 1.0"/>
</material>

<!--Import the lbr iiwa macro -->
<!--Import Transmissions -->
<!--Include Utilities -->
<!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
<!--Little helper macros to define the inertia matrix needed for links.-->
<!--Cuboid-->
<!--Cylinder: length is along the y-axis! -->
<!--lbr-->
<link name="lbr_iiwa_link_0">
<inertial>
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
<!--Increase mass from 5 Kg original to provide a stable base to carry the
arm.-->
<mass value="0.0"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_0.obj"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_0.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_0 and link_1 -->
<joint name="lbr_iiwa_joint_1" type="revolute">
<parent link="lbr_iiwa_link_0"/>
<child link="lbr_iiwa_link_1"/>
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_1">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
<mass value="4"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_1.obj"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_1.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_1 and link_2 -->
<joint name="lbr_iiwa_joint_2" type="revolute">
<parent link="lbr_iiwa_link_1"/>
<child link="lbr_iiwa_link_2"/>
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_2">
<inertial>
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
<mass value="4"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_2.obj"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_2.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_2 and link_3 -->
<joint name="lbr_iiwa_joint_3" type="revolute">
<parent link="lbr_iiwa_link_2"/>
<child link="lbr_iiwa_link_3"/>
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_3">
<inertial>
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
<mass value="3"/>
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_3.obj"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_3.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_3 and link_4 -->
<joint name="lbr_iiwa_joint_4" type="revolute">
<parent link="lbr_iiwa_link_3"/>
<child link="lbr_iiwa_link_4"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_4">
<inertial>
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
<mass value="2.7"/>
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_4.obj"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_4.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_4 and link_5 -->
<joint name="lbr_iiwa_joint_5" type="revolute">
<parent link="lbr_iiwa_link_4"/>
<child link="lbr_iiwa_link_5"/>
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_5">
<inertial>
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
<mass value="1.7"/>
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_5.obj"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_5.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_5 and link_6 -->
<joint name="lbr_iiwa_joint_6" type="revolute">
<parent link="lbr_iiwa_link_5"/>
<child link="lbr_iiwa_link_6"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_6">
<inertial>
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
<mass value="1.8"/>
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_6.obj"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_6.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_6 and link_7 -->
<joint name="lbr_iiwa_joint_7" type="revolute">
<parent link="lbr_iiwa_link_6"/>
<child link="lbr_iiwa_link_7"/>
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_7">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.02"/>
<mass value="0.3"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_7.obj"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_7.stl"/>
</geometry>
</collision>
</link>
</robot>


+ 3
- 3
examples/mujoco-sim/basic_simulation/basic.yml View File

@@ -3,10 +3,10 @@ nodes:
build: pip install -e ../../../node-hub/dora-mujoco build: pip install -e ../../../node-hub/dora-mujoco
path: dora-mujoco path: dora-mujoco
inputs: inputs:
tick: dora/timer/millis/2 # 500 Hz simulation
tick: dora/timer/millis/2 # 500 Hz simulation
outputs: outputs:
- joint_positions - joint_positions
- joint_velocities
- joint_velocities
- sensor_data - sensor_data
env: env:
MODEL_NAME: "go2" # Load GO2
MODEL_NAME: "go2_mj_description" # Load GO2

+ 7
- 7
examples/mujoco-sim/gamepad_control/gamepad_control_advanced.yml View File

@@ -12,15 +12,15 @@ nodes:
build: pip install -e ../../../node-hub/dora-mujoco build: pip install -e ../../../node-hub/dora-mujoco
path: dora-mujoco path: dora-mujoco
inputs: inputs:
tick: dora/timer/millis/2 # 500 Hz simulation
tick: dora/timer/millis/2 # 500 Hz simulation
control_input: gamepad_controller/joint_commands control_input: gamepad_controller/joint_commands
outputs: outputs:
- joint_positions - joint_positions
- joint_velocities
- joint_velocities
- actuator_controls - actuator_controls
- sensor_data - sensor_data
env: env:
MODEL_NAME: "kuka_iiwa14"
MODEL_NAME: "iiwa14_mj_description"


- id: gamepad_controller - id: gamepad_controller
path: nodes/gamepad_controller_differential_ik.py path: nodes/gamepad_controller_differential_ik.py
@@ -43,9 +43,9 @@ nodes:
fk_request: gamepad_controller/fk_request fk_request: gamepad_controller/fk_request
jacobian_request: gamepad_controller/jacobian_request jacobian_request: gamepad_controller/jacobian_request
outputs: outputs:
- fk_request
- jacobian_request
- fk_request
- jacobian_request
env: env:
URDF_PATH: "../URDF/kuka_iiwa/model.urdf"
END_EFFECTOR_LINK: "lbr_iiwa_link_7"
MODEL_NAME: "iiwa14_description"
END_EFFECTOR_LINK: "iiwa_link_7"
TRANSFORM: "0. 0. 0. 1. 0. 0. 0." TRANSFORM: "0. 0. 0. 1. 0. 0. 0."

+ 11
- 22
examples/mujoco-sim/gamepad_control/gamepad_control_basic.yml View File

@@ -12,37 +12,26 @@ nodes:
build: pip install -e ../../../node-hub/dora-mujoco build: pip install -e ../../../node-hub/dora-mujoco
path: dora-mujoco path: dora-mujoco
inputs: inputs:
tick: dora/timer/millis/2 # 500 Hz simulation
control_input: gamepad_controller/joint_commands
tick: dora/timer/millis/2 # 500 Hz simulation
control_input: pytorch_kinematics/cmd_vel
outputs: outputs:
- joint_positions - joint_positions
- joint_velocities
- joint_velocities
- actuator_controls - actuator_controls
- sensor_data - sensor_data
env: env:
MODEL_NAME: "kuka_iiwa14"

- id: gamepad_controller
path: nodes/gamepad_controller_ik.py
inputs:
joint_positions: mujoco_sim/joint_positions
raw_control: gamepad/raw_control
cmd_vel: gamepad/cmd_vel
ik_request: pytorch_kinematics/ik_request
outputs:
- joint_commands
- ik_request
- joint_state
MODEL_NAME: "iiwa14_mj_description"


- id: pytorch_kinematics - id: pytorch_kinematics
build: pip install -e ../../../node-hub/dora-pytorch-kinematics build: pip install -e ../../../node-hub/dora-pytorch-kinematics
path: dora-pytorch-kinematics path: dora-pytorch-kinematics
inputs: inputs:
ik_request: gamepad_controller/ik_request
joint_state: gamepad_controller/joint_state
cmd_vel: gamepad/cmd_vel
pose: mujoco_sim/joint_positions
outputs: outputs:
- ik_request
- cmd_vel
- pose
env: env:
URDF_PATH: "../URDF/kuka_iiwa/model.urdf"
END_EFFECTOR_LINK: "lbr_iiwa_link_7"
TRANSFORM: "0. 0. 0. 1. 0. 0. 0."
MODEL_NAME: "iiwa14_description"
END_EFFECTOR_LINK: "iiwa_link_7"
TRANSFORM: "0. 0. 0. 1. 0. 0. 0."

+ 5
- 5
examples/mujoco-sim/target_pose_control/control.yml View File

@@ -7,11 +7,11 @@ nodes:
control_input: controller/joint_commands control_input: controller/joint_commands
outputs: outputs:
- joint_positions - joint_positions
- joint_velocities
- joint_velocities
- actuator_controls - actuator_controls
- sensor_data - sensor_data
env: env:
MODEL_NAME: "panda"
MODEL_NAME: "panda_mj_description"


- id: controller - id: controller
path: nodes/controller_ik.py path: nodes/controller_ik.py
@@ -34,13 +34,13 @@ nodes:
- ik_request - ik_request
- joint_state - joint_state
env: env:
URDF_PATH: "../URDF/franka_panda/panda.urdf"
MODEL_NAME: "panda_description"
END_EFFECTOR_LINK: "panda_hand" END_EFFECTOR_LINK: "panda_hand"
TRANSFORM: "0. 0. 0. 1. 0. 0. 0." # Pytorch kinematics uses wxyz format for quaternion
TRANSFORM: "0. 0. 0. 1. 0. 0. 0." # Pytorch kinematics uses wxyz format for quaternion


- id: pose_publisher - id: pose_publisher
path: nodes/pose_publisher.py path: nodes/pose_publisher.py
inputs: inputs:
tick: dora/timer/millis/5000 tick: dora/timer/millis/5000
outputs: outputs:
- target_pose
- target_pose

+ 7
- 7
examples/mujoco-sim/target_pose_control/control_advanced.yml View File

@@ -7,11 +7,11 @@ nodes:
control_input: controller/joint_commands control_input: controller/joint_commands
outputs: outputs:
- joint_positions - joint_positions
- joint_velocities
- joint_velocities
- actuator_controls - actuator_controls
- sensor_data - sensor_data
env: env:
MODEL_NAME: "panda"
MODEL_NAME: "panda_mj_description"


- id: controller - id: controller
path: nodes/controller_differential_ik.py path: nodes/controller_differential_ik.py
@@ -33,16 +33,16 @@ nodes:
fk_request: controller/fk_request fk_request: controller/fk_request
jacobian_request: controller/jacobian_request jacobian_request: controller/jacobian_request
outputs: outputs:
- fk_request
- jacobian_request
- fk_request
- jacobian_request
env: env:
URDF_PATH: "../URDF/franka_panda/panda.urdf"
MODEL_NAME: "panda_description"
END_EFFECTOR_LINK: "panda_hand" END_EFFECTOR_LINK: "panda_hand"
TRANSFORM: "0. 0. 0. 1. 0. 0. 0." # Pytorch kinematics uses wxyz format for quaternion
TRANSFORM: "0. 0. 0. 1. 0. 0. 0." # Pytorch kinematics uses wxyz format for quaternion


- id: pose_publisher - id: pose_publisher
path: nodes/pose_publisher.py path: nodes/pose_publisher.py
inputs: inputs:
tick: dora/timer/millis/5000 tick: dora/timer/millis/5000
outputs: outputs:
- target_pose
- target_pose

+ 0
- 62
node-hub/dora-mujoco/dora_mujoco/robot_models.json View File

@@ -1,62 +0,0 @@
{
"arms": {
"arx_l5": "arx_l5_mj_description",
"fr3": "fr3_mj_description",
"franka_panda": "panda_mj_description",
"panda": "panda_mj_description",
"gen3": "gen3_mj_description",
"iiwa14": "iiwa14_mj_description",
"kuka_iiwa14": "iiwa14_mj_description",
"piper": "piper_mj_description",
"sawyer": "sawyer_mj_description",
"so_arm100": "so_arm100_mj_description",
"ur10e": "ur10e_mj_description",
"ur5e": "ur5e_mj_description",
"viper": "viper_mj_description",
"widow": "widow_mj_description",
"xarm7": "xarm7_mj_description",
"yam": "yam_mj_description",
"z1": "z1_mj_description",
"low_cost_robot_arm": "low_cost_robot_arm_mj_description"
},
"bipeds": {
"cassie": "cassie_mj_description"
},
"dual_arms": {
"aloha": "aloha_mj_description",
"aloha_2": "aloha_mj_description"
},
"drones": {
"crazyflie_2": "cf2_mj_description",
"cf2": "cf2_mj_description",
"skydio_x2": "skydio_x2_mj_description"
},
"end_effectors": {
"ability_hand": "ability_hand_mj_description",
"allegro_hand": "allegro_hand_mj_description",
"leap_hand": "leap_hand_mj_description",
"robotiq_2f85": "robotiq_2f85_mj_description",
"robotiq_2f85_v4": "robotiq_2f85_v4_mj_description",
"shadow_dexee": "shadow_dexee_mj_description",
"shadow_hand": "shadow_hand_mj_description"
},
"humanoids": {
"apollo": "apollo_mj_description",
"adam_lite": "adam_lite_mj_description",
"elf2": "elf2_mj_description",
"g1": "g1_mj_description",
"h1": "h1_mj_description",
"jvrc": "jvrc_mj_description",
"op3": "op3_mj_description",
"talos": "talos_mj_description"
},
"quadrupeds": {
"a1": "a1_mj_description",
"aliengo": "aliengo_mj_description",
"anymal_b": "anymal_b_mj_description",
"anymal_c": "anymal_c_mj_description",
"go1": "go1_mj_description",
"go2": "go2_mj_description",
"spot": "spot_mj_description"
}
}

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