2024-09-19 10:52:12 +08:00
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<mujoco model="g1_23dof">
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<compiler angle="radian" meshdir="meshes" />
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<default>
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<default class="leg_motor">
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<joint damping="0.05" armature="0.01" frictionloss="0.2" />
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</default>
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<default class="ankle_motor">
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<joint damping="0.05" armature="0.01" frictionloss="0.2" />
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</default>
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<default class="arm_motor">
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<joint damping="0.05" armature="0.01" frictionloss="0.2" />
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</default>
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<default class="waist_motor">
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<joint damping="0.05" armature="0.01" frictionloss="0.2" />
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</default>
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</default>
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<asset>
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<mesh name="pelvis" file="pelvis.STL" />
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<mesh name="pelvis_contour_link" file="pelvis_contour_link.STL" />
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<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL" />
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<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL" />
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<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL" />
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<mesh name="left_knee_link" file="left_knee_link.STL" />
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<mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL" />
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<mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL" />
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<mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL" />
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<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL" />
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<mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL" />
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<mesh name="right_knee_link" file="right_knee_link.STL" />
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<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL" />
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<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL" />
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<mesh name="waist_yaw_link" file="waist_yaw_link.STL" />
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<mesh name="torso_link" file="torso_link.STL" />
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<mesh name="logo_link" file="logo_link.STL" />
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<mesh name="head_link" file="head_link.STL" />
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<mesh name="waist_support_link" file="waist_support_link.STL" />
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<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL" />
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<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL" />
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<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL" />
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<mesh name="left_elbow_link" file="left_elbow_link.STL" />
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<mesh name="left_wrist_roll_rubber_hand" file="left_wrist_roll_rubber_hand.STL" />
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<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL" />
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<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL" />
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<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL" />
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<mesh name="right_elbow_link" file="right_elbow_link.STL" />
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<mesh name="right_wrist_roll_rubber_hand" file="right_wrist_roll_rubber_hand.STL" />
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</asset>
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<worldbody>
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<body name="pelvis" pos="0 0 0.793">
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2025-03-31 16:47:35 +08:00
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<site name="imu" size="0.01" pos="0.0 0.0 0.0" />
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2024-09-19 10:52:12 +08:00
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<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813"
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diaginertia="0.010549 0.0093089 0.0079184" />
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<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
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mesh="pelvis" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
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mesh="pelvis_contour_link" />
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link" />
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<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
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<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122"
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mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212" />
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<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798"
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actuatorfrcrange="-88 88" class="leg_motor" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
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mesh="left_hip_pitch_link" />
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<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link" />
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<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
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<inertial pos="0.029812 -0.001045 -0.087934"
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quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
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diaginertia="0.00254986 0.00241169 0.00148755" />
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<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671"
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actuatorfrcrange="-88 88" class="leg_motor" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
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mesh="left_hip_roll_link" />
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link" />
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<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
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<inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181"
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mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
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<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576"
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actuatorfrcrange="-88 88" class="leg_motor" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
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mesh="left_hip_yaw_link" />
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link" />
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<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734"
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quat="0.996179 0 0.0873386 0">
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<inertial pos="0.005457 0.003964 -0.12074"
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quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932"
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diaginertia="0.0113804 0.0112778 0.00146458" />
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<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798"
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actuatorfrcrange="-139 139" class="leg_motor" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
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rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
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<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
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<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
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mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
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<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0"
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range="-0.87267 0.5236" actuatorfrcrange="-50 50" class="ankle_motor" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
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rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
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<body name="left_ankle_roll_link" pos="0 0 -0.017558">
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<inertial pos="0.026505 0 -0.016425"
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quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608"
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diaginertia="0.00167218 0.0016161 0.000217621" />
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<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0"
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range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
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rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link" />
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<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1" />
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<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1" />
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<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1" />
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<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1" />
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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 name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
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<inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122"
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mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212" />
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<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798"
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actuatorfrcrange="-88 88" class="leg_motor" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1"
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mesh="right_hip_pitch_link" />
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<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link" />
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<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
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<inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793"
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mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755" />
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<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236"
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actuatorfrcrange="-88 88" class="leg_motor" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
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mesh="right_hip_roll_link" />
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link" />
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<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
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<inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598"
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mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
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<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576"
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actuatorfrcrange="-88 88" class="leg_motor" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
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mesh="right_hip_yaw_link" />
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link" />
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<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734"
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quat="0.996179 0 0.0873386 0">
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<inertial pos="0.005457 -0.003964 -0.12074"
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quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932"
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diaginertia="0.011374 0.0112843 0.00146452" />
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<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798"
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actuatorfrcrange="-139 139" class="leg_motor" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
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rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
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<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
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<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
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mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
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<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0"
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range="-0.87267 0.5236" actuatorfrcrange="-50 50" class="ankle_motor" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
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rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
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<body name="right_ankle_roll_link" pos="0 0 -0.017558">
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<inertial pos="0.026505 0 -0.016425"
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quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608"
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diaginertia="0.00167218 0.0016161 0.000217621" />
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<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0"
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range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
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rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link" />
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<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1" />
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<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1" />
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<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1" />
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<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1" />
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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 name="torso_link" pos="-0.0039635 0 0.054">
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<inertial pos="0.0034309 0.00025505 0.174524"
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quat="0.99988 0.000261157 0.0149809 -0.0038211" mass="9.842"
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diaginertia="0.135151 0.123088 0.0327256" />
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<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"
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actuatorfrcrange="-88 88" class="waist_motor" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
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mesh="torso_link" />
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link" />
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<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0"
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group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link" />
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<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0"
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group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link" />
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<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1"
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mesh="logo_link" />
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<geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1" density="0"
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rgba="0.2 0.2 0.2 1" mesh="head_link" />
|
|
|
|
|
<geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link" />
|
|
|
|
|
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0"
|
|
|
|
|
group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link" />
|
|
|
|
|
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1"
|
|
|
|
|
mesh="waist_support_link" />
|
|
|
|
|
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778"
|
|
|
|
|
quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
|
|
|
|
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225"
|
|
|
|
|
mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
|
|
|
|
|
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704"
|
|
|
|
|
actuatorfrcrange="-25 25" class="arm_motor" />
|
|
|
|
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
|
|
|
|
|
mesh="left_shoulder_pitch_link" />
|
|
|
|
|
<geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder"
|
|
|
|
|
rgba="0.7 0.7 0.7 1" />
|
|
|
|
|
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
|
|
|
|
<inertial pos="-0.000227 0.00727 -0.063243"
|
|
|
|
|
quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643"
|
|
|
|
|
diaginertia="0.000691311 0.000618011 0.000388977" />
|
|
|
|
|
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515"
|
|
|
|
|
actuatorfrcrange="-25 25" class="arm_motor" />
|
|
|
|
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
|
|
|
|
|
mesh="left_shoulder_roll_link" />
|
|
|
|
|
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1" />
|
|
|
|
|
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
|
|
|
|
<inertial pos="0.010773 -0.002949 -0.072009"
|
|
|
|
|
quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734"
|
|
|
|
|
diaginertia="0.00106187 0.00103217 0.000400661" />
|
|
|
|
|
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"
|
|
|
|
|
actuatorfrcrange="-25 25" class="arm_motor" />
|
|
|
|
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
|
|
|
|
|
rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
|
|
|
|
|
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
|
|
|
|
|
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
|
|
|
|
<inertial pos="0.064956 0.004454 -0.010062"
|
|
|
|
|
quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
|
|
|
|
|
diaginertia="0.000443035 0.000421612 0.000259353" />
|
|
|
|
|
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"
|
|
|
|
|
actuatorfrcrange="-25 25" class="arm_motor" />
|
|
|
|
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
|
|
|
|
|
rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
|
|
|
|
|
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
|
|
|
|
|
<body name="left_wrist_roll_rubber_hand" pos="0.1 0.00188791 -0.01">
|
|
|
|
|
<inertial pos="0.107947 0.00163512 0.00202245"
|
|
|
|
|
quat="0.494051 0.504265 0.48416 0.516933" mass="0.356929"
|
|
|
|
|
diaginertia="0.00200292 0.0019426 0.000195232" />
|
|
|
|
|
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
|
|
|
|
|
range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
|
|
|
|
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
|
|
|
|
|
rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_rubber_hand" />
|
|
|
|
|
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_rubber_hand" />
|
|
|
|
|
</body>
|
|
|
|
|
</body>
|
|
|
|
|
</body>
|
|
|
|
|
</body>
|
|
|
|
|
</body>
|
|
|
|
|
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778"
|
|
|
|
|
quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
|
|
|
|
<inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152"
|
|
|
|
|
mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
|
|
|
|
|
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704"
|
|
|
|
|
actuatorfrcrange="-25 25" class="arm_motor" />
|
|
|
|
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
|
|
|
|
|
mesh="right_shoulder_pitch_link" />
|
|
|
|
|
<geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder"
|
|
|
|
|
rgba="0.7 0.7 0.7 1" />
|
|
|
|
|
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831"
|
|
|
|
|
quat="0.990268 0.139172 0 0">
|
|
|
|
|
<inertial pos="-0.000227 -0.00727 -0.063243"
|
|
|
|
|
quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643"
|
|
|
|
|
diaginertia="0.000691311 0.000618011 0.000388977" />
|
|
|
|
|
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882"
|
|
|
|
|
actuatorfrcrange="-25 25" class="arm_motor" />
|
|
|
|
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1"
|
|
|
|
|
mesh="right_shoulder_roll_link" />
|
|
|
|
|
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1" />
|
|
|
|
|
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
|
|
|
|
<inertial pos="0.010773 0.002949 -0.072009"
|
|
|
|
|
quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734"
|
|
|
|
|
diaginertia="0.00106187 0.00103217 0.000400661" />
|
|
|
|
|
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"
|
|
|
|
|
actuatorfrcrange="-25 25" class="arm_motor" />
|
|
|
|
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
|
|
|
|
|
rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
|
|
|
|
|
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
|
|
|
|
|
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
|
|
|
|
<inertial pos="0.064956 -0.004454 -0.010062"
|
|
|
|
|
quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
|
|
|
|
|
diaginertia="0.000443035 0.000421612 0.000259353" />
|
|
|
|
|
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"
|
|
|
|
|
actuatorfrcrange="-25 25" class="arm_motor" />
|
|
|
|
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
|
|
|
|
|
rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
|
|
|
|
|
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
|
|
|
|
|
<body name="right_wrist_roll_rubber_hand" pos="0.1 -0.00188791 -0.01">
|
|
|
|
|
<inertial pos="0.107947 -0.00163512 0.00202245"
|
|
|
|
|
quat="0.516933 0.48416 0.504265 0.494051" mass="0.356929"
|
|
|
|
|
diaginertia="0.00200292 0.0019426 0.000195232" />
|
|
|
|
|
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
|
|
|
|
|
range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
|
|
|
|
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
|
|
|
|
|
rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_rubber_hand" />
|
|
|
|
|
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_rubber_hand" />
|
|
|
|
|
</body>
|
|
|
|
|
</body>
|
|
|
|
|
</body>
|
|
|
|
|
</body>
|
|
|
|
|
</body>
|
|
|
|
|
</body>
|
|
|
|
|
</body>
|
2025-03-31 16:47:35 +08:00
|
|
|
<body name="waist_roll" pos="0 0 20">
|
|
|
|
|
<inertial pos="0.0 0.0 0.0" mass="1e-03"
|
|
|
|
|
diaginertia="1e-03 1e-03 1e-03" />
|
|
|
|
|
<joint name="waist_roll_joint" />
|
|
|
|
|
</body>
|
|
|
|
|
<body name="waist_pitch" pos="0 0 20">
|
|
|
|
|
<inertial pos="0.0 0.0 0.0" mass="1e-03"
|
|
|
|
|
diaginertia="1e-03 1e-03 1e-03" />
|
|
|
|
|
<joint name="waist_pitch_joint" />
|
|
|
|
|
</body>
|
|
|
|
|
<body name="left_wrist_pitch" pos="0 0 20">
|
|
|
|
|
<inertial pos="0.0 0.0 0.0" mass="1e-03"
|
|
|
|
|
diaginertia="1e-03 1e-03 1e-03" />
|
|
|
|
|
<joint name="left_wrist_pitch_joint" />
|
|
|
|
|
</body>
|
|
|
|
|
<body name="left_wrist_yaw" pos="0 0 20">
|
|
|
|
|
<inertial pos="0.0 0.0 0.0" mass="1e-03"
|
|
|
|
|
diaginertia="1e-03 1e-03 1e-03" />
|
|
|
|
|
<joint name="left_wrist_yaw_joint" />
|
|
|
|
|
</body>
|
|
|
|
|
<body name="right_wrist_pitch" pos="0 0 20">
|
|
|
|
|
<inertial pos="0.0 0.0 0.0" mass="1e-03"
|
|
|
|
|
diaginertia="1e-03 1e-03 1e-03" />
|
|
|
|
|
<joint name="right_wrist_pitch_joint" />
|
|
|
|
|
</body>
|
|
|
|
|
<body name="right_wrist_yaw" pos="0 0 20">
|
|
|
|
|
<inertial pos="0.0 0.0 0.0" mass="1e-03"
|
|
|
|
|
diaginertia="1e-03 1e-03 1e-03" />
|
|
|
|
|
<joint name="right_wrist_yaw_joint" />
|
|
|
|
|
</body>
|
2024-09-19 10:52:12 +08:00
|
|
|
</worldbody>
|
|
|
|
|
|
|
|
|
|
<actuator>
|
|
|
|
|
<motor name="left_hip_pitch" joint="left_hip_pitch_joint" ctrlrange="-88 88" />
|
|
|
|
|
<motor name="left_hip_roll" joint="left_hip_roll_joint" ctrlrange="-88 88" />
|
|
|
|
|
<motor name="left_hip_yaw" joint="left_hip_yaw_joint" ctrlrange="-88 88" />
|
|
|
|
|
<motor name="left_knee" joint="left_knee_joint" ctrlrange="-139 139" />
|
|
|
|
|
<motor name="left_ankle_pitch" joint="left_ankle_pitch_joint" ctrlrange="-50 50" />
|
|
|
|
|
<motor name="left_ankle_roll" joint="left_ankle_roll_joint" ctrlrange="-50 50" />
|
2025-03-31 16:47:35 +08:00
|
|
|
|
2024-09-19 10:52:12 +08:00
|
|
|
<motor name="right_hip_pitch" joint="right_hip_pitch_joint" ctrlrange="-88 88" />
|
|
|
|
|
<motor name="right_hip_roll" joint="right_hip_roll_joint" ctrlrange="-88 88" />
|
|
|
|
|
<motor name="right_hip_yaw" joint="right_hip_yaw_joint" ctrlrange="-88 88" />
|
|
|
|
|
<motor name="right_knee" joint="right_knee_joint" ctrlrange="-139 139" />
|
|
|
|
|
<motor name="right_ankle_pitch" joint="right_ankle_pitch_joint" ctrlrange="-50 50" />
|
|
|
|
|
<motor name="right_ankle_roll" joint="right_ankle_roll_joint" ctrlrange="-50 50" />
|
2025-03-31 16:47:35 +08:00
|
|
|
|
2024-09-19 10:52:12 +08:00
|
|
|
<motor name="waist_yaw" joint="waist_yaw_joint" ctrlrange="-88 88" />
|
2025-03-31 16:47:35 +08:00
|
|
|
<motor name="waist_roll" joint="waist_roll_joint" ctrlrange="-50 50" />
|
|
|
|
|
<motor name="waist_pitch" joint="waist_pitch_joint" ctrlrange="-50 50" />
|
|
|
|
|
|
2024-09-19 10:52:12 +08:00
|
|
|
<motor name="left_shoulder_pitch" joint="left_shoulder_pitch_joint" ctrlrange="-25 25" />
|
|
|
|
|
<motor name="left_shoulder_roll" joint="left_shoulder_roll_joint" ctrlrange="-25 25" />
|
|
|
|
|
<motor name="left_shoulder_yaw" joint="left_shoulder_yaw_joint" ctrlrange="-25 25" />
|
|
|
|
|
<motor name="left_elbow" joint="left_elbow_joint" ctrlrange="-25 25" />
|
|
|
|
|
<motor name="left_wrist_roll" joint="left_wrist_roll_joint" ctrlrange="-25 25" />
|
2025-03-31 16:47:35 +08:00
|
|
|
<motor name="left_wrist_pitch" joint="left_wrist_pitch_joint" ctrlrange="-5 5" />
|
|
|
|
|
<motor name="left_wrist_yaw" joint="left_wrist_yaw_joint" ctrlrange="-5 5" />
|
|
|
|
|
|
2024-09-19 10:52:12 +08:00
|
|
|
<motor name="right_shoulder_pitch" joint="right_shoulder_pitch_joint" ctrlrange="-25 25" />
|
|
|
|
|
<motor name="right_shoulder_roll" joint="right_shoulder_roll_joint" ctrlrange="-25 25" />
|
|
|
|
|
<motor name="right_shoulder_yaw" joint="right_shoulder_yaw_joint" ctrlrange="-25 25" />
|
|
|
|
|
<motor name="right_elbow" joint="right_elbow_joint" ctrlrange="-25 25" />
|
|
|
|
|
<motor name="right_wrist_roll" joint="right_wrist_roll_joint" ctrlrange="-25 25" />
|
2025-03-31 16:47:35 +08:00
|
|
|
<motor name="right_wrist_pitch" joint="right_wrist_pitch_joint" ctrlrange="-5 5" />
|
|
|
|
|
<motor name="right_wrist_yaw" joint="right_wrist_yaw_joint" ctrlrange="-5 5" />
|
2024-09-19 10:52:12 +08:00
|
|
|
</actuator>
|
|
|
|
|
|
|
|
|
|
<sensor>
|
|
|
|
|
<jointpos name="left_hip_pitch_pos" joint="left_hip_pitch_joint" />
|
|
|
|
|
<jointpos name="left_hip_roll_pos" joint="left_hip_roll_joint" />
|
|
|
|
|
<jointpos name="left_hip_yaw_pos" joint="left_hip_yaw_joint" />
|
|
|
|
|
<jointpos name="left_knee_pos" joint="left_knee_joint" />
|
|
|
|
|
<jointpos name="left_ankle_pitch_pos" joint="left_ankle_pitch_joint" />
|
|
|
|
|
<jointpos name="left_ankle_roll_pos" joint="left_ankle_roll_joint" />
|
|
|
|
|
<jointpos name="right_hip_pitch_pos" joint="right_hip_pitch_joint" />
|
|
|
|
|
<jointpos name="right_hip_roll_pos" joint="right_hip_roll_joint" />
|
|
|
|
|
<jointpos name="right_hip_yaw_pos" joint="right_hip_yaw_joint" />
|
|
|
|
|
<jointpos name="right_knee_pos" joint="right_knee_joint" />
|
|
|
|
|
<jointpos name="right_ankle_pitch_pos" joint="right_ankle_pitch_joint" />
|
|
|
|
|
<jointpos name="right_ankle_roll_pos" joint="right_ankle_roll_joint" />
|
|
|
|
|
<jointpos name="waist_yaw_pos" joint="waist_yaw_joint" />
|
2025-03-31 16:47:35 +08:00
|
|
|
<jointpos name="waist_roll_pos" joint="waist_roll_joint" />
|
|
|
|
|
<jointpos name="waist_pitch_pos" joint="waist_pitch_joint" />
|
2024-09-19 10:52:12 +08:00
|
|
|
<jointpos name="left_shoulder_pitch_pos" joint="left_shoulder_pitch_joint" />
|
|
|
|
|
<jointpos name="left_shoulder_roll_pos" joint="left_shoulder_roll_joint" />
|
|
|
|
|
<jointpos name="left_shoulder_yaw_pos" joint="left_shoulder_yaw_joint" />
|
|
|
|
|
<jointpos name="left_elbow_pos" joint="left_elbow_joint" />
|
|
|
|
|
<jointpos name="left_wrist_roll_pos" joint="left_wrist_roll_joint" />
|
2025-03-31 16:47:35 +08:00
|
|
|
<jointpos name="left_wrist_pitch_pos" joint="left_wrist_pitch_joint" />
|
|
|
|
|
<jointpos name="left_wrist_yaw_pos" joint="left_wrist_yaw_joint" />
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2024-09-19 10:52:12 +08:00
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<jointpos name="right_shoulder_pitch_pos" joint="right_shoulder_pitch_joint" />
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<jointpos name="right_shoulder_roll_pos" joint="right_shoulder_roll_joint" />
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<jointpos name="right_shoulder_yaw_pos" joint="right_shoulder_yaw_joint" />
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<jointpos name="right_elbow_pos" joint="right_elbow_joint" />
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<jointpos name="right_wrist_roll_pos" joint="right_wrist_roll_joint" />
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2025-03-31 16:47:35 +08:00
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<jointpos name="right_wrist_pitch_pos" joint="right_wrist_pitch_joint" />
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<jointpos name="right_wrist_yaw_pos" joint="right_wrist_yaw_joint" />
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2024-09-19 10:52:12 +08:00
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<jointvel name="left_hip_pitch_vel" joint="left_hip_pitch_joint" />
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<jointvel name="left_hip_roll_vel" joint="left_hip_roll_joint" />
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<jointvel name="left_hip_yaw_vel" joint="left_hip_yaw_joint" />
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<jointvel name="left_knee_vel" joint="left_knee_joint" />
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<jointvel name="left_ankle_pitch_vel" joint="left_ankle_pitch_joint" />
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<jointvel name="left_ankle_roll_vel" joint="left_ankle_roll_joint" />
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<jointvel name="right_hip_pitch_vel" joint="right_hip_pitch_joint" />
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<jointvel name="right_hip_roll_vel" joint="right_hip_roll_joint" />
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<jointvel name="right_hip_yaw_vel" joint="right_hip_yaw_joint" />
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<jointvel name="right_knee_vel" joint="right_knee_joint" />
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<jointvel name="right_ankle_pitch_vel" joint="right_ankle_pitch_joint" />
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<jointvel name="right_ankle_roll_vel" joint="right_ankle_roll_joint" />
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<jointvel name="waist_yaw_vel" joint="waist_yaw_joint" />
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2025-03-31 16:47:35 +08:00
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<jointvel name="waist_roll_vel" joint="waist_roll_joint" />
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<jointvel name="waist_pitch_vel" joint="waist_pitch_joint" />
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2024-09-19 10:52:12 +08:00
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<jointvel name="left_shoulder_pitch_vel" joint="left_shoulder_pitch_joint" />
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<jointvel name="left_shoulder_roll_vel" joint="left_shoulder_roll_joint" />
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<jointvel name="left_shoulder_yaw_vel" joint="left_shoulder_yaw_joint" />
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<jointvel name="left_elbow_vel" joint="left_elbow_joint" />
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<jointvel name="left_wrist_roll_vel" joint="left_wrist_roll_joint" />
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2025-03-31 16:47:35 +08:00
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<jointvel name="left_wrist_pitch_vel" joint="left_wrist_pitch_joint" />
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<jointvel name="left_wrist_yaw_vel" joint="left_wrist_yaw_joint" />
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2024-09-19 10:52:12 +08:00
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<jointvel name="right_shoulder_pitch_vel" joint="right_shoulder_pitch_joint" />
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<jointvel name="right_shoulder_roll_vel" joint="right_shoulder_roll_joint" />
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<jointvel name="right_shoulder_yaw_vel" joint="right_shoulder_yaw_joint" />
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<jointvel name="right_elbow_vel" joint="right_elbow_joint" />
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<jointvel name="right_wrist_roll_vel" joint="right_wrist_roll_joint" />
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2025-03-31 16:47:35 +08:00
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<jointvel name="right_wrist_pitch_vel" joint="right_wrist_pitch_joint" />
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<jointvel name="right_wrist_yaw_vel" joint="right_wrist_yaw_joint" />
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2024-09-19 10:52:12 +08:00
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<jointactuatorfrc name="left_hip_pitch_torque" joint="left_hip_pitch_joint" />
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<jointactuatorfrc name="left_hip_roll_torque" joint="left_hip_roll_joint" />
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<jointactuatorfrc name="left_hip_yaw_torque" joint="left_hip_yaw_joint" />
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<jointactuatorfrc name="left_knee_torque" joint="left_knee_joint" />
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<jointactuatorfrc name="left_ankle_pitch_torque" joint="left_ankle_pitch_joint" />
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<jointactuatorfrc name="left_ankle_roll_torque" joint="left_ankle_roll_joint" />
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<jointactuatorfrc name="right_hip_pitch_torque" joint="right_hip_pitch_joint" />
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<jointactuatorfrc name="right_hip_roll_torque" joint="right_hip_roll_joint" />
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<jointactuatorfrc name="right_hip_yaw_torque" joint="right_hip_yaw_joint" />
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<jointactuatorfrc name="right_knee_torque" joint="right_knee_joint" />
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<jointactuatorfrc name="right_ankle_pitch_torque" joint="right_ankle_pitch_joint" />
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<jointactuatorfrc name="right_ankle_roll_torque" joint="right_ankle_roll_joint" />
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<jointactuatorfrc name="waist_yaw_torque" joint="waist_yaw_joint" />
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2025-03-31 16:47:35 +08:00
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<jointactuatorfrc name="waist_roll_torque" joint="waist_roll_joint" />
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<jointactuatorfrc name="waist_pitch_torque" joint="waist_pitch_joint" />
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2024-09-19 10:52:12 +08:00
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<jointactuatorfrc name="left_shoulder_pitch_torque" joint="left_shoulder_pitch_joint" />
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<jointactuatorfrc name="left_shoulder_roll_torque" joint="left_shoulder_roll_joint" />
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<jointactuatorfrc name="left_shoulder_yaw_torque" joint="left_shoulder_yaw_joint" />
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<jointactuatorfrc name="left_elbow_torque" joint="left_elbow_joint" />
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<jointactuatorfrc name="left_wrist_roll_torque" joint="left_wrist_roll_joint" />
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2025-03-31 16:47:35 +08:00
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<jointactuatorfrc name="left_wrist_pitch_torque" joint="left_wrist_pitch_joint" />
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<jointactuatorfrc name="left_wrist_yaw_torque" joint="left_wrist_yaw_joint" />
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2024-09-19 10:52:12 +08:00
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<jointactuatorfrc name="right_shoulder_pitch_torque" joint="right_shoulder_pitch_joint" />
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<jointactuatorfrc name="right_shoulder_roll_torque" joint="right_shoulder_roll_joint" />
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<jointactuatorfrc name="right_shoulder_yaw_torque" joint="right_shoulder_yaw_joint" />
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<jointactuatorfrc name="right_elbow_torque" joint="right_elbow_joint" />
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<jointactuatorfrc name="right_wrist_roll_torque" joint="right_wrist_roll_joint" />
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2025-03-31 16:47:35 +08:00
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<jointactuatorfrc name="right_wrist_pitch_torque" joint="right_wrist_pitch_joint" />
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<jointactuatorfrc name="right_wrist_yaw_torque" joint="right_wrist_yaw_joint" />
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2024-09-19 10:52:12 +08:00
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<framequat name="imu_quat" objtype="site" objname="imu" />
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<gyro name="imu_gyro" site="imu" />
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<accelerometer name="imu_acc" site="imu" />
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<framepos name="frame_pos" objtype="site" objname="imu" />
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<framelinvel name="frame_vel" objtype="site" objname="imu" />
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</sensor>
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</mujoco>
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