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Add default classes to reduce worldbody definitions (TIAGo)
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@saikishor
saikishor committed Oct 8, 2023
1 parent 1258923 commit 89d6fa9
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174 changes: 82 additions & 92 deletions pal_tiago/tiago.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -31,183 +31,173 @@
<mesh file="arm/arm_5-wrist-2017.stl"/>
<mesh file="arm/arm_6-wrist-2017.stl"/>
<mesh file="gripper_link.stl"/>
<mesh file="gripper_finger_link1.stl" scale="-1 -1 1"/>
<mesh file="gripper_finger_link.stl"/>
<mesh file="gripper_finger_link.stl" scale="-1 -1 1"/>
<mesh file="gripper_finger_link1.stl"/>
</asset>

<default class="main">
<geom contype="0" conaffinity="1" group="1"/>
<default>
<geom contype="0" conaffinity="1" group="1" type="mesh" mass="0"/>
<joint axis="0 0 1"/>
<default class="arm">
<geom contype="1" conaffinity="1"/>
<joint frictionloss="1"/>
</default>
<default class="wheel">
<geom condim="6"/>
</default>
</default>

<worldbody>
<body name="base_link">
<joint name="reference" type="free"/>
<geom pos="0 0 0.0985" type="mesh" density="0" material="white" mesh="base"/>
<geom pos="0.202 0 0.0945" type="mesh" density="0" material="gray10" mesh="sick_tim551"/>
<geom pos="-0.183 0.183 0.2715" quat="0.382683 0 0 0.92388" type="mesh" density="0" material="gray10"
mesh="srf05"/>
<geom pos="-0.259 0 0.2715" quat="0 0 0 1" type="mesh" density="0" material="gray10" mesh="srf05"/>
<geom pos="-0.183 -0.183 0.2715" quat="-0.382683 0 0 0.92388" type="mesh" density="0" material="gray10"
mesh="srf05"/>
<geom pos="-0.201 0.1062 0.2935" type="mesh" density="0" material="black" mesh="antenna"/>
<geom pos="-0.201 -0.1062 0.2935" type="mesh" density="0" material="black" mesh="antenna"/>
<geom pos="-0.062 0 0.2915" type="mesh" density="0" material="mercury" mesh="torso_fix"/>
<geom size="0.09 0.1 0.275" pos="-0.062 0 0.5685" type="box" density="0" material="gray10"/>
<geom pos="0 0 0.13" type="mesh" density="0" material="orange" mesh="base_ring"/>
<geom pos="0 0 0.0985" material="white" mesh="base"/>
<geom pos="0.202 0 0.0945" material="gray10" mesh="sick_tim551"/>
<geom pos="-0.183 0.183 0.2715" quat="0.382683 0 0 0.92388" material="gray10" mesh="srf05"/>
<geom pos="-0.259 0 0.2715" quat="0 0 0 1" material="gray10" mesh="srf05"/>
<geom pos="-0.183 -0.183 0.2715" quat="-0.382683 0 0 0.92388" material="gray10" mesh="srf05"/>
<geom pos="-0.201 0.1062 0.2935" material="black" mesh="antenna"/>
<geom pos="-0.201 -0.1062 0.2935" material="black" mesh="antenna"/>
<geom pos="-0.062 0 0.2915" material="mercury" mesh="torso_fix"/>
<geom size="0.09 0.1 0.275" pos="-0.062 0 0.5685" type="box" material="gray10"/>
<geom pos="0 0 0.13" material="orange" mesh="base_ring"/>
<!-- base link inertial manually added from urdf -->
<!-- <mass value="28.26649"/>
<inertia ixx="0.465408937" ixy="0.002160024" ixz="-0.001760255" iyy="0.483193291" iyz="-0.000655952"
<inertia ixx="0.465408937" ixy="0.002160024" ixz="-0.001760255" iyy="0.483193291"
iyz="-0.000655952"
izz="0.550939703"/> -->
<inertial pos="0 0 0" mass="28.26649"
fullinertia="0.465408937 0.483193291 0.550939703 0.002160024 -0.001760255 -0.000655952"/>
<body name="suspension_right_link" pos="0 0 0.0985">
<body name="suspension_right_link" pos="0 0 0.0985" childclass="wheel">
<inertial pos="0 0 -0.02" mass="10" diaginertia="1 1 1"/>
<joint name="suspension_right_joint" axis="0 0 1" type="slide" range="-0.005 0.005" damping="100"/>
<joint name="suspension_right_joint" type="slide" range="-0.005 0.005" damping="100"/>
<body name="wheel_right_link" pos="0 -0.2022 0" quat="1 -1 0 0">
<inertial pos="0 0 -0.00207" quat="0.296456 0.641958 -0.296458 0.641963" mass="1.82362"
diaginertia="0.0083924 0.00499747 0.00499738"/>
<joint name="wheel_right_joint" axis="0 0 1"/>
<geom type="mesh" density="0" material="gray10" mesh="wheel" condim="6"/>
<joint name="wheel_right_joint"/>
<geom material="gray10" mesh="wheel"/>
</body>
</body>
<body name="suspension_left_link" pos="0 0 0.0985">
<body name="suspension_left_link" pos="0 0 0.0985" childclass="wheel">
<inertial pos="0 0 -0.02" mass="10" diaginertia="1 1 1"/>
<joint name="suspension_left_joint" axis="0 0 1" type="slide" range="-0.005 0.005" damping="100"/>
<joint name="suspension_left_joint" type="slide" range="-0.005 0.005" damping="100"/>
<body name="wheel_left_link" pos="0 0.2022 0" quat="1 -1 0 0">
<inertial pos="0 0 0.00207" quat="0.641958 0.296456 -0.641963 0.296458" mass="1.82362"
diaginertia="0.0083924 0.00499747 0.00499738"/>
<joint name="wheel_left_joint" axis="0 0 1"/>
<geom quat="0 -1 0 0" type="mesh" density="0" material="gray10" mesh="wheel" condim="6"/>
<joint name="wheel_left_joint"/>
<geom quat="0 -1 0 0" material="gray10" mesh="wheel"/>
</body>
</body>
<body name="caster_front_right_1_link" pos="0.1695 -0.102 0.065">
<body name="caster_front_right_1_link" pos="0.1695 -0.102 0.065" childclass="wheel">
<inertial pos="-0.00634599 5.347e-05 -0.0203752" quat="0.966491 -0.00340536 -0.256544 -0.00828025"
mass="0.0514476" diaginertia="1.66556e-05 1.30896e-05 1.04548e-05"/>
<joint name="caster_front_right_1_joint" axis="0 0 1" damping="0.5"/>
<geom type="mesh" density="0" material="gray70" mesh="caster_1" condim="6"/>
<joint name="caster_front_right_1_joint" damping="0.5"/>
<geom material="gray70" mesh="caster_1"/>
<body name="caster_front_right_2_link" pos="-0.016 0 -0.04" quat="1 -1 0 0">
<inertial pos="0 0 0" quat="1 0 0 1" mass="0.0885578"
diaginertia="1.541e-05 1.075e-05 1.075e-05"/>
<joint name="caster_front_right_2_joint" axis="0 0 1"/>
<geom type="mesh" density="0" material="gray10" mesh="caster_2" condim="6"/>
<inertial pos="0 0 0" quat="1 0 0 1" mass="0.0885578" diaginertia="1.541e-05 1.075e-05 1.075e-05"/>
<joint name="caster_front_right_2_joint"/>
<geom material="gray10" mesh="caster_2"/>
</body>
</body>
<body name="caster_front_left_1_link" pos="0.1695 0.102 0.065">
<body name="caster_front_left_1_link" pos="0.1695 0.102 0.065" childclass="wheel">
<inertial pos="-0.00634599 5.347e-05 -0.0203752" quat="0.966491 -0.00340536 -0.256544 -0.00828025"
mass="0.0514476" diaginertia="1.66556e-05 1.30896e-05 1.04548e-05"/>
<joint name="caster_front_left_1_joint" axis="0 0 1" damping="0.5"/>
<geom type="mesh" density="0" material="gray70" mesh="caster_1" condim="6"/>
<joint name="caster_front_left_1_joint" damping="0.5"/>
<geom material="gray70" mesh="caster_1"/>
<body name="caster_front_left_2_link" pos="-0.016 0 -0.04" quat="1 -1 0 0">
<inertial pos="0 0 0" quat="1 0 0 1" mass="0.0885578"
diaginertia="1.541e-05 1.075e-05 1.075e-05"/>
<joint name="caster_front_left_2_joint" axis="0 0 1"/>
<geom type="mesh" density="0" material="gray10" mesh="caster_2" condim="6"/>
<inertial pos="0 0 0" quat="1 0 0 1" mass="0.0885578" diaginertia="1.541e-05 1.075e-05 1.075e-05"/>
<joint name="caster_front_left_2_joint"/>
<geom material="gray10" mesh="caster_2"/>
</body>
</body>
<body name="caster_back_right_1_link" pos="-0.1735 -0.102 0.065">
<body name="caster_back_right_1_link" pos="-0.1735 -0.102 0.065" childclass="wheel">
<inertial pos="-0.00634599 5.347e-05 -0.0203752" quat="0.966491 -0.00340536 -0.256544 -0.00828025"
mass="0.0514476" diaginertia="1.66556e-05 1.30896e-05 1.04548e-05"/>
<joint name="caster_back_right_1_joint" axis="0 0 1" damping="0.5"/>
<geom type="mesh" density="0" material="gray70" mesh="caster_1" condim="6"/>
<joint name="caster_back_right_1_joint" damping="0.5"/>
<geom material="gray70" mesh="caster_1"/>
<body name="caster_back_right_2_link" pos="-0.016 0 -0.04" quat="1 -1 0 0">
<inertial pos="0 0 0" quat="1 0 0 1" mass="0.0885578"
diaginertia="1.541e-05 1.075e-05 1.075e-05"/>
<joint name="caster_back_right_2_joint" axis="0 0 1"/>
<geom type="mesh" density="0" material="gray10" mesh="caster_2" condim="6"/>
<inertial pos="0 0 0" quat="1 0 0 1" mass="0.0885578" diaginertia="1.541e-05 1.075e-05 1.075e-05"/>
<joint name="caster_back_right_2_joint"/>
<geom material="gray10" mesh="caster_2"/>
</body>
</body>
<body name="caster_back_left_1_link" pos="-0.1735 0.102 0.065">
<body name="caster_back_left_1_link" pos="-0.1735 0.102 0.065" childclass="wheel">
<inertial pos="-0.00634599 5.347e-05 -0.0203752" quat="0.966491 -0.00340536 -0.256544 -0.00828025"
mass="0.0514476" diaginertia="1.66556e-05 1.30896e-05 1.04548e-05"/>
<joint name="caster_back_left_1_joint" axis="0 0 1" damping="0.5"/>
<geom type="mesh" density="0" material="gray70" mesh="caster_1" condim="6"/>
<joint name="caster_back_left_1_joint" damping="0.5"/>
<geom material="gray70" mesh="caster_1"/>
<body name="caster_back_left_2_link" pos="-0.016 0 -0.04" quat="1 -1 0 0">
<inertial pos="0 0 0" quat="1 0 0 1" mass="0.0885578"
diaginertia="1.541e-05 1.075e-05 1.075e-05"/>
<joint name="caster_back_left_2_joint" axis="0 0 1"/>
<geom type="mesh" density="0" material="gray10" mesh="caster_2" condim="6"/>
<inertial pos="0 0 0" quat="1 0 0 1" mass="0.0885578" diaginertia="1.541e-05 1.075e-05 1.075e-05"/>
<joint name="caster_back_left_2_joint"/>
<geom material="gray10" mesh="caster_2"/>
</body>
</body>
<body name="torso_lift_link" pos="-0.062 0 0.8885">
<inertial pos="0.04361 -0.00116 -0.17334" quat="0.562536 0.0400112 -0.00365739 0.825796" mass="6.93198"
diaginertia="0.250465 0.244703 0.0893652"/>
<joint name="torso_lift_joint" axis="0 0 1" type="slide" range="0 0.35" damping="2000"/>
<geom type="mesh" density="0" material="white" mesh="torso_lift_with_arm"/>
<joint name="torso_lift_joint" type="slide" range="0 0.35" damping="2000"/>
<geom material="white" mesh="torso_lift_with_arm"/>
<body name="head_1_link" pos="0.182 0 0">
<inertial pos="-0.00508 0.00237 0.07229" quat="0.688669 -0.0973979 -0.101834 0.711251" mass="0.6222"
diaginertia="0.00140223 0.00121968 0.000861083"/>
<joint name="head_1_joint" axis="0 0 1" range="-1.309 1.309" damping="0.5" frictionloss="1"/>
<geom type="mesh" density="0" material="white" mesh="head_1"/>
<joint name="head_1_joint" range="-1.309 1.309" damping="0.5"/>
<geom material="white" mesh="head_1"/>
<body name="head_2_link" pos="0.005 0 0.098" quat="1 1 0 0">
<inertial pos="0.0558274 0.0609987 1.58542e-05" quat="0.89114 -0.000495756 -0.00420876 0.453708"
mass="0.88693" diaginertia="0.00554181 0.00436261 0.00347586"/>
<joint name="head_2_joint" axis="0 0 1" range="-1.0472 0.785398" damping="0.5" frictionloss="1"/>
<geom type="mesh" density="0" material="white" mesh="head_2"/>
<joint name="head_2_joint" range="-1.0472 0.785398" damping="0.5"/>
<geom material="white" mesh="head_2"/>
</body>
</body>
<body name="arm_1_link" pos="0.15505 0.014 -0.151" quat="1 0 0 -1" childclass="arm">
<inertial pos="0.061191 -0.022397 -0.012835" quat="0.161963 0.538347 0.345223 0.751513" mass="1.56343"
diaginertia="0.00510233 0.00510233 0.00510233"/>
<joint name="arm_1_joint" axis="0 0 1" range="0 2.74889" damping="10" frictionloss="1"/>
<geom type="mesh" density="0" material="white" mesh="arm_1"/>
<joint name="arm_1_joint" range="0 2.74889" damping="10"/>
<geom material="white" mesh="arm_1"/>
<body name="arm_2_link" pos="0.125 0.0195 -0.031" quat="1 1 0 0">
<inertial pos="0.030432 0.000229 -0.005942" quat="0.126897 0.72859 0.136233 0.659161" mass="1.8004"
diaginertia="0.00437229 0.00432701 0.0017837"/>
<joint name="arm_2_joint" axis="0 0 1" range="-1.5708 1.09083" damping="10" frictionloss="1"/>
<geom type="mesh" density="0" material="gray10" mesh="arm_2"/>
<joint name="arm_2_joint" range="-1.5708 1.09083" damping="10"/>
<geom material="gray10" mesh="arm_2"/>
<body name="arm_3_link" pos="0.0895 0 -0.0015" quat="0.5 -0.5 -0.5 0.5">
<inertial pos="0.007418 -0.004361 -0.134194" quat="0.516615 0.0556881 0.00536911 0.854388" mass="1.8"
diaginertia="0.0200771 0.0196154 0.00264853"/>
<joint name="arm_3_joint" axis="0 0 1" range="-3.53429 1.5708" damping="10" frictionloss="1"/>
<geom type="mesh" density="0" material="gray10" mesh="arm_3"/>
<joint name="arm_3_joint" range="-3.53429 1.5708" damping="10"/>
<geom material="gray10" mesh="arm_3"/>
<body name="arm_4_link" pos="-0.02 -0.027 -0.222" quat="0.5 -0.5 -0.5 -0.5">
<inertial pos="-0.095658 0.014666 0.018133" quat="-0.161572 0.615556 -0.202229 0.744371" mass="1.4327"
diaginertia="0.00906004 0.00831328 0.00177669"/>
<joint name="arm_4_joint" axis="0 0 1" range="-0.392699 2.35619" damping="10"
frictionloss="1"/>
<geom type="mesh" density="0" material="gray10" mesh="arm_4"/>
<joint name="arm_4_joint" range="-0.392699 2.35619" damping="10"/>
<geom material="gray10" mesh="arm_4"/>
<body name="arm_5_link" pos="-0.162 0.02 0.027" quat="1 0 -1 0">
<inertial pos="0.001078 -0.000151 -0.077173" quat="0.999999 -0.000362286 -0.00167006 0.000217394"
mass="0.935914" diaginertia="0.00103619 0.000794527 0.000439824"/>
<joint name="arm_5_joint" axis="0 0 1" range="-2.0944 2.0944" damping="1" frictionloss="1"/>
<geom type="mesh" density="0" material="mercury" mesh="arm_5-wrist-2017"/>
<joint name="arm_5_joint" range="-2.0944 2.0944" damping="1"/>
<geom material="mercury" mesh="arm_5-wrist-2017"/>
<body name="arm_6_link" pos="0 0 0.15" quat="0.5 -0.5 -0.5 -0.5">
<inertial pos="-0.000153 -0.003122 0.000183" quat="0.510936 0.49453 0.508164 0.485956"
mass="0.302758" diaginertia="3.85419e-05 3.33205e-05 3.29226e-05"/>
<joint name="arm_6_joint" axis="0 0 1" range="-1.41372 1.41372" damping="1"
frictionloss="1"/>
<geom type="mesh" density="0" material="mercury" mesh="arm_6-wrist-2017"/>
<joint name="arm_6_joint" range="-1.41372 1.41372" damping="1"/>
<geom material="mercury" mesh="arm_6-wrist-2017"/>
<body name="arm_7_link" quat="0.5 0.5 0.5 0.5">
<inertial pos="-0.000173894 0.000176395 0.0817355"
quat="0.997803 -0.00177536 -0.00128747 0.0662101" mass="1.00276"
diaginertia="0.0025841 0.0022568 0.000746434"/>
<joint name="arm_7_joint" axis="0 0 1" range="-2.0944 2.0944" damping="1"
frictionloss="1"/>
<geom size="0.005 0.0025" pos="0 0 0.047" quat="-1 0 0 1" type="cylinder"
density="0" material="mercury"/>
<geom size="0.0225 0.00785" pos="0 0 0.05385" quat="-1 0 0 0" type="cylinder" density="0"
material="mercury"/>
<geom size="0.025 0.004875" pos="0 0 0.066575" quat="-1 0 0 1" type="cylinder"
density="0" material="gray10"/>
<geom pos="0 0 0.076575" quat="0 -1 1 0" type="mesh" density="0" material="white"
mesh="gripper_link"/>
<joint name="arm_7_joint" range="-2.0944 2.0944" damping="1"/>
<geom size="0.005 0.0025" pos="0 0 0.047" quat="-1 0 0 1" type="cylinder" material="mercury"/>
<geom size="0.0225 0.00785" pos="0 0 0.05385" quat="-1 0 0 0" type="cylinder" material="mercury"/>
<geom size="0.025 0.004875" pos="0 0 0.066575" quat="-1 0 0 1" type="cylinder" material="gray10"/>
<geom pos="0 0 0.076575" quat="0 -1 1 0" material="white" mesh="gripper_link"/>
<body name="gripper_right_finger_link" pos="0 0 0.076575" quat="0 -1 1 0">
<inertial pos="-0.00447 0.010766 -0.121013" quat="0.944415 0.0576483 0.0941322 -0.309671"
mass="0.10998" diaginertia="0.000161667 0.000161667 0.000161667"/>
<joint name="gripper_right_finger_joint" axis="1 0 0" type="slide" range="0 0.045"
damping="1"/>
<geom quat="4.63268e-05 0 0 1" type="mesh" density="0" material="black" mesh="gripper_finger_link"/>
<joint name="gripper_right_finger_joint" axis="1 0 0" type="slide" range="0 0.045" damping="1"/>
<geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_finger_link"/>
</body>
<body name="gripper_left_finger_link" pos="0 0 0.076575" quat="0 -1 1 0">
<inertial pos="-0.00447 0.010766 -0.121013" quat="0.944415 0.0576483 0.0941322 -0.309671"
mass="0.10998" diaginertia="0.000161667 0.000161667 0.000161667"/>
<joint name="gripper_left_finger_joint" axis="-1 0 0" type="slide" range="0 0.045"
damping="1"/>
<geom quat="4.63268e-05 0 0 1" type="mesh" density="0" material="black"
mesh="gripper_finger_link1"/>
<joint name="gripper_left_finger_joint" axis="-1 0 0" type="slide" range="0 0.045" damping="1"/>
<geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_finger_link1"/>
</body>
</body>
</body>
Expand All @@ -222,8 +212,8 @@

<!-- Added collision exclude to avoid unwanted contact forces between robot bodies -->
<contact>
<exclude body1="arm_2_link" body2="torso_lift_link" />
<exclude body1="gripper_right_finger_link" body2="gripper_left_finger_link" />
<exclude body1="arm_2_link" body2="torso_lift_link"/>
<exclude body1="gripper_right_finger_link" body2="gripper_left_finger_link"/>
</contact>

</mujoco>
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