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craipy
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__pycache__
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logs
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.idea
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.vscode
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65
README.md
65
README.md
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@ -1 +1,64 @@
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详细使用说明，请参考 https://support.unitree.com/home/zh/developer/rl_example
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# Unitree RL GYM
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TODO: 简介
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### Installation
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1. Create a new python virtual env with python 3.6, 3.7 or 3.8 (3.8 recommended)
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2. Install pytorch 1.10 with cuda-11.3:
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```
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pip3 install torch==1.10.0+cu113 torchvision==0.11.1+cu113 torchaudio==0.10.0+cu113 -f https://download.pytorch.org/whl/cu113/torch_stable.html
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```
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3. Install Isaac Gym
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||||||
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||||||
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- Download and install Isaac Gym Preview 4 from [https://developer.nvidia.com/isaac-gym](https://developer.nvidia.com/isaac-gym)
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||||||
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- `cd isaacgym/python && pip install -e .`
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||||||
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- Try running an example `cd examples && python 1080_balls_of_solitude.py`
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||||||
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- For troubleshooting check docs isaacgym/docs/index.html
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4. Install rsl_rl (PPO implementation)
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|
||||||
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- Clone [https://github.com/leggedrobotics/rsl_rl](https://github.com/leggedrobotics/rsl_rl)
|
||||||
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- `cd rsl_rl && git checkout v1.0.2 && pip install -e .`
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||||||
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### Usage
|
||||||
|
|
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1. Train:
|
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`python legged_gym/scripts/train.py --task=go2`
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||||||
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|
||||||
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* To run on CPU add following arguments: `--sim_device=cpu`, `--rl_device=cpu` (sim on CPU and rl on GPU is possible).
|
||||||
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* To run headless (no rendering) add `--headless`.
|
||||||
|
* **Important** : To improve performance, once the training starts press `v` to stop the rendering. You can then enable it later to check the progress.
|
||||||
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* The trained policy is saved in `logs/<experiment_name>/<date_time>_<run_name>/model_<iteration>.pt`. Where `<experiment_name>` and `<run_name>` are defined in the train config.
|
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* The following command line arguments override the values set in the config files:
|
||||||
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* --task TASK: Task name.
|
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* --resume: Resume training from a checkpoint
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* --experiment_name EXPERIMENT_NAME: Name of the experiment to run or load.
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* --run_name RUN_NAME: Name of the run.
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* --load_run LOAD_RUN: Name of the run to load when resume=True. If -1: will load the last run.
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* --checkpoint CHECKPOINT: Saved model checkpoint number. If -1: will load the last checkpoint.
|
||||||
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* --num_envs NUM_ENVS: Number of environments to create.
|
||||||
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* --seed SEED: Random seed.
|
||||||
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* --max_iterations MAX_ITERATIONS: Maximum number of training iterations.
|
||||||
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2. Play:`python legged_gym/scripts/play.py --task=go2`
|
||||||
|
* By default, the loaded policy is the last model of the last run of the experiment folder.
|
||||||
|
|
||||||
|
* Other runs/model iteration can be selected by setting `load_run` and `checkpoint` in the train config.
|
||||||
|
|
||||||
|
### Robots Demo
|
||||||
|
|
||||||
|
1. Go2
|
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|
||||||
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|
||||||
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|
||||||
|
2. H1
|
||||||
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|
||||||
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|
||||||
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|
||||||
|
3. H1-2
|
||||||
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|
||||||
|
https://github.com/user-attachments/assets/a937e9c4-fe91-4240-88ea-d83b0160cad5
|
||||||
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|
||||||
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4. G1
|
||||||
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|
||||||
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@ -1,12 +1,14 @@
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||||||
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|
||||||
from legged_gym import LEGGED_GYM_ROOT_DIR, LEGGED_GYM_ENVS_DIR
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from legged_gym import LEGGED_GYM_ROOT_DIR, LEGGED_GYM_ENVS_DIR
|
||||||
|
|
||||||
from legged_gym.envs.go2.go2_config import GO2RoughCfg, GO2RoughCfgPPO
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from legged_gym.envs.go2.go2_config import GO2RoughCfg, GO2RoughCfgPPO
|
||||||
from legged_gym.envs.h1.h1_config import H1RoughCfg, H1RoughCfgPPO
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from legged_gym.envs.h1.h1_config import H1RoughCfg, H1RoughCfgPPO
|
||||||
|
from legged_gym.envs.h1_2.h1_2_config import H1_2RoughCfg, H1_2RoughCfgPPO
|
||||||
|
from legged_gym.envs.g1.g1_config import G1RoughCfg, G1RoughCfgPPO
|
||||||
from .base.legged_robot import LeggedRobot
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from .base.legged_robot import LeggedRobot
|
||||||
|
|
||||||
from legged_gym.utils.task_registry import task_registry
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from legged_gym.utils.task_registry import task_registry
|
||||||
|
|
||||||
task_registry.register( "go2", LeggedRobot, GO2RoughCfg(), GO2RoughCfgPPO())
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task_registry.register( "go2", LeggedRobot, GO2RoughCfg(), GO2RoughCfgPPO())
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task_registry.register( "h1", LeggedRobot, H1RoughCfg(), H1RoughCfgPPO())
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task_registry.register( "h1", LeggedRobot, H1RoughCfg(), H1RoughCfgPPO())
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task_registry.register( "h1_2", LeggedRobot, H1_2RoughCfg(), H1_2RoughCfgPPO())
|
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task_registry.register( "g1", LeggedRobot, G1RoughCfg(), G1RoughCfgPPO())
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from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO
|
||||||
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|
||||||
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class G1RoughCfg( LeggedRobotCfg ):
|
||||||
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class init_state( LeggedRobotCfg.init_state ):
|
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pos = [0.0, 0.0, 0.8] # x,y,z [m]
|
||||||
|
default_joint_angles = { # = target angles [rad] when action = 0.0
|
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|
'left_hip_yaw_joint' : 0. ,
|
||||||
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'left_hip_roll_joint' : 0,
|
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'left_hip_pitch_joint' : -0.1,
|
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'left_knee_joint' : 0.3,
|
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'left_ankle_pitch_joint' : -0.2,
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'left_ankle_roll_joint' : 0,
|
||||||
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'right_hip_yaw_joint' : 0.,
|
||||||
|
'right_hip_roll_joint' : 0,
|
||||||
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'right_hip_pitch_joint' : -0.1,
|
||||||
|
'right_knee_joint' : 0.3,
|
||||||
|
'right_ankle_pitch_joint': -0.2,
|
||||||
|
'right_ankle_roll_joint' : 0,
|
||||||
|
'torso_joint' : 0.
|
||||||
|
}
|
||||||
|
|
||||||
|
class env(LeggedRobotCfg.env):
|
||||||
|
num_observations = 48
|
||||||
|
num_actions = 12
|
||||||
|
|
||||||
|
|
||||||
|
class control( LeggedRobotCfg.control ):
|
||||||
|
# PD Drive parameters:
|
||||||
|
control_type = 'P'
|
||||||
|
# PD Drive parameters:
|
||||||
|
stiffness = {'hip_yaw': 150,
|
||||||
|
'hip_roll': 150,
|
||||||
|
'hip_pitch': 150,
|
||||||
|
'knee': 300,
|
||||||
|
'ankle': 40,
|
||||||
|
} # [N*m/rad]
|
||||||
|
damping = { 'hip_yaw': 2,
|
||||||
|
'hip_roll': 2,
|
||||||
|
'hip_pitch': 2,
|
||||||
|
'knee': 4,
|
||||||
|
'ankle': 2,
|
||||||
|
} # [N*m/rad] # [N*m*s/rad]
|
||||||
|
# action scale: target angle = actionScale * action + defaultAngle
|
||||||
|
action_scale = 0.25
|
||||||
|
# decimation: Number of control action updates @ sim DT per policy DT
|
||||||
|
decimation = 4
|
||||||
|
|
||||||
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class asset( LeggedRobotCfg.asset ):
|
||||||
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file = '{LEGGED_GYM_ROOT_DIR}/resources/robots/g1/urdf/g1.urdf'
|
||||||
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name = "g1"
|
||||||
|
foot_name = "ankle_roll"
|
||||||
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penalize_contacts_on = ["hip", "knee"]
|
||||||
|
terminate_after_contacts_on = ["torso"]
|
||||||
|
self_collisions = 1 # 1 to disable, 0 to enable...bitwise filter
|
||||||
|
flip_visual_attachments = False
|
||||||
|
|
||||||
|
class rewards( LeggedRobotCfg.rewards ):
|
||||||
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soft_dof_pos_limit = 0.9
|
||||||
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base_height_target = 0.728
|
||||||
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class scales( LeggedRobotCfg.rewards.scales ):
|
||||||
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tracking_lin_vel = 1.0
|
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tracking_ang_vel = 0.5
|
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lin_vel_z = -2.0
|
||||||
|
ang_vel_xy = -0.05
|
||||||
|
orientation = -1.0
|
||||||
|
base_height = -10.0
|
||||||
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dof_acc = -2.5e-8
|
||||||
|
feet_air_time = 1.0
|
||||||
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collision = 0.0
|
||||||
|
action_rate = -0.01
|
||||||
|
# torques = -0.0001
|
||||||
|
dof_pos_limits = -5.0
|
||||||
|
|
||||||
|
class G1RoughCfgPPO( LeggedRobotCfgPPO ):
|
||||||
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class policy:
|
||||||
|
init_noise_std = 0.8
|
||||||
|
class algorithm( LeggedRobotCfgPPO.algorithm ):
|
||||||
|
entropy_coef = 0.01
|
||||||
|
class runner( LeggedRobotCfgPPO.runner ):
|
||||||
|
run_name = ''
|
||||||
|
experiment_name = 'g1'
|
||||||
|
|
||||||
|
|
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Binary file not shown.
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@ -0,0 +1,25 @@
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||||||
|
# H1_2 RL Example (Preview)
|
||||||
|
|
||||||
|
## Simplified URDF
|
||||||
|
|
||||||
|
This task utilizes a simplified version of URDF. We fix some joints and ignore most of the collisions.
|
||||||
|
|
||||||
|
### Fixed Joints
|
||||||
|
|
||||||
|
We fix all the joints in the hands, wrists and the elbow roll joints, since those joints have very limited effect on the whole body dynamics and are commonly controlled by other controllers.
|
||||||
|
|
||||||
|
### Collisions
|
||||||
|
|
||||||
|
We only keep the collision of foot roll links, knee links and the base. Early termination is majorly checked by the angular position of the base.
|
||||||
|
|
||||||
|
## Dynamics
|
||||||
|
|
||||||
|
Free "light" end effectors can lead to unstable simulation. Thus please be carefull with the control parameters for the joints that may affect such end effectors.
|
||||||
|
|
||||||
|
## Results
|
||||||
|
|
||||||
|
https://github.com/user-attachments/assets/a937e9c4-fe91-4240-88ea-d83b0160cad5
|
||||||
|
|
||||||
|
## Preview Stage
|
||||||
|
|
||||||
|
**The reward functions are not well tuned and cannot produce satisfactory results at the current stage. A feasible version is comming soon.**
|
||||||
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@ -0,0 +1,121 @@
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from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO
|
||||||
|
|
||||||
|
|
||||||
|
class H1_2RoughCfg(LeggedRobotCfg):
|
||||||
|
|
||||||
|
class init_state(LeggedRobotCfg.init_state):
|
||||||
|
pos = [0.0, 0.0, 1.0] # x,y,z [m]
|
||||||
|
default_joint_angles = { # = target angles [rad] when action = 0.0
|
||||||
|
'left_hip_yaw_joint': 0,
|
||||||
|
'left_hip_roll_joint': 0,
|
||||||
|
'left_hip_pitch_joint': -0.6,
|
||||||
|
'left_knee_joint': 1.2,
|
||||||
|
'left_ankle_pitch_joint': -0.6,
|
||||||
|
'left_ankle_roll_joint': 0.0,
|
||||||
|
|
||||||
|
'right_hip_yaw_joint': 0,
|
||||||
|
'right_hip_roll_joint': 0,
|
||||||
|
'right_hip_pitch_joint': -0.6,
|
||||||
|
'right_knee_joint': 1.2,
|
||||||
|
'right_ankle_pitch_joint': -0.6,
|
||||||
|
'right_ankle_roll_joint': 0.0,
|
||||||
|
|
||||||
|
'torso_joint': 0,
|
||||||
|
|
||||||
|
'left_shoulder_pitch_joint': 0.4,
|
||||||
|
'left_shoulder_roll_joint': 0,
|
||||||
|
'left_shoulder_yaw_joint': 0,
|
||||||
|
'left_elbow_pitch_joint': 0.3,
|
||||||
|
|
||||||
|
'right_shoulder_pitch_joint': 0.4,
|
||||||
|
'right_shoulder_roll_joint': 0,
|
||||||
|
'right_shoulder_yaw_joint': 0,
|
||||||
|
'right_elbow_pitch_joint': 0.3,
|
||||||
|
}
|
||||||
|
|
||||||
|
class env(LeggedRobotCfg.env):
|
||||||
|
num_actions = 21
|
||||||
|
num_observations = 12 + num_actions * 3
|
||||||
|
num_envs = 8192
|
||||||
|
|
||||||
|
class control(LeggedRobotCfg.control):
|
||||||
|
# PD Drive parameters:
|
||||||
|
control_type = 'P'
|
||||||
|
# PD Drive parameters:
|
||||||
|
stiffness = {
|
||||||
|
'hip_yaw_joint': 200.,
|
||||||
|
'hip_roll_joint': 200.,
|
||||||
|
'hip_pitch_joint': 200.,
|
||||||
|
'knee_joint': 300.,
|
||||||
|
'ankle_pitch_joint': 60.,
|
||||||
|
'ankle_roll_joint': 40.,
|
||||||
|
'torso_joint': 600.,
|
||||||
|
'shoulder_pitch_joint': 80.,
|
||||||
|
'shoulder_roll_joint': 80.,
|
||||||
|
'shoulder_yaw_joint': 40.,
|
||||||
|
'elbow_pitch_joint': 60.,
|
||||||
|
} # [N*m/rad]
|
||||||
|
damping = {
|
||||||
|
'hip_yaw_joint': 5.0,
|
||||||
|
'hip_roll_joint': 5.0,
|
||||||
|
'hip_pitch_joint': 5.0,
|
||||||
|
'knee_joint': 7.5,
|
||||||
|
'ankle_pitch_joint': 1.0,
|
||||||
|
'ankle_roll_joint': 0.3,
|
||||||
|
'torso_joint': 15.0,
|
||||||
|
'shoulder_pitch_joint': 2.0,
|
||||||
|
'shoulder_roll_joint': 2.0,
|
||||||
|
'shoulder_yaw_joint': 1.0,
|
||||||
|
'elbow_pitch_joint': 1.0,
|
||||||
|
} # [N*m/rad] # [N*m*s/rad]
|
||||||
|
# action scale: target angle = actionScale * action + defaultAngle
|
||||||
|
action_scale = 0.25
|
||||||
|
# decimation: Number of control action updates @ sim DT per policy DT
|
||||||
|
decimation = 10
|
||||||
|
|
||||||
|
class asset(LeggedRobotCfg.asset):
|
||||||
|
file = '{LEGGED_GYM_ROOT_DIR}/resources/robots/h1_2/h1_2_simplified.urdf'
|
||||||
|
name = "h1_2"
|
||||||
|
foot_name = "ankle_roll"
|
||||||
|
penalize_contacts_on = []
|
||||||
|
terminate_after_contacts_on = []
|
||||||
|
self_collisions = 1 # 1 to disable, 0 to enable...bitwise filter
|
||||||
|
flip_visual_attachments = False
|
||||||
|
armature = 6e-4 # stablize semi-euler integration for end effectors
|
||||||
|
|
||||||
|
class sim(LeggedRobotCfg.sim):
|
||||||
|
dt = 0.002 # stablize semi-euler integration for end effectors
|
||||||
|
|
||||||
|
class rewards(LeggedRobotCfg.rewards):
|
||||||
|
soft_dof_pos_limit = 0.9
|
||||||
|
base_height_target = 0.98
|
||||||
|
|
||||||
|
class scales(LeggedRobotCfg.rewards.scales):
|
||||||
|
tracking_lin_vel = 1.0
|
||||||
|
tracking_ang_vel = 0.5
|
||||||
|
lin_vel_z = -0.2
|
||||||
|
ang_vel_xy = -0.1
|
||||||
|
orientation = -0.1
|
||||||
|
base_height = -10.0
|
||||||
|
dof_acc = -3.5e-9
|
||||||
|
feet_air_time = 1.0
|
||||||
|
collision = 0.0
|
||||||
|
action_rate = -0.001
|
||||||
|
torques = 0.0
|
||||||
|
dof_pos_limits = -1.0
|
||||||
|
|
||||||
|
only_positive_rewards = False # if true negative total rewards are clipped at zero (avoids early termination problems)
|
||||||
|
|
||||||
|
class normalization(LeggedRobotCfg.normalization):
|
||||||
|
clip_actions = 10.0
|
||||||
|
|
||||||
|
|
||||||
|
class H1_2RoughCfgPPO(LeggedRobotCfgPPO):
|
||||||
|
|
||||||
|
class policy(LeggedRobotCfgPPO.policy):
|
||||||
|
init_noise_std = 0.3
|
||||||
|
activation = 'tanh'
|
||||||
|
|
||||||
|
class runner(LeggedRobotCfgPPO.runner):
|
||||||
|
run_name = ''
|
||||||
|
experiment_name = 'h1_2'
|
||||||
|
|
@ -1,7 +1,8 @@
|
||||||
import sys
|
|
||||||
sys.path.append("/home/unitree/unitree_rl_gym")
|
|
||||||
from legged_gym import LEGGED_GYM_ROOT_DIR
|
|
||||||
import os
|
import os
|
||||||
|
unitree_rl_gym_path = os.path.abspath(__file__ + "../../../../")
|
||||||
|
import sys
|
||||||
|
sys.path.append(unitree_rl_gym_path)
|
||||||
|
from legged_gym import LEGGED_GYM_ROOT_DIR
|
||||||
|
|
||||||
import isaacgym
|
import isaacgym
|
||||||
from legged_gym.envs import *
|
from legged_gym.envs import *
|
||||||
|
|
|
||||||
|
|
@ -1,8 +1,9 @@
|
||||||
import numpy as np
|
|
||||||
import os
|
import os
|
||||||
|
unitree_rl_gym_path = os.path.abspath(__file__ + "../../../../")
|
||||||
|
import numpy as np
|
||||||
from datetime import datetime
|
from datetime import datetime
|
||||||
import sys
|
import sys
|
||||||
sys.path.append("/home/unitree/unitree_rl_gym/")
|
sys.path.append(unitree_rl_gym_path)
|
||||||
|
|
||||||
import isaacgym
|
import isaacgym
|
||||||
from legged_gym.envs import *
|
from legged_gym.envs import *
|
||||||
|
|
|
||||||
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|
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|
||||||
|
# Unitree H1 Description (URDF & MJCF)
|
||||||
|
|
||||||
|
## Overview
|
||||||
|
|
||||||
|
This package includes a streamlined robot description (URDF & MJCF) for the [Unitree H1](https://www.unitree.com/h1/), developed by [Unitree Robotics](https://www.unitree.com/).
|
||||||
|
|
||||||
|
<p align="center">
|
||||||
|
<img src="h1_5.png" width="500"/>
|
||||||
|
</p>
|
||||||
|
|
||||||
|
Unitree H1 have 51 DOFs:
|
||||||
|
|
||||||
|
```text
|
||||||
|
root [⚓] => /pelvis/
|
||||||
|
left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/
|
||||||
|
left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/
|
||||||
|
left_hip_roll_joint [⚙+X] => /left_hip_roll_link/
|
||||||
|
left_knee_joint [⚙+Y] => /left_knee_link/
|
||||||
|
left_ankle_pitch_joint [⚙+Y] => /left_ankle_pitch_link/
|
||||||
|
left_ankle_roll_joint [⚙+X] => /left_ankle_roll_link/
|
||||||
|
right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/
|
||||||
|
right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/
|
||||||
|
right_hip_roll_joint [⚙+X] => /right_hip_roll_link/
|
||||||
|
right_knee_joint [⚙+Y] => /right_knee_link/
|
||||||
|
right_ankle_pitch_joint [⚙+Y] => /right_ankle_pitch_link/
|
||||||
|
right_ankle_roll_joint [⚙+X] => /right_ankle_roll_link/
|
||||||
|
torso_joint [⚙+Z] => /torso_link/
|
||||||
|
left_shoulder_pitch_joint [⚙+Y] => /left_shoulder_pitch_link/
|
||||||
|
left_shoulder_roll_joint [⚙+X] => /left_shoulder_roll_link/
|
||||||
|
left_shoulder_yaw_joint [⚙+Z] => /left_shoulder_yaw_link/
|
||||||
|
left_elbow_pitch_joint [⚙+Y] => /left_elbow_pitch_link/
|
||||||
|
left_elbow_roll_joint [⚙+X] => /left_elbow_roll_link/
|
||||||
|
left_wrist_pitch_joint [⚙+Y] => /left_wrist_pitch_link/
|
||||||
|
left_wrist_yaw_joint [⚙+Z] => /left_wrist_yaw_link/
|
||||||
|
L_base_link_joint [⚓] => /L_hand_base_link/
|
||||||
|
L_thumb_proximal_yaw_joint [⚙+Z] => /L_thumb_proximal_base/
|
||||||
|
L_thumb_proximal_pitch_joint [⚙-Z] => /L_thumb_proximal/
|
||||||
|
L_thumb_intermediate_joint [⚙-Z] => /L_thumb_intermediate/
|
||||||
|
L_thumb_distal_joint [⚙-Z] => /L_thumb_distal/
|
||||||
|
L_index_proximal_joint [⚙-Z] => /L_index_proximal/
|
||||||
|
L_index_intermediate_joint [⚙-Z] => /L_index_intermediate/
|
||||||
|
L_middle_proximal_joint [⚙-Z] => /L_middle_proximal/
|
||||||
|
L_middle_intermediate_joint [⚙-Z] => /L_middle_intermediate/
|
||||||
|
L_ring_proximal_joint [⚙-Z] => /L_ring_proximal/
|
||||||
|
L_ring_intermediate_joint [⚙-Z] => /L_ring_intermediate/
|
||||||
|
L_pinky_proximal_joint [⚙-Z] => /L_pinky_proximal/
|
||||||
|
L_pinky_intermediate_joint [⚙-Z] => /L_pinky_intermediate/
|
||||||
|
right_shoulder_pitch_joint [⚙+Y] => /right_shoulder_pitch_link/
|
||||||
|
right_shoulder_roll_joint [⚙+X] => /right_shoulder_roll_link/
|
||||||
|
right_shoulder_yaw_joint [⚙+Z] => /right_shoulder_yaw_link/
|
||||||
|
right_elbow_pitch_joint [⚙+Y] => /right_elbow_pitch_link/
|
||||||
|
right_elbow_roll_joint [⚙+X] => /right_elbow_roll_link/
|
||||||
|
right_wrist_pitch_joint [⚙+Y] => /right_wrist_pitch_link/
|
||||||
|
right_wrist_yaw_joint [⚙+Z] => /right_wrist_yaw_link/
|
||||||
|
R_base_link_joint [⚓] => /R_hand_base_link/
|
||||||
|
R_thumb_proximal_yaw_joint [⚙-Z] => /R_thumb_proximal_base/
|
||||||
|
R_thumb_proximal_pitch_joint [⚙+Z] => /R_thumb_proximal/
|
||||||
|
R_thumb_intermediate_joint [⚙+Z] => /R_thumb_intermediate/
|
||||||
|
R_thumb_distal_joint [⚙+Z] => /R_thumb_distal/
|
||||||
|
R_index_proximal_joint [⚙+Z] => /R_index_proximal/
|
||||||
|
R_index_intermediate_joint [⚙+Z] => /R_index_intermediate/
|
||||||
|
R_middle_proximal_joint [⚙+Z] => /R_middle_proximal/
|
||||||
|
R_middle_intermediate_joint [⚙+Z] => /R_middle_intermediate/
|
||||||
|
R_ring_proximal_joint [⚙+Z] => /R_ring_proximal/
|
||||||
|
R_ring_intermediate_joint [⚙+Z] => /R_ring_intermediate/
|
||||||
|
R_pinky_proximal_joint [⚙+Z] => /R_pinky_proximal/
|
||||||
|
R_pinky_intermediate_joint [⚙+Z] => /R_pinky_intermediate/
|
||||||
|
```
|
||||||
|
|
||||||
|
## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
|
||||||
|
|
||||||
|
1. Open MuJoCo Viewer
|
||||||
|
|
||||||
|
```bash
|
||||||
|
pip install mujoco
|
||||||
|
python -m mujoco.viewer
|
||||||
|
```
|
||||||
|
|
||||||
|
2. Drag and drop the MJCF model file (`scene.xml`) to the MuJoCo Viewer.
|
||||||
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|
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|
|
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|
||||||
|
<mujoco model="h1_5">
|
||||||
|
<compiler angle="radian" meshdir="meshes/" autolimits="true"/>
|
||||||
|
<statistic meansize="0.112107" extent="1.95557" center="0.0256948 1.86841e-05 -0.178443"/>
|
||||||
|
<asset>
|
||||||
|
<mesh name="pelvis" file="pelvis.STL"/>
|
||||||
|
<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
|
||||||
|
<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
|
||||||
|
<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
|
||||||
|
<mesh name="left_knee_link" file="left_knee_link.STL"/>
|
||||||
|
<mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
|
||||||
|
<mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
|
||||||
|
<mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
|
||||||
|
<mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
|
||||||
|
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
||||||
|
<mesh name="right_knee_link" file="right_knee_link.STL"/>
|
||||||
|
<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
|
||||||
|
<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
|
||||||
|
<mesh name="torso_link" file="torso_link.STL"/>
|
||||||
|
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
|
||||||
|
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
|
||||||
|
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
|
||||||
|
<mesh name="left_elbow_pitch_link" file="left_elbow_pitch_link.STL"/>
|
||||||
|
<mesh name="left_elbow_roll_link" file="left_elbow_roll_link.STL"/>
|
||||||
|
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
|
||||||
|
<mesh name="wrist_yaw_link" file="wrist_yaw_link.STL"/>
|
||||||
|
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
|
||||||
|
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
|
||||||
|
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
|
||||||
|
<mesh name="right_elbow_pitch_link" file="right_elbow_pitch_link.STL"/>
|
||||||
|
<mesh name="right_elbow_roll_link" file="right_elbow_roll_link.STL"/>
|
||||||
|
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
|
||||||
|
<mesh name="logo_link" file="logo_link.STL"/>
|
||||||
|
<mesh name="L_hand_base_link" file="L_hand_base_link.STL"/>
|
||||||
|
<mesh name="link11_L" file="link11_L.STL"/>
|
||||||
|
<mesh name="link12_L" file="link12_L.STL"/>
|
||||||
|
<mesh name="link13_L" file="link13_L.STL"/>
|
||||||
|
<mesh name="link14_L" file="link14_L.STL"/>
|
||||||
|
<mesh name="link15_L" file="link15_L.STL"/>
|
||||||
|
<mesh name="link16_L" file="link16_L.STL"/>
|
||||||
|
<mesh name="link17_L" file="link17_L.STL"/>
|
||||||
|
<mesh name="link18_L" file="link18_L.STL"/>
|
||||||
|
<mesh name="link19_L" file="link19_L.STL"/>
|
||||||
|
<mesh name="link20_L" file="link20_L.STL"/>
|
||||||
|
<mesh name="link21_L" file="link21_L.STL"/>
|
||||||
|
<mesh name="link22_L" file="link22_L.STL"/>
|
||||||
|
<mesh name="R_hand_base_link" file="R_hand_base_link.STL"/>
|
||||||
|
<mesh name="link11_R" file="link11_R.STL"/>
|
||||||
|
<mesh name="link12_R" file="link12_R.STL"/>
|
||||||
|
<mesh name="link13_R" file="link13_R.STL"/>
|
||||||
|
<mesh name="link14_R" file="link14_R.STL"/>
|
||||||
|
<mesh name="link15_R" file="link15_R.STL"/>
|
||||||
|
<mesh name="link16_R" file="link16_R.STL"/>
|
||||||
|
<mesh name="link17_R" file="link17_R.STL"/>
|
||||||
|
<mesh name="link18_R" file="link18_R.STL"/>
|
||||||
|
<mesh name="link19_R" file="link19_R.STL"/>
|
||||||
|
<mesh name="link20_R" file="link20_R.STL"/>
|
||||||
|
<mesh name="link21_R" file="link21_R.STL"/>
|
||||||
|
<mesh name="link22_R" file="link22_R.STL"/>
|
||||||
|
</asset>
|
||||||
|
<worldbody>
|
||||||
|
<body name="pelvis" pos="0 0 1.03">
|
||||||
|
<inertial pos="-0.0004 3.7e-05 -0.046864" quat="0.497097 0.496809 -0.503132 0.502925" mass="5.983" diaginertia="0.0531565 0.0491678 0.00902583"/>
|
||||||
|
<joint name="floating_base_joint" type="free"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="pelvis"/>
|
||||||
|
<geom size="0.05" rgba="0.1 0.1 0.1 1"/>
|
||||||
|
<body name="left_hip_yaw_link" pos="0 0.0875 -0.1632">
|
||||||
|
<inertial pos="0 -0.026197 0.006647" quat="0.704899 -0.0553755 0.0548434 0.705013" mass="2.829" diaginertia="0.00574303 0.00455361 0.00349461"/>
|
||||||
|
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_yaw_link"/>
|
||||||
|
<geom size="0.01 0.01" pos="0.02 0 0" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
|
||||||
|
<body name="left_hip_pitch_link" pos="0 0.0755 0">
|
||||||
|
<inertial pos="-0.00781 -0.004724 -6.3e-05" quat="0.701575 0.711394 0.0330266 0.0249149" mass="2.92" diaginertia="0.00560661 0.00445055 0.00385068"/>
|
||||||
|
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_pitch_link"/>
|
||||||
|
<geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
|
||||||
|
<body name="left_hip_roll_link">
|
||||||
|
<inertial pos="0.004171 -0.008576 -0.194509" quat="0.634842 0.0146079 0.0074063 0.772469" mass="4.962" diaginertia="0.0480229 0.0462788 0.00887409"/>
|
||||||
|
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.43 3.14"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_roll_link"/>
|
||||||
|
<geom size="0.02 0.005" pos="0 0.06 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
|
||||||
|
<body name="left_knee_link" pos="0 0 -0.4">
|
||||||
|
<inertial pos="0.000179 0.000121 -0.168936" quat="0.416585 0.0104983 0.00514003 0.909021" mass="3.839" diaginertia="0.0391044 0.038959 0.00501125"/>
|
||||||
|
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.26 2.05"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_knee_link"/>
|
||||||
|
<geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
|
||||||
|
<body name="left_ankle_pitch_link" pos="0 0 -0.4">
|
||||||
|
<inertial pos="-0.000294 0 -0.010794" quat="0.999984 0 -0.00574445 0" mass="0.102" diaginertia="2.39454e-05 2.1837e-05 1.34126e-05"/>
|
||||||
|
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_ankle_pitch_link"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_ankle_pitch_link"/>
|
||||||
|
<body name="left_ankle_roll_link" pos="0 0 -0.02">
|
||||||
|
<inertial pos="0.029589 0 -0.015973" quat="0 0.725858 0 0.687845" mass="0.747" diaginertia="0.00359178 0.00343534 0.000640307"/>
|
||||||
|
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_ankle_roll_link"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_ankle_roll_link"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="right_hip_yaw_link" pos="0 -0.0875 -0.1632">
|
||||||
|
<inertial pos="0 0.026197 0.006647" quat="0.705013 0.0548434 -0.0553755 0.704899" mass="2.829" diaginertia="0.00574303 0.00455361 0.00349461"/>
|
||||||
|
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_yaw_link"/>
|
||||||
|
<geom size="0.01 0.01" pos="0.02 0 0" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
|
||||||
|
<body name="right_hip_pitch_link" pos="0 -0.0755 0">
|
||||||
|
<inertial pos="-0.00781 0.004724 -6.3e-05" quat="0.711394 0.701575 -0.0249149 -0.0330266" mass="2.92" diaginertia="0.00560661 0.00445055 0.00385068"/>
|
||||||
|
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_pitch_link"/>
|
||||||
|
<geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
|
||||||
|
<body name="right_hip_roll_link">
|
||||||
|
<inertial pos="0.004171 0.008576 -0.194509" quat="0.772469 0.0074063 0.0146079 0.634842" mass="4.962" diaginertia="0.0480229 0.0462788 0.00887409"/>
|
||||||
|
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.14 0.43"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_roll_link"/>
|
||||||
|
<geom size="0.02 0.005" pos="0 -0.06 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
|
||||||
|
<body name="right_knee_link" pos="0 0 -0.4">
|
||||||
|
<inertial pos="0.000179 -0.000121 -0.168936" quat="0.909021 0.00514003 0.0104983 0.416585" mass="3.839" diaginertia="0.0391044 0.038959 0.00501125"/>
|
||||||
|
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.26 2.05"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_knee_link"/>
|
||||||
|
<geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
|
||||||
|
<body name="right_ankle_pitch_link" pos="0 0 -0.4">
|
||||||
|
<inertial pos="-0.000294 0 -0.010794" quat="0.999984 0 -0.00574445 0" mass="0.102" diaginertia="2.39454e-05 2.1837e-05 1.34126e-05"/>
|
||||||
|
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_ankle_pitch_link"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_ankle_pitch_link"/>
|
||||||
|
<body name="right_ankle_roll_link" pos="0 0 -0.02">
|
||||||
|
<inertial pos="0.029589 0 -0.015973" quat="0 0.725858 0 0.687845" mass="0.747" diaginertia="0.00359178 0.00343534 0.000640307"/>
|
||||||
|
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_ankle_roll_link"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_ankle_roll_link"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="torso_link">
|
||||||
|
<inertial pos="0.000489 0.002797 0.20484" quat="0.999989 -0.00130808 -0.00282289 -0.00349105" mass="17.789" diaginertia="0.487315 0.409628 0.127837"/>
|
||||||
|
<joint name="torso_joint" pos="0 0 0" axis="0 0 1" range="-2.35 2.35"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="torso_link"/>
|
||||||
|
<geom size="0.04 0.08 0.05" pos="0 0 0.15" type="box" rgba="0.1 0.1 0.1 1"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="logo_link"/>
|
||||||
|
<site name="imu" size="0.01" pos="-0.04452 -0.01891 0.27756"/>
|
||||||
|
<body name="left_shoulder_pitch_link" pos="0 0.14806 0.42333" quat="0.991445 0.130526 0 0">
|
||||||
|
<inertial pos="0.003053 0.06042 -0.0059" quat="0.761799 0.645681 -0.0378496 -0.0363943" mass="1.327" diaginertia="0.000588757 0.00053309 0.000393023"/>
|
||||||
|
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 1.57"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_pitch_link"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_pitch_link"/>
|
||||||
|
<body name="left_shoulder_roll_link" pos="0.0342 0.061999 -0.0060011" quat="0.991445 -0.130526 0 0">
|
||||||
|
<inertial pos="-0.030932 -1e-06 -0.10609" quat="0.986055 0.000456937 0.166408 0.00213553" mass="1.393" diaginertia="0.00200869 0.00193464 0.000449847"/>
|
||||||
|
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.38 3.4"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_roll_link"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_roll_link"/>
|
||||||
|
<body name="left_shoulder_yaw_link" pos="-0.0342 0 -0.1456">
|
||||||
|
<inertial pos="0.004583 0.001128 -0.001128" quat="0.663644 -0.0108866 -0.0267235 0.747492" mass="1.505" diaginertia="0.00431782 0.00420697 0.000645658"/>
|
||||||
|
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-3.01 2.66"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_yaw_link"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_yaw_link"/>
|
||||||
|
<body name="left_elbow_pitch_link" pos="0.006 0.0329 -0.182">
|
||||||
|
<inertial pos="0.077092 -0.028751 -0.009714" quat="0.544921 0.610781 0.423352 0.388305" mass="0.691" diaginertia="0.000942091 0.000905273 0.00023025"/>
|
||||||
|
<joint name="left_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.53 1.6"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_elbow_pitch_link"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_elbow_pitch_link"/>
|
||||||
|
<body name="left_elbow_roll_link" pos="0.121 -0.0329 -0.011">
|
||||||
|
<inertial pos="0.035281 -0.00232 0.000337" quat="0.334998 0.622198 -0.240131 0.66557" mass="0.683" diaginertia="0.00034681 0.000328248 0.000294628"/>
|
||||||
|
<joint name="left_elbow_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.967 2.967"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_elbow_roll_link"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_elbow_roll_link"/>
|
||||||
|
<body name="left_wrist_pitch_link" pos="0.085 0 0">
|
||||||
|
<inertial pos="0.020395 3.6e-05 -0.002973" quat="0.915893 -0.228405 -0.327262 -0.0432527" mass="0.484" diaginertia="7.25675e-05 7.00325e-05 6.9381e-05"/>
|
||||||
|
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.471 0.349"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_wrist_pitch_link"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_wrist_pitch_link"/>
|
||||||
|
<body name="left_wrist_yaw_link" pos="0.02 0 0">
|
||||||
|
<inertial pos="0.0770303 -0.00131441 -0.00068617" quat="0.499919 0.510625 0.506813 0.482165" mass="0.26543" diaginertia="0.000854397 0.000723298 0.00022115"/>
|
||||||
|
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.012 1.012"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wrist_yaw_link"/>
|
||||||
|
<geom pos="0.054 0 0" quat="0.707107 0 0 0.707107" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
|
||||||
|
<geom pos="0.054 0 0" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
|
||||||
|
<body name="L_thumb_proximal_base" pos="0.1231 -0.01696 0.02045" quat="-2.59735e-06 0.707107 0 0.707107">
|
||||||
|
<inertial pos="0.0048817 0.00038782 -0.00722" quat="0.445981 0.352284 0.495833 0.656617" mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08"/>
|
||||||
|
<joint name="L_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link11_L"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link11_L"/>
|
||||||
|
<body name="L_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
|
||||||
|
<inertial pos="0.021936 -0.01279 -0.0080386" quat="0.25452 0.660687 -0.251949 0.659723" mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07"/>
|
||||||
|
<joint name="L_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 0.6"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link12_L"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link12_L"/>
|
||||||
|
<body name="L_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
|
||||||
|
<inertial pos="0.0095531 0.0016282 -0.0072002" quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844" diaginertia="4.6532e-07 4.48114e-07 2.45646e-07"/>
|
||||||
|
<joint name="L_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link13_L"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link13_L"/>
|
||||||
|
<body name="L_thumb_distal" pos="0.020248 -0.010156 -0.0012">
|
||||||
|
<inertial pos="0.0092888 -0.004953 -0.0060033" quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344" diaginertia="2.0026e-07 1.95246e-07 8.1594e-08"/>
|
||||||
|
<joint name="L_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link14_L"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link14_L"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="L_index_proximal" pos="0.19053 0.00028533 0.032268" quat="0.706999 -0.0123409 -0.0123409 0.706999">
|
||||||
|
<inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
|
||||||
|
<joint name="L_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link15_L"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link15_L"/>
|
||||||
|
<body name="L_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
|
||||||
|
<inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08"/>
|
||||||
|
<joint name="L_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link16_L"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link16_L"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="L_middle_proximal" pos="0.1911 0.00028533 0.01295" quat="0.707107 0 0 0.707107">
|
||||||
|
<inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
|
||||||
|
<joint name="L_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link17_L"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link17_L"/>
|
||||||
|
<body name="L_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
|
||||||
|
<inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08"/>
|
||||||
|
<joint name="L_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link18_L"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link18_L"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="L_ring_proximal" pos="0.19091 0.00028533 -0.0062872" quat="0.706864 0.0185099 0.0185099 0.706864">
|
||||||
|
<inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
|
||||||
|
<joint name="L_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link19_L"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link19_L"/>
|
||||||
|
<body name="L_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
|
||||||
|
<inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08"/>
|
||||||
|
<joint name="L_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link20_L"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link20_L"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="L_pinky_proximal" pos="0.18971 0.00028533 -0.025488" quat="0.706138 0.0370072 0.0370072 0.706138">
|
||||||
|
<inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
|
||||||
|
<joint name="L_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link21_L"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link21_L"/>
|
||||||
|
<body name="L_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
|
||||||
|
<inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08"/>
|
||||||
|
<joint name="L_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link22_L"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link22_L"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="right_shoulder_pitch_link" pos="0 -0.14806 0.42333" quat="0.991445 -0.130526 0 0">
|
||||||
|
<inertial pos="0.003053 -0.06042 -0.0059" quat="0.645681 0.761799 0.0363943 0.0378496" mass="1.327" diaginertia="0.000588757 0.00053309 0.000393023"/>
|
||||||
|
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.57 3.14"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_pitch_link"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_pitch_link"/>
|
||||||
|
<body name="right_shoulder_roll_link" pos="0.0342 -0.061999 -0.0060011" quat="0.991445 0.130526 0 0">
|
||||||
|
<inertial pos="-0.030932 1e-06 -0.10609" quat="0.986055 -0.000456937 0.166408 -0.00213553" mass="1.393" diaginertia="0.00200869 0.00193464 0.000449847"/>
|
||||||
|
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.4 0.38"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_roll_link"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_roll_link"/>
|
||||||
|
<body name="right_shoulder_yaw_link" pos="-0.0342 0 -0.1456">
|
||||||
|
<inertial pos="0.004583 -0.001128 -0.001128" quat="0.747492 -0.0267235 -0.0108866 0.663644" mass="1.505" diaginertia="0.00431782 0.00420697 0.000645658"/>
|
||||||
|
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.66 3.01"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_yaw_link"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_yaw_link"/>
|
||||||
|
<body name="right_elbow_pitch_link" pos="0.006 -0.0329 -0.182">
|
||||||
|
<inertial pos="0.077092 0.028751 -0.009714" quat="0.388305 0.423352 0.610781 0.544921" mass="0.691" diaginertia="0.000942091 0.000905273 0.00023025"/>
|
||||||
|
<joint name="right_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.6 2.53"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_elbow_pitch_link"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_elbow_pitch_link"/>
|
||||||
|
<body name="right_elbow_roll_link" pos="0.121 0.0329 -0.011">
|
||||||
|
<inertial pos="0.035281 -0.00232 0.000337" quat="0.334998 0.622198 -0.240131 0.66557" mass="0.683" diaginertia="0.00034681 0.000328248 0.000294628"/>
|
||||||
|
<joint name="right_elbow_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.967 2.967"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_elbow_roll_link"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_elbow_roll_link"/>
|
||||||
|
<body name="right_wrist_pitch_link" pos="0.085 0 0">
|
||||||
|
<inertial pos="0.020395 3.6e-05 -0.002973" quat="0.915893 -0.228405 -0.327262 -0.0432527" mass="0.484" diaginertia="7.25675e-05 7.00325e-05 6.9381e-05"/>
|
||||||
|
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.471 0.349"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_wrist_pitch_link"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_wrist_pitch_link"/>
|
||||||
|
<body name="right_wrist_yaw_link" pos="0.02 0 0">
|
||||||
|
<inertial pos="0.0770303 0.0013013 -0.000699011" quat="0.482149 0.506915 0.510629 0.499827" mass="0.26543" diaginertia="0.00085381 0.000722728 0.000221145"/>
|
||||||
|
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.012 1.012"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wrist_yaw_link"/>
|
||||||
|
<geom pos="0.054 0 0" quat="0 0.707107 -0.707107 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
|
||||||
|
<geom pos="0.054 0 0" quat="0 0.707107 -0.707107 0" type="mesh" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
|
||||||
|
<body name="R_thumb_proximal_base" pos="0.1231 0.01696 0.02045" quat="-0.707107 -2.59735e-06 -0.707107 0">
|
||||||
|
<inertial pos="-0.0048064 0.0009382 -0.00757" quat="0.515015 0.680854 0.408023 0.323596" mass="0.0018869" diaginertia="8.66026e-08 6.8732e-08 4.94194e-08"/>
|
||||||
|
<joint name="R_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 1.3"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link11_R"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link11_R"/>
|
||||||
|
<body name="R_thumb_proximal" pos="-0.0088099 0.010892 -0.00925" quat="0.0996843 0.0996847 0.700046 0.700044">
|
||||||
|
<inertial pos="0.021932 0.012785 -0.0080386" quat="-0.254474 0.660716 0.251893 0.659733" mass="0.0066075" diaginertia="2.78601e-06 2.43933e-06 8.64566e-07"/>
|
||||||
|
<joint name="R_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="-0.1 0.6"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link12_R"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link12_R"/>
|
||||||
|
<body name="R_thumb_intermediate" pos="0.04407 0.034553 -0.0008">
|
||||||
|
<inertial pos="0.0095544 -0.0016282 -0.0071997" quat="0.636718 0.307389 -0.636802 0.307548" mass="0.0037847" diaginertia="4.6531e-07 4.48089e-07 2.45661e-07"/>
|
||||||
|
<joint name="R_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link13_R"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link13_R"/>
|
||||||
|
<body name="R_thumb_distal" pos="0.020248 0.010156 -0.0012">
|
||||||
|
<inertial pos="0.0092888 0.0049529 -0.0060033" quat="-0.266294 0.655967 0.262806 0.655537" mass="0.0033441" diaginertia="2.0026e-07 1.95247e-07 8.1593e-08"/>
|
||||||
|
<joint name="R_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link14_R"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link14_R"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="R_index_proximal" pos="0.19053 -0.00028533 0.032268" quat="0.706999 0.0123358 -0.0123358 -0.706999">
|
||||||
|
<inertial pos="0.0012259 0.011942 -0.0060001" quat="0.50867 0.49121 -0.508643 0.491172" mass="0.0042403" diaginertia="6.9398e-07 6.62871e-07 2.10909e-07"/>
|
||||||
|
<joint name="R_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link15_R"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link15_R"/>
|
||||||
|
<body name="R_index_intermediate" pos="-0.0026138 0.032026 -0.001">
|
||||||
|
<inertial pos="0.0019697 0.019589 -0.005" quat="0.466773 0.531152 -0.466773 0.531153" mass="0.0045683" diaginertia="7.8179e-07 7.72465e-07 8.47212e-08"/>
|
||||||
|
<joint name="R_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link16_R"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link16_R"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="R_middle_proximal" pos="0.1911 -0.00028533 0.01295" quat="0.707107 -2.59735e-06 2.59735e-06 -0.707107">
|
||||||
|
<inertial pos="0.001297 0.011934 -0.0060001" quat="0.510131 0.489693 -0.510105 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
|
||||||
|
<joint name="R_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link17_R"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link17_R"/>
|
||||||
|
<body name="R_middle_intermediate" pos="-0.0024229 0.032041 -0.001">
|
||||||
|
<inertial pos="0.001921 0.020796 -0.005" quat="0.466148 0.531627 -0.466229 0.531705" mass="0.0050396" diaginertia="9.8384e-07 9.73279e-07 9.14014e-08"/>
|
||||||
|
<joint name="R_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link18_R"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link18_R"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="R_ring_proximal" pos="0.19091 -0.00028533 -0.0062872" quat="-0.706864 0.0185215 -0.0185215 0.706864">
|
||||||
|
<inertial pos="0.001297 0.011934 -0.0060002" quat="0.510129 0.489691 -0.510107 0.489654" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
|
||||||
|
<joint name="R_ring_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link19_R"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link19_R"/>
|
||||||
|
<body name="R_ring_intermediate" pos="-0.0024229 0.032041 -0.001">
|
||||||
|
<inertial pos="0.0021753 0.019567 -0.005" quat="0.469554 0.528695 -0.469554 0.528695" mass="0.0045683" diaginertia="7.8177e-07 7.72448e-07 8.4722e-08"/>
|
||||||
|
<joint name="R_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link20_R"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link20_R"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="R_pinky_proximal" pos="0.18971 -0.00028533 -0.025488" quat="-0.706138 0.0369975 -0.0369975 0.706138">
|
||||||
|
<inertial pos="0.001297 0.011934 -0.0060001" quat="0.51013 0.489693 -0.510106 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
|
||||||
|
<joint name="R_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link21_R"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link21_R"/>
|
||||||
|
<body name="R_pinky_intermediate" pos="-0.0024229 0.032041 -0.001">
|
||||||
|
<inertial pos="0.0024748 0.016203 -0.0050031" quat="0.47398 0.528862 -0.469291 0.524799" mass="0.0035996" diaginertia="4.4867e-07 4.43723e-07 6.56538e-08"/>
|
||||||
|
<joint name="R_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
|
||||||
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link22_R"/>
|
||||||
|
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link22_R"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</worldbody>
|
||||||
|
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint" ctrlrange="-200 200"/>
|
||||||
|
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint" ctrlrange="-200 200"/>
|
||||||
|
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint" ctrlrange="-200 200"/>
|
||||||
|
<motor name="left_knee_joint" joint="left_knee_joint" ctrlrange="-300 300"/>
|
||||||
|
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint" ctrlrange="-60 60"/>
|
||||||
|
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint" ctrlrange="-40 40"/>
|
||||||
|
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint" ctrlrange="-200 200"/>
|
||||||
|
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint" ctrlrange="-200 200"/>
|
||||||
|
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint" ctrlrange="-200 200"/>
|
||||||
|
<motor name="right_knee_joint" joint="right_knee_joint" ctrlrange="-300 300"/>
|
||||||
|
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" ctrlrange="-60 60"/>
|
||||||
|
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint" ctrlrange="-40 40"/>
|
||||||
|
<motor name="torso_joint" joint="torso_joint" ctrlrange="-200 200"/>
|
||||||
|
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint" ctrlrange="-40 40"/>
|
||||||
|
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint" ctrlrange="-40 40"/>
|
||||||
|
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint" ctrlrange="-18 18"/>
|
||||||
|
<motor name="left_elbow_pitch_joint" joint="left_elbow_pitch_joint" ctrlrange="-18 18"/>
|
||||||
|
<motor name="left_elbow_roll_joint" joint="left_elbow_roll_joint" ctrlrange="-19 19"/>
|
||||||
|
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint" ctrlrange="-19 19"/>
|
||||||
|
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint" ctrlrange="-19 19"/>
|
||||||
|
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint" ctrlrange="-40 40"/>
|
||||||
|
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint" ctrlrange="-40 40"/>
|
||||||
|
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint" ctrlrange="-18 18"/>
|
||||||
|
<motor name="right_elbow_pitch_joint" joint="right_elbow_pitch_joint" ctrlrange="-18 18"/>
|
||||||
|
<motor name="right_elbow_roll_joint" joint="right_elbow_roll_joint" ctrlrange="-19 19"/>
|
||||||
|
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint" ctrlrange="-19 19"/>
|
||||||
|
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint" ctrlrange="-19 19"/>
|
||||||
|
<motor name="L_index_proximal_joint" joint="L_index_proximal_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="L_index_intermediate_joint" joint="L_index_intermediate_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="L_middle_proximal_joint" joint="L_middle_proximal_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="L_middle_intermediate_joint" joint="L_middle_intermediate_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="L_ring_proximal_joint" joint="L_ring_proximal_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="L_ring_intermediate_joint" joint="L_ring_intermediate_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="L_pinky_proximal_joint" joint="L_pinky_proximal_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="L_pinky_intermediate_joint" joint="L_pinky_intermediate_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="L_thumb_proximal_yaw_joint" joint="L_thumb_proximal_yaw_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="L_thumb_proximal_pitch_joint" joint="L_thumb_proximal_pitch_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="L_thumb_intermediate_joint" joint="L_thumb_intermediate_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="L_thumb_distal_joint" joint="L_thumb_distal_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="R_index_proximal_joint" joint="R_index_proximal_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="R_index_intermediate_joint" joint="R_index_intermediate_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="R_middle_proximal_joint" joint="R_middle_proximal_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="R_middle_intermediate_joint" joint="R_middle_intermediate_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="R_ring_proximal_joint" joint="R_ring_proximal_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="R_ring_intermediate_joint" joint="R_ring_intermediate_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="R_pinky_proximal_joint" joint="R_pinky_proximal_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="R_pinky_intermediate_joint" joint="R_pinky_intermediate_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="R_thumb_proximal_yaw_joint" joint="R_thumb_proximal_yaw_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="R_thumb_proximal_pitch_joint" joint="R_thumb_proximal_pitch_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="R_thumb_intermediate_joint" joint="R_thumb_intermediate_joint" ctrlrange="-1 1"/>
|
||||||
|
<motor name="R_thumb_distal_joint" joint="R_thumb_distal_joint" ctrlrange="-1 1"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<sensor>
|
||||||
|
<gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
|
||||||
|
<accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
|
||||||
|
</sensor>
|
||||||
|
</mujoco>
|
||||||
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Loading…
Reference in New Issue