add urdf
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Yecheng Shao
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# Unitree H1 Description (URDF & MJCF)
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## Overview
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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/).
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<p align="center">
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<img src="h1_5.png" width="500"/>
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</p>
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Unitree H1 have 51 DOFs:
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```text
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root [⚓] => /pelvis/
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left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/
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left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/
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left_hip_roll_joint [⚙+X] => /left_hip_roll_link/
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left_knee_joint [⚙+Y] => /left_knee_link/
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left_ankle_pitch_joint [⚙+Y] => /left_ankle_pitch_link/
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left_ankle_roll_joint [⚙+X] => /left_ankle_roll_link/
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right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/
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right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/
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right_hip_roll_joint [⚙+X] => /right_hip_roll_link/
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right_knee_joint [⚙+Y] => /right_knee_link/
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right_ankle_pitch_joint [⚙+Y] => /right_ankle_pitch_link/
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right_ankle_roll_joint [⚙+X] => /right_ankle_roll_link/
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torso_joint [⚙+Z] => /torso_link/
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left_shoulder_pitch_joint [⚙+Y] => /left_shoulder_pitch_link/
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left_shoulder_roll_joint [⚙+X] => /left_shoulder_roll_link/
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left_shoulder_yaw_joint [⚙+Z] => /left_shoulder_yaw_link/
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left_elbow_pitch_joint [⚙+Y] => /left_elbow_pitch_link/
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left_elbow_roll_joint [⚙+X] => /left_elbow_roll_link/
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left_wrist_pitch_joint [⚙+Y] => /left_wrist_pitch_link/
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left_wrist_yaw_joint [⚙+Z] => /left_wrist_yaw_link/
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L_base_link_joint [⚓] => /L_hand_base_link/
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L_thumb_proximal_yaw_joint [⚙+Z] => /L_thumb_proximal_base/
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L_thumb_proximal_pitch_joint [⚙-Z] => /L_thumb_proximal/
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L_thumb_intermediate_joint [⚙-Z] => /L_thumb_intermediate/
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L_thumb_distal_joint [⚙-Z] => /L_thumb_distal/
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L_index_proximal_joint [⚙-Z] => /L_index_proximal/
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L_index_intermediate_joint [⚙-Z] => /L_index_intermediate/
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L_middle_proximal_joint [⚙-Z] => /L_middle_proximal/
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L_middle_intermediate_joint [⚙-Z] => /L_middle_intermediate/
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L_ring_proximal_joint [⚙-Z] => /L_ring_proximal/
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L_ring_intermediate_joint [⚙-Z] => /L_ring_intermediate/
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L_pinky_proximal_joint [⚙-Z] => /L_pinky_proximal/
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L_pinky_intermediate_joint [⚙-Z] => /L_pinky_intermediate/
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right_shoulder_pitch_joint [⚙+Y] => /right_shoulder_pitch_link/
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right_shoulder_roll_joint [⚙+X] => /right_shoulder_roll_link/
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right_shoulder_yaw_joint [⚙+Z] => /right_shoulder_yaw_link/
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right_elbow_pitch_joint [⚙+Y] => /right_elbow_pitch_link/
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right_elbow_roll_joint [⚙+X] => /right_elbow_roll_link/
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right_wrist_pitch_joint [⚙+Y] => /right_wrist_pitch_link/
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right_wrist_yaw_joint [⚙+Z] => /right_wrist_yaw_link/
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R_base_link_joint [⚓] => /R_hand_base_link/
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R_thumb_proximal_yaw_joint [⚙-Z] => /R_thumb_proximal_base/
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R_thumb_proximal_pitch_joint [⚙+Z] => /R_thumb_proximal/
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R_thumb_intermediate_joint [⚙+Z] => /R_thumb_intermediate/
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R_thumb_distal_joint [⚙+Z] => /R_thumb_distal/
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R_index_proximal_joint [⚙+Z] => /R_index_proximal/
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R_index_intermediate_joint [⚙+Z] => /R_index_intermediate/
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R_middle_proximal_joint [⚙+Z] => /R_middle_proximal/
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R_middle_intermediate_joint [⚙+Z] => /R_middle_intermediate/
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R_ring_proximal_joint [⚙+Z] => /R_ring_proximal/
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R_ring_intermediate_joint [⚙+Z] => /R_ring_intermediate/
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R_pinky_proximal_joint [⚙+Z] => /R_pinky_proximal/
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R_pinky_intermediate_joint [⚙+Z] => /R_pinky_intermediate/
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```
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## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
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1. Open MuJoCo Viewer
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```bash
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pip install mujoco
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python -m mujoco.viewer
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```
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2. Drag and drop the MJCF model file (`scene.xml`) to the MuJoCo Viewer.
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<mujoco model="h1_5">
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<compiler angle="radian" meshdir="meshes/" autolimits="true"/>
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<statistic meansize="0.112107" extent="1.95557" center="0.0256948 1.86841e-05 -0.178443"/>
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<asset>
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<mesh name="pelvis" file="pelvis.STL"/>
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<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
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<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
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<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
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<mesh name="left_knee_link" file="left_knee_link.STL"/>
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<mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
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<mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
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<mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
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<mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
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<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
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<mesh name="right_knee_link" file="right_knee_link.STL"/>
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<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
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<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
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<mesh name="torso_link" file="torso_link.STL"/>
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<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
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<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
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<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
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<mesh name="left_elbow_pitch_link" file="left_elbow_pitch_link.STL"/>
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<mesh name="left_elbow_roll_link" file="left_elbow_roll_link.STL"/>
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<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
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<mesh name="wrist_yaw_link" file="wrist_yaw_link.STL"/>
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<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
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<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
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<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
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<mesh name="right_elbow_pitch_link" file="right_elbow_pitch_link.STL"/>
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<mesh name="right_elbow_roll_link" file="right_elbow_roll_link.STL"/>
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<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
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<mesh name="logo_link" file="logo_link.STL"/>
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<mesh name="L_hand_base_link" file="L_hand_base_link.STL"/>
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<mesh name="link11_L" file="link11_L.STL"/>
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<mesh name="link12_L" file="link12_L.STL"/>
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<mesh name="link13_L" file="link13_L.STL"/>
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<mesh name="link14_L" file="link14_L.STL"/>
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<mesh name="link15_L" file="link15_L.STL"/>
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<mesh name="link16_L" file="link16_L.STL"/>
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<mesh name="link17_L" file="link17_L.STL"/>
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<mesh name="link18_L" file="link18_L.STL"/>
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<mesh name="link19_L" file="link19_L.STL"/>
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<mesh name="link20_L" file="link20_L.STL"/>
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<mesh name="link21_L" file="link21_L.STL"/>
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<mesh name="link22_L" file="link22_L.STL"/>
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<mesh name="R_hand_base_link" file="R_hand_base_link.STL"/>
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<mesh name="link11_R" file="link11_R.STL"/>
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<mesh name="link12_R" file="link12_R.STL"/>
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<mesh name="link13_R" file="link13_R.STL"/>
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<mesh name="link14_R" file="link14_R.STL"/>
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<mesh name="link15_R" file="link15_R.STL"/>
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<mesh name="link16_R" file="link16_R.STL"/>
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<mesh name="link17_R" file="link17_R.STL"/>
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<mesh name="link18_R" file="link18_R.STL"/>
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<mesh name="link19_R" file="link19_R.STL"/>
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<mesh name="link20_R" file="link20_R.STL"/>
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<mesh name="link21_R" file="link21_R.STL"/>
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<mesh name="link22_R" file="link22_R.STL"/>
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</asset>
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<worldbody>
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<body name="pelvis" pos="0 0 1.03">
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<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"/>
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<joint name="floating_base_joint" type="free"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="pelvis"/>
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<geom size="0.05" rgba="0.1 0.1 0.1 1"/>
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<body name="left_hip_yaw_link" pos="0 0.0875 -0.1632">
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<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"/>
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<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_yaw_link"/>
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<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"/>
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<body name="left_hip_pitch_link" pos="0 0.0755 0">
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<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"/>
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<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_pitch_link"/>
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<geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
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<body name="left_hip_roll_link">
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<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"/>
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<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.43 3.14"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_roll_link"/>
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<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"/>
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<body name="left_knee_link" pos="0 0 -0.4">
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<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"/>
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<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.26 2.05"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_knee_link"/>
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<geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
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<body name="left_ankle_pitch_link" pos="0 0 -0.4">
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<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"/>
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<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_ankle_pitch_link"/>
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<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_ankle_pitch_link"/>
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<body name="left_ankle_roll_link" pos="0 0 -0.02">
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<inertial pos="0.029589 0 -0.015973" quat="0 0.725858 0 0.687845" mass="0.747" diaginertia="0.00359178 0.00343534 0.000640307"/>
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<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_ankle_roll_link"/>
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<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_ankle_roll_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>
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<body name="right_hip_yaw_link" pos="0 -0.0875 -0.1632">
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<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"/>
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<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_yaw_link"/>
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<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"/>
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<body name="right_hip_pitch_link" pos="0 -0.0755 0">
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<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"/>
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<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_pitch_link"/>
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<geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
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<body name="right_hip_roll_link">
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<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"/>
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<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.14 0.43"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_roll_link"/>
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<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"/>
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<body name="right_knee_link" pos="0 0 -0.4">
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<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"/>
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<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.26 2.05"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_knee_link"/>
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<geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
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<body name="right_ankle_pitch_link" pos="0 0 -0.4">
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<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"/>
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<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_ankle_pitch_link"/>
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<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_ankle_pitch_link"/>
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<body name="right_ankle_roll_link" pos="0 0 -0.02">
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<inertial pos="0.029589 0 -0.015973" quat="0 0.725858 0 0.687845" mass="0.747" diaginertia="0.00359178 0.00343534 0.000640307"/>
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<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_ankle_roll_link"/>
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<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_ankle_roll_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>
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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" diaginertia="0.487315 0.409628 0.127837"/>
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<joint name="torso_joint" pos="0 0 0" axis="0 0 1" range="-2.35 2.35"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="torso_link"/>
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<geom size="0.04 0.08 0.05" pos="0 0 0.15" type="box" rgba="0.1 0.1 0.1 1"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" 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 0.14806 0.42333" quat="0.991445 0.130526 0 0">
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<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"/>
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<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 1.57"/>
|
||||
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|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_pitch_link"/>
|
||||
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|
||||
<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"/>
|
||||
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|
||||
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|
||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-3.01 2.66"/>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<joint name="left_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.53 1.6"/>
|
||||
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|
||||
<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">
|
||||
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|
||||
<joint name="left_elbow_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.967 2.967"/>
|
||||
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|
||||
<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">
|
||||
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|
||||
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.471 0.349"/>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.012 1.012"/>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<joint name="L_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3"/>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<body name="L_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
|
||||
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|
||||
<joint name="L_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8"/>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<joint name="L_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2"/>
|
||||
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|
||||
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|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
</body>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
</body>
|
||||
</body>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
</body>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<joint name="L_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
|
||||
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|
||||
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|
||||
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|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
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|
||||
<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"/>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.4 0.38"/>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<joint name="right_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.6 2.53"/>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<body name="right_wrist_pitch_link" pos="0.085 0 0">
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<joint name="R_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="-0.1 0.6"/>
|
||||
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|
||||
<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">
|
||||
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|
||||
<joint name="R_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8"/>
|
||||
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|
||||
<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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|
|
@ -0,0 +1,22 @@
|
|||
<mujoco model="h1 scene">
|
||||
<include file="h1_5.xml"/>
|
||||
|
||||
<statistic center="1.0 0.7 1.5" extent="0.8"/>
|
||||
|
||||
<visual>
|
||||
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<global azimuth="-140" elevation="-20"/>
|
||||
</visual>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
|
||||
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
||||
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
|
||||
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Loading…
Reference in New Issue