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mujoco_menagerie

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229c97b
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1 Parent(s): 6119bf5

Add arx_arx5

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Files changed (11) hide show
  1. .gitattributes +6 -0
  2. arx_arx5/arx5.xml +62 -0
  3. arx_arx5/assets/base_arm.STL +0 -0
  4. arx_arx5/assets/link1.STL +3 -0
  5. arx_arx5/assets/link2.STL +3 -0
  6. arx_arx5/assets/link3.STL +3 -0
  7. arx_arx5/assets/link4.STL +3 -0
  8. arx_arx5/assets/link5.STL +3 -0
  9. arx_arx5/assets/link6.STL +3 -0
  10. arx_arx5/assets/link7.STL +0 -0
  11. arx_arx5/assets/link8.STL +0 -0
.gitattributes CHANGED
@@ -61,3 +61,9 @@ umi_gripper/assets/left_finger_holder.stl filter=lfs diff=lfs merge=lfs -text
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  umi_gripper/assets/right_aruco_sticker.png filter=lfs diff=lfs merge=lfs -text
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  umi_gripper/assets/right_finger_holder.stl filter=lfs diff=lfs merge=lfs -text
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  umi_gripper/umi_gripper.png filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
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  umi_gripper/assets/right_aruco_sticker.png filter=lfs diff=lfs merge=lfs -text
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  umi_gripper/assets/right_finger_holder.stl filter=lfs diff=lfs merge=lfs -text
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  umi_gripper/umi_gripper.png filter=lfs diff=lfs merge=lfs -text
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+ arx_arx5/assets/link1.STL filter=lfs diff=lfs merge=lfs -text
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+ arx_arx5/assets/link2.STL filter=lfs diff=lfs merge=lfs -text
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+ arx_arx5/assets/link3.STL filter=lfs diff=lfs merge=lfs -text
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+ arx_arx5/assets/link4.STL filter=lfs diff=lfs merge=lfs -text
68
+ arx_arx5/assets/link5.STL filter=lfs diff=lfs merge=lfs -text
69
+ arx_arx5/assets/link6.STL filter=lfs diff=lfs merge=lfs -text
arx_arx5/arx5.xml ADDED
@@ -0,0 +1,62 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ <mujoco model="arx5">
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+ <compiler angle="radian" meshdir="assets/"/>
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+
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+ <asset>
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+ <mesh name="base_arm" content_type="model/stl" file="base_arm.STL"/>
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+ <mesh name="link1" content_type="model/stl" file="link1.STL"/>
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+ <mesh name="link2" content_type="model/stl" file="link2.STL"/>
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+ <mesh name="link3" content_type="model/stl" file="link3.STL"/>
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+ <mesh name="link4" content_type="model/stl" file="link4.STL"/>
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+ <mesh name="link5" content_type="model/stl" file="link5.STL"/>
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+ <mesh name="link6" content_type="model/stl" file="link6.STL"/>
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+ <mesh name="link7" content_type="model/stl" file="link7.STL"/>
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+ <mesh name="link8" content_type="model/stl" file="link8.STL"/>
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+ </asset>
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+
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+ <worldbody>
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+ <body name="base_link">
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+ <inertial pos="-3.77961e-05 6.79414e-05 0.0272676" quat="0.799218 -0.0252119 0.00259133 0.600507" mass="0.155113" diaginertia="7.64665e-05 7.60032e-05 6.94741e-05"/>
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+ <geom type="mesh" mesh="base_arm"/>
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+ <body name="link1" pos="0 0 0.058">
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+ <inertial pos="0.00625345 -0.0247767 0.0152205" quat="0.259452 0.3444 -0.270654 0.860709" mass="0.0216291" diaginertia="1.40934e-05 1.21929e-05 5.51354e-06"/>
22
+ <joint name="joint1" pos="0 0 0" axis="0 0 1" range="-10 10" actuatorfrcrange="-100 100"/>
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+ <geom type="mesh" mesh="link1"/>
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+ <body name="link2" pos="0.025013 0.00060169 0.042">
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+ <inertial pos="-0.0751818 3.45134e-06 -4.5569e-05" quat="0.502745 0.505249 0.496991 0.494945" mass="0.317041" diaginertia="0.00064642 0.000613138 0.000148485"/>
26
+ <joint name="joint2" pos="0 0 0" axis="0 1 0" range="-10 10" actuatorfrcrange="-100 100"/>
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+ <geom type="mesh" mesh="link2"/>
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+ <body name="link3" pos="-0.26396 0.0044548 0" quat="-3.67309e-06 -0.999968 0.00796392 2.92531e-08">
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+ <inertial pos="0.0958977 -8.54799e-05 -0.0389029" quat="0.499195 0.499819 0.499865 0.501119" mass="0.47518" diaginertia="0.0008486 0.000732908 0.000245795"/>
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+ <joint name="joint3" pos="0 0 0" axis="0 1 0" range="-10 10" actuatorfrcrange="-100 100"/>
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+ <geom type="mesh" mesh="link3"/>
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+ <body name="link4" pos="0.246 -0.00025 -0.06">
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+ <inertial pos="0.0591385 0.00278045 -0.0552292" quat="0.283113 0.760612 -0.260924 0.522719" mass="0.138134" diaginertia="6.56394e-05 5.92927e-05 5.18517e-05"/>
34
+ <joint name="joint4" pos="0 0 0" axis="0 1 0" range="-10 10" actuatorfrcrange="-100 100"/>
35
+ <geom type="mesh" mesh="link4"/>
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+ <body name="link5" pos="0.06775 0.0015 -0.0855" quat="0.999968 0 0 -0.00796392">
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+ <inertial pos="0.00870303 -2.87407e-05 0.0817957" quat="0.697566 0.713788 -0.0450168 0.0433873" mass="0.126742" diaginertia="5.30027e-05 4.44958e-05 4.14228e-05"/>
38
+ <joint name="joint5" pos="0 0 0" axis="0 0 1" range="-10 10" actuatorfrcrange="-100 100"/>
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+ <geom type="mesh" mesh="link5"/>
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+ <body name="link6" pos="0.03095 0 0.0855" quat="-3.67321e-06 -1 0 0">
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+ <inertial pos="0.0383176 -4.45e-05 0.00355875" quat="0.709336 0.704816 -0.00556757 0.00677838" mass="0.14288" diaginertia="9.84234e-05 8.47092e-05 3.95308e-05"/>
42
+ <joint name="joint6" pos="0 0 0" axis="1 0 0" range="-10 10" actuatorfrcrange="-100 100"/>
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+ <geom type="mesh" mesh="link6"/>
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+ <body name="link7" pos="0.08457 0.024493 -0.00010349">
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+ <inertial pos="0.00626222 -0.00713412 -0.00289899" quat="0.638062 0.533626 0.366037 0.417297" mass="0.026478" diaginertia="1.61061e-05 1.12113e-05 7.44511e-06"/>
46
+ <joint name="joint7" pos="0 0 0" axis="0 1 0" type="slide" range="0 0.04765" actuatorfrcrange="-100 100"/>
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+ <geom type="mesh" mesh="link7"/>
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+ </body>
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+ <body name="link8" pos="0.08457 -0.024496 -0.00010354">
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+ <inertial pos="0.00626222 0.00713412 0.001453" quat="0.313665 0.457648 0.691812 0.462134" mass="0.026478" diaginertia="1.6321e-05 1.17748e-05 7.10003e-06"/>
51
+ <joint name="joint8" pos="0 0 0" axis="0 -1 0" type="slide" range="0 0.04765" actuatorfrcrange="-100 100"/>
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+ <geom type="mesh" mesh="link8"/>
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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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+ </body>
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+ </worldbody>
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+ </mujoco>
arx_arx5/assets/base_arm.STL ADDED
Binary file (90.4 kB). View file
 
arx_arx5/assets/link1.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:079a59fd0a94237c5042d6c7542b79bdc4c8db396758fdb7860f7b464e3c25ed
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+ size 122284
arx_arx5/assets/link2.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:87e1386ed2533e68743f50f448e8cbdc366c2b37f0df3ede1fa2de340666786c
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+ size 1212884
arx_arx5/assets/link3.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:76ded14e5f919e7a77ae7501883d55fb349be5c3c16499f59c1de5b552cad842
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+ size 1290084
arx_arx5/assets/link4.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:d234f4b96822ecf8a2f62219031053f7950d685faa15b4d23f8115c1b434cbbd
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+ size 207984
arx_arx5/assets/link5.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:dc58ea92599295aaa980e090a034c68397e505b79b681a223cd98ba7f10bab03
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+ size 467884
arx_arx5/assets/link6.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:ffb2de0357066957db00fd7599dd4a7fbc147c8ef5916a492aa9070fdbdf5740
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+ size 467084
arx_arx5/assets/link7.STL ADDED
Binary file (65.3 kB). View file
 
arx_arx5/assets/link8.STL ADDED
Binary file (65.3 kB). View file