<!-- Rosie 600 by Advanced Metal Research, sim kit 2026-10-09: https://advancedmetalresearch.com/assets/sim/600/
     MuJoCo 3.1 or later. Units m, kg, rad. Zero pose = home (tool flange facing down); site tool0 = flange face,
     z out of the flange. Position actuators: ctrl = joint target (rad), force limited to the drive peak torque at
     the joint (motor peak x ratio), kp = output peak torque / 0.01 rad, critically damped (dampratio 1). Armature =
     reflected motor + gearbox inertia;
     joint damping is nominal.
     Visual and collision meshes are the robot's real outside surfaces: one filled solid per link, structural parts' own CAD faces,
     motors and gearboxes as plain envelopes of the same size. Inertials are the robot's real mass properties. -->
<mujoco model="rosie_600">
  <compiler angle="radian" meshdir="../meshes" autolimits="true"/>
  <option timestep="0.002" integrator="implicitfast" gravity="0 0 -9.81"/>
  <visual><global offwidth="1280" offheight="960"/></visual>
  <default>
    <default class="rosie_600">
      <default class="visual"><geom type="mesh" contype="0" conaffinity="0" group="2" rgba="0.82 0.83 0.85 1"/></default>
      <default class="collision"><geom type="mesh" group="3" rgba="0.8 0.35 0.3 0.4"/></default>
    </default>
  </default>
  <asset>
    <mesh name="base_link" file="visual/base_link.stl"/>
    <mesh name="base_link_c00" file="collision/base_link_c00.stl"/>
    <mesh name="base_link_c01" file="collision/base_link_c01.stl"/>
    <mesh name="base_link_c02" file="collision/base_link_c02.stl"/>
    <mesh name="base_link_c03" file="collision/base_link_c03.stl"/>
    <mesh name="base_link_c04" file="collision/base_link_c04.stl"/>
    <mesh name="base_link_c05" file="collision/base_link_c05.stl"/>
    <mesh name="base_link_c06" file="collision/base_link_c06.stl"/>
    <mesh name="base_link_c07" file="collision/base_link_c07.stl"/>
    <mesh name="base_link_c08" file="collision/base_link_c08.stl"/>
    <mesh name="base_link_c09" file="collision/base_link_c09.stl"/>
    <mesh name="link_1" file="visual/link_1.stl"/>
    <mesh name="link_1_c00" file="collision/link_1_c00.stl"/>
    <mesh name="link_1_c01" file="collision/link_1_c01.stl"/>
    <mesh name="link_1_c02" file="collision/link_1_c02.stl"/>
    <mesh name="link_1_c03" file="collision/link_1_c03.stl"/>
    <mesh name="link_1_c04" file="collision/link_1_c04.stl"/>
    <mesh name="link_1_c05" file="collision/link_1_c05.stl"/>
    <mesh name="link_1_c06" file="collision/link_1_c06.stl"/>
    <mesh name="link_1_c07" file="collision/link_1_c07.stl"/>
    <mesh name="link_1_c08" file="collision/link_1_c08.stl"/>
    <mesh name="link_1_c09" file="collision/link_1_c09.stl"/>
    <mesh name="link_2" file="visual/link_2.stl"/>
    <mesh name="link_2_c00" file="collision/link_2_c00.stl"/>
    <mesh name="link_3" file="visual/link_3.stl"/>
    <mesh name="link_3_c00" file="collision/link_3_c00.stl"/>
    <mesh name="link_3_c01" file="collision/link_3_c01.stl"/>
    <mesh name="link_3_c02" file="collision/link_3_c02.stl"/>
    <mesh name="link_3_c03" file="collision/link_3_c03.stl"/>
    <mesh name="link_3_c04" file="collision/link_3_c04.stl"/>
    <mesh name="link_3_c05" file="collision/link_3_c05.stl"/>
    <mesh name="link_3_c06" file="collision/link_3_c06.stl"/>
    <mesh name="link_3_c07" file="collision/link_3_c07.stl"/>
    <mesh name="link_3_c08" file="collision/link_3_c08.stl"/>
    <mesh name="link_3_c09" file="collision/link_3_c09.stl"/>
    <mesh name="link_4" file="visual/link_4.stl"/>
    <mesh name="link_4_c00" file="collision/link_4_c00.stl"/>
    <mesh name="link_4_c01" file="collision/link_4_c01.stl"/>
    <mesh name="link_4_c02" file="collision/link_4_c02.stl"/>
    <mesh name="link_4_c03" file="collision/link_4_c03.stl"/>
    <mesh name="link_4_c04" file="collision/link_4_c04.stl"/>
    <mesh name="link_4_c05" file="collision/link_4_c05.stl"/>
    <mesh name="link_4_c06" file="collision/link_4_c06.stl"/>
    <mesh name="link_4_c07" file="collision/link_4_c07.stl"/>
    <mesh name="link_4_c08" file="collision/link_4_c08.stl"/>
    <mesh name="link_4_c09" file="collision/link_4_c09.stl"/>
    <mesh name="link_5" file="visual/link_5.stl"/>
    <mesh name="link_5_c00" file="collision/link_5_c00.stl"/>
    <mesh name="link_5_c01" file="collision/link_5_c01.stl"/>
    <mesh name="link_5_c02" file="collision/link_5_c02.stl"/>
    <mesh name="link_5_c03" file="collision/link_5_c03.stl"/>
    <mesh name="link_5_c04" file="collision/link_5_c04.stl"/>
    <mesh name="link_5_c05" file="collision/link_5_c05.stl"/>
    <mesh name="link_5_c06" file="collision/link_5_c06.stl"/>
    <mesh name="link_5_c07" file="collision/link_5_c07.stl"/>
    <mesh name="link_5_c08" file="collision/link_5_c08.stl"/>
    <mesh name="link_5_c09" file="collision/link_5_c09.stl"/>
    <mesh name="link_6" file="visual/link_6.stl"/>
    <mesh name="link_6_c00" file="collision/link_6_c00.stl"/>
    <mesh name="link_6_c01" file="collision/link_6_c01.stl"/>
    <mesh name="link_6_c02" file="collision/link_6_c02.stl"/>
    <mesh name="link_6_c03" file="collision/link_6_c03.stl"/>
    <mesh name="link_6_c04" file="collision/link_6_c04.stl"/>
    <mesh name="link_6_c05" file="collision/link_6_c05.stl"/>
    <mesh name="link_6_c06" file="collision/link_6_c06.stl"/>
    <mesh name="link_6_c07" file="collision/link_6_c07.stl"/>
    <mesh name="link_6_c08" file="collision/link_6_c08.stl"/>
    <mesh name="link_6_c09" file="collision/link_6_c09.stl"/>
  </asset>
  <worldbody>
    <light name="key" pos="1.5 -1.5 3" dir="-0.4 0.4 -1" directional="true"/>
    <geom name="floor" type="plane" size="3 3 0.05" rgba="0.92 0.92 0.92 1" contype="0" conaffinity="0"/>
    <body name="base_link" pos="0 0 0.175" childclass="rosie_600">
      <inertial pos="0.0002 -0.00001 -0.0815" mass="7.775" fullinertia="0.048026 0.047835 0.041679 -0.000003 0.00004 -0.000009"/>
      <geom class="visual" mesh="base_link" rgba="0.30 0.31 0.33 1"/>
      <geom class="collision" mesh="base_link_c00"/>
      <geom class="collision" mesh="base_link_c01"/>
      <geom class="collision" mesh="base_link_c02"/>
      <geom class="collision" mesh="base_link_c03"/>
      <geom class="collision" mesh="base_link_c04"/>
      <geom class="collision" mesh="base_link_c05"/>
      <geom class="collision" mesh="base_link_c06"/>
      <geom class="collision" mesh="base_link_c07"/>
      <geom class="collision" mesh="base_link_c08"/>
      <geom class="collision" mesh="base_link_c09"/>
      <body name="link_1" pos="0 0 0" childclass="rosie_600">
        <inertial pos="0.03542 -0.01154 0.11172" mass="8.8297" fullinertia="0.067944 0.071057 0.03594 0.000854 -0.012492 0.003029"/>
        <joint name="J1" axis="0 0 1" range="-2.96706 2.96706" armature="0.882" damping="2"/>
        <geom class="visual" mesh="link_1"/>
        <geom class="collision" mesh="link_1_c00"/>
        <geom class="collision" mesh="link_1_c01"/>
        <geom class="collision" mesh="link_1_c02"/>
        <geom class="collision" mesh="link_1_c03"/>
        <geom class="collision" mesh="link_1_c04"/>
        <geom class="collision" mesh="link_1_c05"/>
        <geom class="collision" mesh="link_1_c06"/>
        <geom class="collision" mesh="link_1_c07"/>
        <geom class="collision" mesh="link_1_c08"/>
        <geom class="collision" mesh="link_1_c09"/>
        <body name="link_2" pos="0.05 0 0.165" childclass="rosie_600">
          <inertial pos="0 -0.08657 0.11318" mass="3.5802" fullinertia="0.057368 0.060642 0.004483 0 0 0.000735"/>
          <joint name="J2" axis="0 1 0" range="-1.919862 1.919862" armature="2.86" damping="2"/>
          <geom class="visual" mesh="link_2"/>
          <geom class="collision" mesh="link_2_c00"/>
          <body name="link_3" pos="0 0 0.27" childclass="rosie_600">
            <inertial pos="0.0091 -0.01548 0.01874" mass="3.7902" fullinertia="0.010653 0.008959 0.008548 -0.000469 -0.001617 -0.000955"/>
            <joint name="J3" axis="0 1 0" range="-2.617994 2.617994" armature="0.882" damping="2"/>
            <geom class="visual" mesh="link_3"/>
            <geom class="collision" mesh="link_3_c00"/>
            <geom class="collision" mesh="link_3_c01"/>
            <geom class="collision" mesh="link_3_c02"/>
            <geom class="collision" mesh="link_3_c03"/>
            <geom class="collision" mesh="link_3_c04"/>
            <geom class="collision" mesh="link_3_c05"/>
            <geom class="collision" mesh="link_3_c06"/>
            <geom class="collision" mesh="link_3_c07"/>
            <geom class="collision" mesh="link_3_c08"/>
            <geom class="collision" mesh="link_3_c09"/>
            <body name="link_4" pos="0.075 0 0.065" childclass="rosie_600">
              <inertial pos="0.10459 -0.03843 -0.00241" mass="3.75" fullinertia="0.007509 0.022602 0.024574 0.005758 -0.000133 0.000205"/>
              <joint name="J4" axis="1 0 0" range="-3.141593 3.141593" armature="0.087" damping="0.5"/>
              <geom class="visual" mesh="link_4"/>
              <geom class="collision" mesh="link_4_c00"/>
              <geom class="collision" mesh="link_4_c01"/>
              <geom class="collision" mesh="link_4_c02"/>
              <geom class="collision" mesh="link_4_c03"/>
              <geom class="collision" mesh="link_4_c04"/>
              <geom class="collision" mesh="link_4_c05"/>
              <geom class="collision" mesh="link_4_c06"/>
              <geom class="collision" mesh="link_4_c07"/>
              <geom class="collision" mesh="link_4_c08"/>
              <geom class="collision" mesh="link_4_c09"/>
              <body name="link_5" pos="0.205 0 0" childclass="rosie_600">
                <inertial pos="0.00001 -0.01272 -0.01648" mass="1.3356" fullinertia="0.001668 0.001536 0.00097 0.000005 -0.000002 0.00024"/>
                <joint name="J5" axis="0 1 0" range="-2.181662 2.181662" armature="0.857" damping="0.5"/>
                <geom class="visual" mesh="link_5"/>
                <geom class="collision" mesh="link_5_c00"/>
                <geom class="collision" mesh="link_5_c01"/>
                <geom class="collision" mesh="link_5_c02"/>
                <geom class="collision" mesh="link_5_c03"/>
                <geom class="collision" mesh="link_5_c04"/>
                <geom class="collision" mesh="link_5_c05"/>
                <geom class="collision" mesh="link_5_c06"/>
                <geom class="collision" mesh="link_5_c07"/>
                <geom class="collision" mesh="link_5_c08"/>
                <geom class="collision" mesh="link_5_c09"/>
                <body name="link_6" pos="0 0 -0.07725" childclass="rosie_600">
                  <inertial pos="-0.00006 0 0.01074" mass="0.2413" fullinertia="0.000051 0.00005 0.000094 0 0 0"/>
                  <joint name="J6" axis="0 0 1" range="-3.141593 3.141593" armature="0.054" damping="0.5"/>
                  <geom class="visual" mesh="link_6"/>
                  <geom class="collision" mesh="link_6_c00"/>
                  <geom class="collision" mesh="link_6_c01"/>
                  <geom class="collision" mesh="link_6_c02"/>
                  <geom class="collision" mesh="link_6_c03"/>
                  <geom class="collision" mesh="link_6_c04"/>
                  <geom class="collision" mesh="link_6_c05"/>
                  <geom class="collision" mesh="link_6_c06"/>
                  <geom class="collision" mesh="link_6_c07"/>
                  <geom class="collision" mesh="link_6_c08"/>
                  <geom class="collision" mesh="link_6_c09"/>
                  <site name="tool0" pos="0 0 0" quat="0 1 0 0" size="0.006" rgba="0.85 0.1 0.1 1"/>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="link_1"/>
  </contact>
  <actuator>
    <position name="J1" joint="J1" kp="15700" dampratio="1" ctrlrange="-2.96706 2.96706" forcerange="-445 445"/>
    <position name="J2" joint="J2" kp="33300" dampratio="1" ctrlrange="-1.919862 1.919862" forcerange="-836 836"/>
    <position name="J3" joint="J3" kp="15700" dampratio="1" ctrlrange="-2.617994 2.617994" forcerange="-445 445"/>
    <position name="J4" joint="J4" kp="5400" dampratio="1" ctrlrange="-3.141593 3.141593" forcerange="-112 112"/>
    <position name="J5" joint="J5" kp="5400" dampratio="1" ctrlrange="-2.181662 2.181662" forcerange="-112 112"/>
    <position name="J6" joint="J6" kp="2800" dampratio="1" ctrlrange="-3.141593 3.141593" forcerange="-112 112"/>
  </actuator>
  <keyframe>
    <key name="home" qpos="0 0 0 0 0 0" ctrl="0 0 0 0 0 0"/>
    <key name="work" qpos="0.523599 0.785398 -0.174533 0 -0.610865 0" ctrl="0.523599 0.785398 -0.174533 0 -0.610865 0"/>
  </keyframe>
</mujoco>
