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39 lines (37 loc) · 3.25 KB
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Copy pathopenneck.xml
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39 lines (37 loc) · 3.25 KB
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<mujoco model="openneck">
<compiler angle="radian"/>
<asset>
<mesh name="base_mount_link" content_type="model/stl" file="meshes/base_mount.stl"/>
<mesh name="servo_controller_link" content_type="model/stl" file="meshes/servo_controller.stl"/>
<mesh name="adapter_board_link" content_type="model/stl" file="meshes/adapter_board.stl"/>
<mesh name="yaw_servo_link" content_type="model/stl" file="meshes/yaw_servo.stl"/>
<mesh name="yaw_horn_link" content_type="model/stl" file="meshes/yaw_horn.stl"/>
<mesh name="pitch_mount_link" content_type="model/stl" file="meshes/pitch_mount.stl"/>
<mesh name="pitch_servo_link" content_type="model/stl" file="meshes/pitch_servo.stl"/>
<mesh name="pitch_horn_link" content_type="model/stl" file="meshes/pitch_horn.stl"/>
<mesh name="camera_mount_link" content_type="model/stl" file="meshes/camera_mount.stl"/>
<mesh name="pitch_pivot_link" content_type="model/stl" file="meshes/pitch_pivot.stl"/>
<mesh name="camera_link" content_type="model/stl" file="meshes/camera.stl"/>
</asset>
<worldbody>
<geom pos="0 0 0.0164853" quat="0.707107 -0.707107 0 0" type="mesh" rgba="0 0.490196 0.658824 1" mesh="base_mount_link"/>
<geom pos="-0.054201 -0.0116368 0.0105803" quat="0.765335 0.00103419 0.00198132 -0.643628" type="mesh" rgba="0.811765 0.309804 0 1" mesh="servo_controller_link"/>
<geom pos="-0.0279377 -0.0261587 0.196472" quat="0.539773 0.455845 0.542575 -0.454382" type="mesh" rgba="1 1 1 1" mesh="adapter_board_link"/>
<geom pos="0.0726941 0.0102431 5.47282e-05" quat="-0.453713 -0.456515 -0.540443 -0.541905" type="mesh" rgba="1 1 1 1" mesh="yaw_servo_link"/>
<body name="yaw_horn_link" pos="0.0736424 0.00498256 0.0333287" quat="0.0711261 0.0702213 -0.70205 -0.705079">
<inertial pos="-0.0235158 0.0185843 0.0106841" quat="0.516507 0.713984 0.453822 0.132263" mass="0.0275545" diaginertia="2.22735e-05 1.97365e-05 4.981e-06"/>
<joint name="yaw_joint" pos="0 0 0" axis="0 1 0"/>
<geom type="mesh" rgba="1 1 1 1" mesh="yaw_horn_link"/>
<geom type="mesh" rgba="1 1 1 1" mesh="pitch_mount_link"/>
<geom pos="0 0.0289105 0" quat="0.701057 -0.701057 0.092296 -0.092296" type="mesh" rgba="1 1 1 1" mesh="pitch_servo_link"/>
<body name="pitch_horn_link" pos="-0.0471893 0.0403398 0.00756093" quat="0.658832 -0.658832 -0.256788 0.256788">
<inertial pos="-0.0215623 0.000333942 0.0211653" quat="0.646569 0.66071 -0.266118 0.273115" mass="0.0462624" diaginertia="3.71796e-05 3.19313e-05 9.02383e-06"/>
<joint name="pitch_joint" pos="0 0 0" axis="-0.0360199767720671 0.998802471712146 0.033108666162308" range="-1.5708 1.5708" actuatorfrcrange="-1 1"/>
<geom pos="0.0175158 0.00756093 -0.0506759" quat="1 0 0 0" type="mesh" rgba="1 1 1 1" mesh="pitch_horn_link"/>
<geom pos="0.00868161 0.00756093 -0.0602869" quat="1 0 0 0" type="mesh" rgba="0 0.490196 0.658824 1" mesh="camera_mount_link"/>
<geom pos="0.0270086 0.00756093 -0.0403489" quat="0.499998 0.5 -0.5 0.500002" type="mesh" rgba="0.921569 0.921569 0.921569 1" mesh="pitch_pivot_link"/>
<geom pos="0.00933817 0.00756093 -0.0595726" quat="-2.59734e-06 0.707105 -0.707108 2.59735e-06" type="mesh" rgba="1 1 1 1" mesh="camera_link"/>
</body>
</body>
</worldbody>
</mujoco>