311 lines
18 KiB
XML
311 lines
18 KiB
XML
<mujoco model="h1">
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<compiler angle="radian" meshdir="assets" autolimits="true"/>
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<default>
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<default class="h1">
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<geom type="mesh"/>
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<joint damping="1" armature="0.1"/>
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<default class="visual">
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<geom contype="0" conaffinity="0" group="2" material="black"/>
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</default>
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<default class="collision">
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<geom group="3" mass="0" density="0"/>
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</default>
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<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
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</default>
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</default>
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<asset>
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<material name="black" rgba="0.1 0.1 0.1 1"/>
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<material name="white" rgba="1 1 1 1"/>
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<mesh file="pelvis.STL"/>
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<mesh file="left_hip_yaw_link.STL"/>
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<mesh file="left_hip_roll_link.STL"/>
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<mesh file="left_hip_pitch_link.STL"/>
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<mesh file="left_knee_link.STL"/>
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<mesh file="left_ankle_link.STL"/>
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<mesh file="right_hip_yaw_link.STL"/>
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<mesh file="right_hip_roll_link.STL"/>
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<mesh file="right_hip_pitch_link.STL"/>
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<mesh file="right_knee_link.STL"/>
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<mesh file="right_ankle_link.STL"/>
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<mesh file="torso_link.STL"/>
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<mesh file="left_shoulder_pitch_link.STL"/>
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<mesh file="left_shoulder_roll_link.STL"/>
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<mesh file="left_shoulder_yaw_link.STL"/>
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<mesh file="left_elbow_link_ball_hand.STL"/>
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<mesh file="right_shoulder_pitch_link.STL"/>
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<mesh file="right_shoulder_roll_link.STL"/>
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<mesh file="right_shoulder_yaw_link.STL"/>
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<mesh file="right_elbow_link_ball_hand.STL"/>
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<mesh file="logo_link.STL"/>
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</asset>
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<worldbody>
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<body name="pelvis" pos="0 0 1.1" childclass="h1">
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<inertial pos="-0.0002 4e-05 -0.04522" quat="0.498303 0.499454 -0.500496 0.501741" mass="5.39"
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diaginertia="0.0490211 0.0445821 0.00824619"/>
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<freejoint/>
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<geom class="visual" mesh="pelvis"/>
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<geom class="collision" mesh="pelvis"/>
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<body name="left_hip_yaw_link" pos="0 0.0875 -0.1742">
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<inertial pos="-0.04923 0.0001 0.0072" quat="0.69699 0.219193 0.233287 0.641667" mass="2.244"
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diaginertia="0.00304494 0.00296885 0.00189201"/>
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<joint name="left_hip_yaw_joint" axis="0 0 1" range="-0.43 0.43"/>
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<geom class="visual" mesh="left_hip_yaw_link"/>
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<geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/>
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<body name="left_hip_roll_link" pos="0.039468 0 0">
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<inertial pos="-0.0058 -0.00319 -9e-05" quat="0.0438242 0.70721 -0.0729075 0.701867" mass="2.232"
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diaginertia="0.00243264 0.00225325 0.00205492"/>
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<joint name="left_hip_roll_joint" axis="1 0 0" range="-0.43 0.43"/>
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<geom class="visual" mesh="left_hip_roll_link"/>
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<geom class="collision" mesh="left_hip_roll_link"/>
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<body name="left_hip_pitch_link" pos="0 0.11536 0">
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<inertial pos="0.00746 -0.02346 -0.08193" quat="0.979828 0.0513522 -0.0169854 -0.192382" mass="4.152"
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diaginertia="0.0829503 0.0821457 0.00510909"/>
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<joint name="left_hip_pitch_joint" axis="0 1 0" range="-3.14 2.53"/>
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<geom class="visual" mesh="left_hip_pitch_link"/>
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<geom class="collision" mesh="left_hip_pitch_link"/>
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<body name="left_knee_link" pos="0 0 -0.4">
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<inertial pos="-0.00136 -0.00512 -0.1384" quat="0.626132 -0.034227 -0.0416277 0.777852" mass="1.721"
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diaginertia="0.0125237 0.0123104 0.0019428"/>
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<joint name="left_knee_joint" axis="0 1 0" range="-0.26 2.05"/>
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<geom class="visual" mesh="left_knee_link"/>
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<geom class="collision" mesh="left_knee_link"/>
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<body name="left_ankle_link" pos="0 0 -0.4">
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<inertial pos="0.048568 0 -0.045609" quat="0.489385 0.510394 0.510394 0.489385" mass="0.552448"
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diaginertia="0.00362 0.00355701 0.000149987"/>
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<joint name="left_ankle_joint" axis="0 1 0" range="-0.87 0.52"/>
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<geom class="visual" mesh="left_ankle_link"/>
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<geom class="collision" mesh="left_ankle_link"/>
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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_yaw_link" pos="0 -0.0875 -0.1742">
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<inertial pos="-0.04923 -0.0001 0.0072" quat="0.641667 0.233287 0.219193 0.69699" mass="2.244"
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diaginertia="0.00304494 0.00296885 0.00189201"/>
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<joint name="right_hip_yaw_joint" axis="0 0 1" range="-0.43 0.43"/>
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<geom class="visual" mesh="right_hip_yaw_link"/>
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<geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/>
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<body name="right_hip_roll_link" pos="0.039468 0 0">
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<inertial pos="-0.0058 0.00319 -9e-05" quat="-0.0438242 0.70721 0.0729075 0.701867" mass="2.232"
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diaginertia="0.00243264 0.00225325 0.00205492"/>
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<joint name="right_hip_roll_joint" axis="1 0 0" range="-0.43 0.43"/>
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<geom class="visual" mesh="right_hip_roll_link"/>
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<geom class="collision" mesh="right_hip_roll_link"/>
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<body name="right_hip_pitch_link" pos="0 -0.11536 0">
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<inertial pos="0.00746 0.02346 -0.08193" quat="0.979828 -0.0513522 -0.0169854 0.192382" mass="4.152"
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diaginertia="0.0829503 0.0821457 0.00510909"/>
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<joint name="right_hip_pitch_joint" axis="0 1 0" range="-3.14 2.53"/>
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<geom class="visual" mesh="right_hip_pitch_link"/>
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<geom class="collision" mesh="right_hip_pitch_link"/>
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<body name="right_knee_link" pos="0 0 -0.4">
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<inertial pos="-0.00136 0.00512 -0.1384" quat="0.777852 -0.0416277 -0.034227 0.626132" mass="1.721"
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diaginertia="0.0125237 0.0123104 0.0019428"/>
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<joint name="right_knee_joint" axis="0 1 0" range="-0.26 2.05"/>
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<geom class="visual" mesh="right_knee_link"/>
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<geom class="collision" mesh="right_knee_link"/>
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<body name="right_ankle_link" pos="0 0 -0.4">
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<inertial pos="0.048568 0 -0.045609" quat="0.489385 0.510394 0.510394 0.489385" mass="0.552448"
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diaginertia="0.00362 0.00355701 0.000149987"/>
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<joint name="right_ankle_joint" axis="0 1 0" range="-0.87 0.52"/>
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<geom class="visual" mesh="right_ankle_link"/>
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<geom class="collision" mesh="right_ankle_link"/>
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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">
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<inertial pos="0.000489 0.002797 0.20484" quat="0.999989 -0.00130808 -0.00282289 -0.00349105" mass="17.789"
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diaginertia="0.487315 0.409628 0.127837"/>
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<joint name="torso_joint" axis="0 0 1" range="-2.35 2.35"/>
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<geom class="visual" mesh="torso_link"/>
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<geom class="collision" mesh="torso_link"/>
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<geom class="visual" material="white" mesh="logo_link"/>
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<site name="imu" size="0.01" pos="-0.04452 -0.01891 0.27756"/>
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<body name="left_shoulder_pitch_link" pos="0.0055 0.15535 0.42999" quat="0.976296 0.216438 0 0">
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<inertial pos="0.005045 0.053657 -0.015715" quat="0.814858 0.579236 -0.0201072 -0.00936488" mass="1.033"
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diaginertia="0.00129936 0.000987113 0.000858198"/>
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<joint name="left_shoulder_pitch_joint" axis="0 1 0" range="-2.87 2.87"/>
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<geom class="visual" mesh="left_shoulder_pitch_link"/>
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<geom class="collision" mesh="left_shoulder_pitch_link"/>
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<body name="left_shoulder_roll_link" pos="-0.0055 0.0565 -0.0165" quat="0.976296 -0.216438 0 0">
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<inertial pos="0.000679 0.00115 -0.094076" quat="0.732491 0.00917179 0.0766656 0.676384" mass="0.793"
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diaginertia="0.00170388 0.00158256 0.00100336"/>
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<joint name="left_shoulder_roll_joint" axis="1 0 0" range="-0.34 3.11"/>
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<geom class="visual" mesh="left_shoulder_roll_link"/>
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<geom class="collision" mesh="left_shoulder_roll_link"/>
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<body name="left_shoulder_yaw_link" pos="0 0 -0.1343">
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<inertial pos="0.01365 0.002767 -0.16266" quat="0.703042 -0.0331229 -0.0473362 0.708798" mass="0.839"
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diaginertia="0.00408038 0.00370367 0.000622687"/>
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<joint name="left_shoulder_yaw_joint" axis="0 0 1" range="-1.3 4.45"/>
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<geom class="visual" mesh="left_shoulder_yaw_link"/>
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<geom class="collision" mesh="left_shoulder_yaw_link"/>
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<body name="left_elbow_link_ball_hand" pos="0.0185 0 -0.198">
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<inertial pos="0.15908 -0.000144 -0.015776" quat="0.0765232 0.720327 0.0853116 0.684102" mass="0.669"
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diaginertia="0.00601829 0.00600579 0.000408305"/>
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<joint name="left_elbow_joint" axis="0 1 0" range="-1.25 2.61"/>
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<geom class="visual" mesh="left_elbow_link_ball_hand"/>
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<geom class="collision" mesh="left_elbow_link_ball_hand"/>
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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_shoulder_pitch_link" pos="0.0055 -0.15535 0.42999" quat="0.976296 -0.216438 0 0">
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<inertial pos="0.005045 -0.053657 -0.015715" quat="0.579236 0.814858 0.00936488 0.0201072" mass="1.033"
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diaginertia="0.00129936 0.000987113 0.000858198"/>
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<joint name="right_shoulder_pitch_joint" axis="0 1 0" range="-2.87 2.87"/>
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<geom class="visual" mesh="right_shoulder_pitch_link"/>
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<geom class="collision" mesh="right_shoulder_pitch_link"/>
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<body name="right_shoulder_roll_link" pos="-0.0055 -0.0565 -0.0165" quat="0.976296 0.216438 0 0">
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<inertial pos="0.000679 -0.00115 -0.094076" quat="0.676384 0.0766656 0.00917179 0.732491" mass="0.793"
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diaginertia="0.00170388 0.00158256 0.00100336"/>
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<joint name="right_shoulder_roll_joint" axis="1 0 0" range="-3.11 0.34"/>
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<geom class="visual" mesh="right_shoulder_roll_link"/>
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<geom class="collision" mesh="right_shoulder_roll_link"/>
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<body name="right_shoulder_yaw_link" pos="0 0 -0.1343">
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<inertial pos="0.01365 -0.002767 -0.16266" quat="0.708798 -0.0473362 -0.0331229 0.703042" mass="0.839"
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diaginertia="0.00408038 0.00370367 0.000622687"/>
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<joint name="right_shoulder_yaw_joint" axis="0 0 1" range="-4.45 1.3"/>
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<geom class="visual" mesh="right_shoulder_yaw_link"/>
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<geom class="collision" mesh="right_shoulder_yaw_link"/>
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<body name="right_elbow_link_ball_hand" pos="0.0185 0 -0.198">
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<inertial pos="0.15908 0.000144 -0.015776" quat="-0.0765232 0.720327 -0.0853116 0.684102" mass="0.669"
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diaginertia="0.00601829 0.00600579 0.000408305"/>
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<joint name="right_elbow_joint" axis="0 1 0" range="-1.25 2.61"/>
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<geom class="visual" mesh="right_elbow_link_ball_hand"/>
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<geom class="collision" mesh="right_elbow_link_ball_hand"/>
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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="not_use_body" pos="0 0 20">
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<inertial pos="0.0 0.0 0.0" mass="1e-01"
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diaginertia="1e-01 1e-01 1e-01"/>
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<joint name="not_use_joint"/>
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</body>
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</worldbody>
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<actuator>
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<motor class="h1" name="right_hip_roll_joint" joint="right_hip_roll_joint" ctrlrange="-200 200"/>
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<motor class="h1" name="right_hip_pitch_joint" joint="right_hip_pitch_joint" ctrlrange="-200 200"/>
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<motor class="h1" name="right_knee_joint" joint="right_knee_joint" ctrlrange="-300 300"/>
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<motor class="h1" name="left_hip_roll_joint" joint="left_hip_roll_joint" ctrlrange="-200 200"/>
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<motor class="h1" name="left_hip_pitch_joint" joint="left_hip_pitch_joint" ctrlrange="-200 200"/>
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<motor class="h1" name="left_knee_joint" joint="left_knee_joint" ctrlrange="-300 300"/>
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<motor class="h1" name="torso_joint" joint="torso_joint" ctrlrange="-200 200"/>
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<motor class="h1" name="left_hip_yaw_joint" joint="left_hip_yaw_joint" ctrlrange="-200 200"/>
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<motor class="h1" name="right_hip_yaw_joint" joint="right_hip_yaw_joint" ctrlrange="-200 200"/>
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<motor class="h1" name="not_use_joint" joint="not_use_joint" />
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<motor class="h1" name="left_ankle_joint" joint="left_ankle_joint" ctrlrange="-40 40"/>
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<motor class="h1" name="right_ankle_joint" joint="right_ankle_joint" ctrlrange="-40 40"/>
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<motor class="h1" name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint" ctrlrange="-40 40"/>
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<motor class="h1" name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint" ctrlrange="-40 40"/>
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<motor class="h1" name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint" ctrlrange="-18 18"/>
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<motor class="h1" name="right_elbow_joint" joint="right_elbow_joint" ctrlrange="-18 18"/>
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<motor class="h1" name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint" ctrlrange="-40 40"/>
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<motor class="h1" name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint" ctrlrange="-40 40"/>
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<motor class="h1" name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint" ctrlrange="-18 18"/>
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<motor class="h1" name="left_elbow_joint" joint="left_elbow_joint" ctrlrange="-18 18"/>
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</actuator>
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<sensor>
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<jointpos name="right_hip_roll_pos" joint="right_hip_roll_joint"/>
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<jointpos name="right_hip_pitch_pos" joint="right_hip_pitch_joint"/>
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<jointpos name="right_knee_pos" joint="right_knee_joint"/>
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<jointpos name="left_hip_roll_pos" joint="left_hip_roll_joint"/>
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<jointpos name="left_hip_pitch_pos" joint="left_hip_pitch_joint"/>
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<jointpos name="left_knee_pos" joint="left_knee_joint"/>
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<jointpos name="torso_pos" joint="torso_joint"/>
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<jointpos name="left_hip_yaw_pos" joint="left_hip_yaw_joint"/>
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<jointpos name="right_hip_yaw_pos" joint="right_hip_yaw_joint"/>
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<jointpos name="not_use_pos" joint="not_use_joint"/>
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<jointpos name="left_ankle_pos" joint="left_ankle_joint"/>
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<jointpos name="right_ankle_pos" joint="right_ankle_joint"/>
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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="left_shoulder_pitch_pos" joint="left_shoulder_pitch_joint"/>
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<jointpos name="left_shoulder_roll_pos" joint="left_shoulder_roll_joint"/>
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<jointpos name="left_shoulder_yaw_pos" joint="left_shoulder_yaw_joint"/>
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<jointpos name="left_elbow_pos" joint="left_elbow_joint"/>
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<jointvel name="right_hip_roll_vel" joint="right_hip_roll_joint"/>
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<jointvel name="right_hip_pitch_vel" joint="right_hip_pitch_joint"/>
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<jointvel name="right_knee_vel" joint="right_knee_joint"/>
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<jointvel name="left_hip_roll_vel" joint="left_hip_roll_joint"/>
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<jointvel name="left_hip_pitch_vel" joint="left_hip_pitch_joint"/>
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<jointvel name="left_knee_vel" joint="left_knee_joint"/>
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<jointvel name="torso_vel" joint="torso_joint"/>
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<jointvel name="left_hip_yaw_vel" joint="left_hip_yaw_joint"/>
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<jointvel name="right_hip_yaw_vel" joint="right_hip_yaw_joint"/>
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<jointvel name="not_use_vel" joint="not_use_joint"/>
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<jointvel name="left_ankle_vel" joint="left_ankle_joint"/>
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<jointvel name="right_ankle_vel" joint="right_ankle_joint"/>
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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="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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<jointactuatorfrc name="right_hip_roll_torque" joint="right_hip_roll_joint"/>
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<jointactuatorfrc name="right_hip_pitch_torque" joint="right_hip_pitch_joint"/>
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<jointactuatorfrc name="right_knee_torque" joint="right_knee_joint"/>
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<jointactuatorfrc name="left_hip_roll_torque" joint="left_hip_roll_joint"/>
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<jointactuatorfrc name="left_hip_pitch_torque" joint="left_hip_pitch_joint"/>
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<jointactuatorfrc name="left_knee_torque" joint="left_knee_joint"/>
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<jointactuatorfrc name="torso_torque" joint="torso_joint"/>
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<jointactuatorfrc name="left_hip_yaw_torque" joint="left_hip_yaw_joint"/>
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<jointactuatorfrc name="right_hip_yaw_torque" joint="right_hip_yaw_joint"/>
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<jointactuatorfrc name="not_use_torque" joint="not_use_joint"/>
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<jointactuatorfrc name="left_ankle_torque" joint="left_ankle_joint"/>
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<jointactuatorfrc name="right_ankle_torque" joint="right_ankle_joint"/>
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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="left_shoulder_pitch_torque" joint="left_shoulder_pitch_joint"/>
|
|
<jointactuatorfrc name="left_shoulder_roll_torque" joint="left_shoulder_roll_joint"/>
|
|
<jointactuatorfrc name="left_shoulder_yaw_torque" joint="left_shoulder_yaw_joint"/>
|
|
<jointactuatorfrc name="left_elbow_torque" joint="left_elbow_joint"/>
|
|
|
|
<framequat name="imu_quat" objtype="site" objname="imu" />
|
|
<gyro name="imu_gyro" site="imu" />
|
|
<accelerometer name="imu_acc" site="imu" />
|
|
|
|
<framepos name="frame_pos" objtype="site" objname="imu" />
|
|
<framelinvel name="frame_vel" objtype="site" objname="imu" />
|
|
</sensor>
|
|
|
|
<keyframe>
|
|
<key name="home"
|
|
qpos="
|
|
0 0 0.98
|
|
1 0 0 0
|
|
0 0 -0.4 0.8 -0.4
|
|
0 0 -0.4 0.8 -0.4
|
|
0
|
|
0 0 0 0
|
|
0 0 0 0
|
|
0"/>
|
|
</keyframe>
|
|
</mujoco>
|