update the trainning of g1,h1,h1_2
This commit is contained in:
craipy
parent
6ce61a0241
commit
bd00c6a2a1
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@ -2,13 +2,16 @@ from legged_gym import LEGGED_GYM_ROOT_DIR, LEGGED_GYM_ENVS_DIR
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from legged_gym.envs.go2.go2_config import GO2RoughCfg, GO2RoughCfgPPO
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from legged_gym.envs.h1.h1_config import H1RoughCfg, H1RoughCfgPPO
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from legged_gym.envs.h1.h1_env import H1Robot
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from legged_gym.envs.h1_2.h1_2_config import H1_2RoughCfg, H1_2RoughCfgPPO
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from legged_gym.envs.h1_2.h1_2_env import H1_2Robot
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from legged_gym.envs.g1.g1_config import G1RoughCfg, G1RoughCfgPPO
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from legged_gym.envs.g1.g1_env import G1Robot
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from .base.legged_robot import LeggedRobot
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from legged_gym.utils.task_registry import task_registry
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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_2", LeggedRobot, H1_2RoughCfg(), H1_2RoughCfgPPO())
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task_registry.register( "g1", LeggedRobot, G1RoughCfg(), G1RoughCfgPPO())
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task_registry.register( "h1", H1Robot, H1RoughCfg(), H1RoughCfgPPO())
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task_registry.register( "h1_2", H1_2Robot, H1_2RoughCfg(), H1_2RoughCfgPPO())
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task_registry.register( "g1", G1Robot, G1RoughCfg(), G1RoughCfgPPO())
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@ -20,18 +20,29 @@ class G1RoughCfg( LeggedRobotCfg ):
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}
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class env(LeggedRobotCfg.env):
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num_observations = 48
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num_observations = 47
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num_privileged_obs = 50
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num_actions = 12
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class domain_rand(LeggedRobotCfg.domain_rand):
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randomize_friction = True
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friction_range = [0.1, 1.25]
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randomize_base_mass = True
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added_mass_range = [-1., 3.]
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push_robots = True
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push_interval_s = 5
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max_push_vel_xy = 1.5
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class control( LeggedRobotCfg.control ):
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# PD Drive parameters:
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control_type = 'P'
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# PD Drive parameters:
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stiffness = {'hip_yaw': 150,
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'hip_roll': 150,
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'hip_pitch': 150,
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'knee': 300,
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stiffness = {'hip_yaw': 100,
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'hip_roll': 100,
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'hip_pitch': 100,
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'knee': 150,
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'ankle': 40,
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} # [N*m/rad]
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damping = { 'hip_yaw': 2,
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@ -46,17 +57,18 @@ class G1RoughCfg( LeggedRobotCfg ):
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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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file = '{LEGGED_GYM_ROOT_DIR}/resources/robots/g1_description/g1_12dof.urdf'
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name = "g1"
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foot_name = "ankle_roll"
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penalize_contacts_on = ["hip", "knee"]
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terminate_after_contacts_on = ["torso"]
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self_collisions = 1 # 1 to disable, 0 to enable...bitwise filter
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terminate_after_contacts_on = ["pelvis"]
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self_collisions = 0 # 1 to disable, 0 to enable...bitwise filter
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flip_visual_attachments = False
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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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base_height_target = 0.78
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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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@ -64,19 +76,34 @@ class G1RoughCfg( LeggedRobotCfg ):
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ang_vel_xy = -0.05
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orientation = -1.0
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base_height = -10.0
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dof_acc = -2.5e-8
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feet_air_time = 1.0
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dof_acc = -2.5e-7
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dof_vel = -1e-3
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feet_air_time = 0.0
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collision = 0.0
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action_rate = -0.01
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# torques = -0.0001
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dof_pos_limits = -5.0
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alive = 0.15
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hip_pos = -1.0
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contact_no_vel = -0.2
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feet_swing_height = -20.0
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contact = 0.18
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class G1RoughCfgPPO( LeggedRobotCfgPPO ):
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class policy:
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init_noise_std = 0.8
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actor_hidden_dims = [32]
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critic_hidden_dims = [32]
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activation = 'elu' # can be elu, relu, selu, crelu, lrelu, tanh, sigmoid
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# only for 'ActorCriticRecurrent':
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rnn_type = 'lstm'
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rnn_hidden_size = 64
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rnn_num_layers = 1
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class algorithm( LeggedRobotCfgPPO.algorithm ):
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entropy_coef = 0.01
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class runner( LeggedRobotCfgPPO.runner ):
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policy_class_name = "ActorCriticRecurrent"
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max_iterations = 10000
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run_name = ''
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experiment_name = 'g1'
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@ -0,0 +1,124 @@
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from legged_gym.envs.base.legged_robot import LeggedRobot
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from isaacgym.torch_utils import *
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from isaacgym import gymtorch, gymapi, gymutil
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import torch
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class G1Robot(LeggedRobot):
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def _get_noise_scale_vec(self, cfg):
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""" Sets a vector used to scale the noise added to the observations.
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[NOTE]: Must be adapted when changing the observations structure
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Args:
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cfg (Dict): Environment config file
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Returns:
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[torch.Tensor]: Vector of scales used to multiply a uniform distribution in [-1, 1]
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"""
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noise_vec = torch.zeros_like(self.obs_buf[0])
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self.add_noise = self.cfg.noise.add_noise
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noise_scales = self.cfg.noise.noise_scales
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noise_level = self.cfg.noise.noise_level
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noise_vec[:3] = noise_scales.ang_vel * noise_level * self.obs_scales.ang_vel
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noise_vec[3:6] = noise_scales.gravity * noise_level
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noise_vec[6:9] = 0. # commands
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noise_vec[9:9+self.num_actions] = noise_scales.dof_pos * noise_level * self.obs_scales.dof_pos
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noise_vec[9+self.num_actions:9+2*self.num_actions] = noise_scales.dof_vel * noise_level * self.obs_scales.dof_vel
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noise_vec[9+2*self.num_actions:9+3*self.num_actions] = 0. # previous actions
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noise_vec[9+3*self.num_actions:9+3*self.num_actions+2] = 0. # sin/cos phase
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return noise_vec
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def _init_foot(self):
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self.feet_num = len(self.feet_indices)
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rigid_body_state = self.gym.acquire_rigid_body_state_tensor(self.sim)
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self.rigid_body_states = gymtorch.wrap_tensor(rigid_body_state)
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self.rigid_body_states_view = self.rigid_body_states.view(self.num_envs, -1, 13)
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self.feet_state = self.rigid_body_states_view[:, self.feet_indices, :]
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self.feet_pos = self.feet_state[:, :, :3]
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self.feet_vel = self.feet_state[:, :, 7:10]
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def _init_buffers(self):
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super()._init_buffers()
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self._init_foot()
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def update_feet_state(self):
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self.gym.refresh_rigid_body_state_tensor(self.sim)
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self.feet_state = self.rigid_body_states_view[:, self.feet_indices, :]
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self.feet_pos = self.feet_state[:, :, :3]
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self.feet_vel = self.feet_state[:, :, 7:10]
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def _post_physics_step_callback(self):
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self.update_feet_state()
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period = 0.8
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offset = 0.5
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self.phase = (self.episode_length_buf * self.dt) % period / period
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self.phase_left = self.phase
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self.phase_right = (self.phase + offset) % 1
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self.leg_phase = torch.cat([self.phase_left.unsqueeze(1), self.phase_right.unsqueeze(1)], dim=-1)
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return super()._post_physics_step_callback()
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def compute_observations(self):
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""" Computes observations
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"""
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sin_phase = torch.sin(2 * np.pi * self.phase ).unsqueeze(1)
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cos_phase = torch.cos(2 * np.pi * self.phase ).unsqueeze(1)
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self.obs_buf = torch.cat(( self.base_ang_vel * self.obs_scales.ang_vel,
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self.projected_gravity,
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self.commands[:, :3] * self.commands_scale,
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(self.dof_pos - self.default_dof_pos) * self.obs_scales.dof_pos,
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self.dof_vel * self.obs_scales.dof_vel,
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self.actions,
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sin_phase,
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cos_phase
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),dim=-1)
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self.privileged_obs_buf = torch.cat(( self.base_lin_vel * self.obs_scales.lin_vel,
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self.base_ang_vel * self.obs_scales.ang_vel,
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self.projected_gravity,
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self.commands[:, :3] * self.commands_scale,
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(self.dof_pos - self.default_dof_pos) * self.obs_scales.dof_pos,
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self.dof_vel * self.obs_scales.dof_vel,
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self.actions,
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sin_phase,
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cos_phase
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),dim=-1)
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# add perceptive inputs if not blind
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# add noise if needed
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if self.add_noise:
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self.obs_buf += (2 * torch.rand_like(self.obs_buf) - 1) * self.noise_scale_vec
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def _reward_contact(self):
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res = torch.zeros(self.num_envs, dtype=torch.float, device=self.device)
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for i in range(self.feet_num):
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is_stance = self.leg_phase[:, i] < 0.55
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contact = self.contact_forces[:, self.feet_indices[i], 2] > 1
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res += ~(contact ^ is_stance)
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return res
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def _reward_feet_swing_height(self):
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contact = torch.norm(self.contact_forces[:, self.feet_indices, :3], dim=2) > 1.
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pos_error = torch.square(self.feet_pos[:, :, 2] - 0.08) * ~contact
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return torch.sum(pos_error, dim=(1))
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def _reward_alive(self):
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# Reward for staying alive
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return 1.0
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def _reward_contact_no_vel(self):
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# Penalize contact with no velocity
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contact = torch.norm(self.contact_forces[:, self.feet_indices, :3], dim=2) > 1.
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contact_feet_vel = self.feet_vel * contact.unsqueeze(-1)
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penalize = torch.square(contact_feet_vel[:, :, :3])
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return torch.sum(penalize, dim=(1,2))
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def _reward_hip_pos(self):
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return torch.sum(torch.square(self.dof_pos[:,[1,2,7,8]]), dim=1)
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@ -6,14 +6,14 @@ class H1RoughCfg( LeggedRobotCfg ):
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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' : -0.4,
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'left_knee_joint' : 0.8,
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'left_ankle_joint' : -0.4,
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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_joint' : -0.2,
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'right_hip_yaw_joint' : 0.,
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'right_hip_roll_joint' : 0,
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'right_hip_pitch_joint' : -0.4,
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'right_knee_joint' : 0.8,
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'right_ankle_joint' : -0.4,
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'right_hip_pitch_joint' : -0.1,
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'right_knee_joint' : 0.3,
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'right_ankle_joint' : -0.2,
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'torso_joint' : 0.,
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'left_shoulder_pitch_joint' : 0.,
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'left_shoulder_roll_joint' : 0,
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@ -26,27 +26,38 @@ class H1RoughCfg( LeggedRobotCfg ):
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}
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class env(LeggedRobotCfg.env):
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num_observations = 42
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# 3 + 3 + 3 + 10 + 10 + 10 + 2 = 41
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num_observations = 41
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num_privileged_obs = 44
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num_actions = 10
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class domain_rand(LeggedRobotCfg.domain_rand):
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randomize_friction = True
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friction_range = [0.1, 1.25]
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randomize_base_mass = True
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added_mass_range = [-1., 3.]
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push_robots = True
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push_interval_s = 5
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max_push_vel_xy = 1.5
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class control( LeggedRobotCfg.control ):
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# PD Drive parameters:
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control_type = 'P'
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# PD Drive parameters:
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stiffness = {'hip_yaw': 200,
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'hip_roll': 200,
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'hip_pitch': 200,
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'knee': 300,
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stiffness = {'hip_yaw': 150,
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'hip_roll': 150,
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'hip_pitch': 150,
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'knee': 200,
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'ankle': 40,
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'torso': 300,
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'shoulder': 100,
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'shoulder': 150,
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"elbow":100,
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} # [N*m/rad]
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damping = { 'hip_yaw': 5,
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'hip_roll': 5,
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'hip_pitch': 5,
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'knee': 6,
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damping = { 'hip_yaw': 2,
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'hip_roll': 2,
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'hip_pitch': 2,
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'knee': 4,
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'ankle': 2,
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'torso': 6,
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'shoulder': 2,
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@ -63,30 +74,46 @@ class H1RoughCfg( LeggedRobotCfg ):
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foot_name = "ankle"
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penalize_contacts_on = ["hip", "knee"]
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terminate_after_contacts_on = ["pelvis"]
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self_collisions = 1 # 1 to disable, 0 to enable...bitwise filter
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self_collisions = 0 # 1 to disable, 0 to enable...bitwise filter
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flip_visual_attachments = False
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class rewards( LeggedRobotCfg.rewards ):
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soft_dof_pos_limit = 0.9
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base_height_target = 0.98
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base_height_target = 1.05
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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
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ang_vel_xy = -1.0
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ang_vel_xy = -0.05
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orientation = -1.0
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base_height = -100.0
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dof_acc = -3.5e-8
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feet_air_time = 1.0
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collision = 0.0
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base_height = -10.0
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dof_acc = -2.5e-7
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feet_air_time = 0.0
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collision = -1.0
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action_rate = -0.01
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torques = 0.0
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dof_pos_limits = -10.0
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dof_pos_limits = -5.0
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alive = 0.15
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hip_pos = -1.0
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contact_no_vel = -0.2
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feet_swing_height = -20.0
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contact = 0.18
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class H1RoughCfgPPO( LeggedRobotCfgPPO ):
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class policy:
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init_noise_std = 0.8
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actor_hidden_dims = [32]
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critic_hidden_dims = [32]
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activation = 'elu' # can be elu, relu, selu, crelu, lrelu, tanh, sigmoid
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# only for 'ActorCriticRecurrent':
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rnn_type = 'lstm'
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rnn_hidden_size = 64
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rnn_num_layers = 1
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class algorithm( LeggedRobotCfgPPO.algorithm ):
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entropy_coef = 0.01
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class runner( LeggedRobotCfgPPO.runner ):
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policy_class_name = "ActorCriticRecurrent"
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max_iterations = 10000
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run_name = ''
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experiment_name = 'h1'
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@ -0,0 +1,124 @@
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from legged_gym.envs.base.legged_robot import LeggedRobot
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from isaacgym.torch_utils import *
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from isaacgym import gymtorch, gymapi, gymutil
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import torch
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class H1Robot(LeggedRobot):
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def _get_noise_scale_vec(self, cfg):
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""" Sets a vector used to scale the noise added to the observations.
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[NOTE]: Must be adapted when changing the observations structure
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Args:
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cfg (Dict): Environment config file
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Returns:
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[torch.Tensor]: Vector of scales used to multiply a uniform distribution in [-1, 1]
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"""
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noise_vec = torch.zeros_like(self.obs_buf[0])
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self.add_noise = self.cfg.noise.add_noise
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noise_scales = self.cfg.noise.noise_scales
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noise_level = self.cfg.noise.noise_level
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noise_vec[:3] = noise_scales.ang_vel * noise_level * self.obs_scales.ang_vel
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noise_vec[3:6] = noise_scales.gravity * noise_level
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noise_vec[6:9] = 0. # commands
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noise_vec[9:9+self.num_actions] = noise_scales.dof_pos * noise_level * self.obs_scales.dof_pos
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noise_vec[9+self.num_actions:9+2*self.num_actions] = noise_scales.dof_vel * noise_level * self.obs_scales.dof_vel
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noise_vec[9+2*self.num_actions:9+3*self.num_actions] = 0. # previous actions
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noise_vec[9+3*self.num_actions:9+3*self.num_actions+2] = 0. # sin/cos phase
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return noise_vec
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|
||||
def _init_foot(self):
|
||||
self.feet_num = len(self.feet_indices)
|
||||
|
||||
rigid_body_state = self.gym.acquire_rigid_body_state_tensor(self.sim)
|
||||
self.rigid_body_states = gymtorch.wrap_tensor(rigid_body_state)
|
||||
self.rigid_body_states_view = self.rigid_body_states.view(self.num_envs, -1, 13)
|
||||
self.feet_state = self.rigid_body_states_view[:, self.feet_indices, :]
|
||||
self.feet_pos = self.feet_state[:, :, :3]
|
||||
self.feet_vel = self.feet_state[:, :, 7:10]
|
||||
|
||||
def _init_buffers(self):
|
||||
super()._init_buffers()
|
||||
self._init_foot()
|
||||
|
||||
def update_feet_state(self):
|
||||
self.gym.refresh_rigid_body_state_tensor(self.sim)
|
||||
|
||||
self.feet_state = self.rigid_body_states_view[:, self.feet_indices, :]
|
||||
self.feet_pos = self.feet_state[:, :, :3]
|
||||
self.feet_vel = self.feet_state[:, :, 7:10]
|
||||
|
||||
def _post_physics_step_callback(self):
|
||||
self.update_feet_state()
|
||||
|
||||
period = 0.8
|
||||
offset = 0.5
|
||||
self.phase = (self.episode_length_buf * self.dt) % period / period
|
||||
self.phase_left = self.phase
|
||||
self.phase_right = (self.phase + offset) % 1
|
||||
self.leg_phase = torch.cat([self.phase_left.unsqueeze(1), self.phase_right.unsqueeze(1)], dim=-1)
|
||||
|
||||
return super()._post_physics_step_callback()
|
||||
|
||||
|
||||
def compute_observations(self):
|
||||
""" Computes observations
|
||||
"""
|
||||
sin_phase = torch.sin(2 * np.pi * self.phase ).unsqueeze(1)
|
||||
cos_phase = torch.cos(2 * np.pi * self.phase ).unsqueeze(1)
|
||||
self.obs_buf = torch.cat(( self.base_ang_vel * self.obs_scales.ang_vel,
|
||||
self.projected_gravity,
|
||||
self.commands[:, :3] * self.commands_scale,
|
||||
(self.dof_pos - self.default_dof_pos) * self.obs_scales.dof_pos,
|
||||
self.dof_vel * self.obs_scales.dof_vel,
|
||||
self.actions,
|
||||
sin_phase,
|
||||
cos_phase
|
||||
),dim=-1)
|
||||
self.privileged_obs_buf = torch.cat(( self.base_lin_vel * self.obs_scales.lin_vel,
|
||||
self.base_ang_vel * self.obs_scales.ang_vel,
|
||||
self.projected_gravity,
|
||||
self.commands[:, :3] * self.commands_scale,
|
||||
(self.dof_pos - self.default_dof_pos) * self.obs_scales.dof_pos,
|
||||
self.dof_vel * self.obs_scales.dof_vel,
|
||||
self.actions,
|
||||
sin_phase,
|
||||
cos_phase
|
||||
),dim=-1)
|
||||
# add perceptive inputs if not blind
|
||||
# add noise if needed
|
||||
if self.add_noise:
|
||||
self.obs_buf += (2 * torch.rand_like(self.obs_buf) - 1) * self.noise_scale_vec
|
||||
|
||||
|
||||
def _reward_contact(self):
|
||||
res = torch.zeros(self.num_envs, dtype=torch.float, device=self.device)
|
||||
for i in range(self.feet_num):
|
||||
is_stance = self.leg_phase[:, i] < 0.55
|
||||
contact = self.contact_forces[:, self.feet_indices[i], 2] > 1
|
||||
res += ~(contact ^ is_stance)
|
||||
return res
|
||||
|
||||
def _reward_feet_swing_height(self):
|
||||
contact = torch.norm(self.contact_forces[:, self.feet_indices, :3], dim=2) > 1.
|
||||
pos_error = torch.square(self.feet_pos[:, :, 2] - 0.08) * ~contact
|
||||
return torch.sum(pos_error, dim=(1))
|
||||
|
||||
def _reward_alive(self):
|
||||
# Reward for staying alive
|
||||
return 1.0
|
||||
|
||||
def _reward_contact_no_vel(self):
|
||||
# Penalize contact with no velocity
|
||||
contact = torch.norm(self.contact_forces[:, self.feet_indices, :3], dim=2) > 1.
|
||||
contact_feet_vel = self.feet_vel * contact.unsqueeze(-1)
|
||||
penalize = torch.square(contact_feet_vel[:, :, :3])
|
||||
return torch.sum(penalize, dim=(1,2))
|
||||
|
||||
def _reward_hip_pos(self):
|
||||
return torch.sum(torch.square(self.dof_pos[:,[0,1,5,6]]), dim=1)
|
||||
|
||||
|
|
@ -4,20 +4,20 @@ from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobot
|
|||
class H1_2RoughCfg(LeggedRobotCfg):
|
||||
|
||||
class init_state(LeggedRobotCfg.init_state):
|
||||
pos = [0.0, 0.0, 1.0] # x,y,z [m]
|
||||
pos = [0.0, 0.0, 1.05] # 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_hip_pitch_joint': -0.16,
|
||||
'left_knee_joint': 0.36,
|
||||
'left_ankle_pitch_joint': -0.2,
|
||||
'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_hip_pitch_joint': -0.16,
|
||||
'right_knee_joint': 0.36,
|
||||
'right_ankle_pitch_joint': -0.2,
|
||||
'right_ankle_roll_joint': 0.0,
|
||||
|
||||
'torso_joint': 0,
|
||||
|
|
@ -34,9 +34,11 @@ class H1_2RoughCfg(LeggedRobotCfg):
|
|||
}
|
||||
|
||||
class env(LeggedRobotCfg.env):
|
||||
num_actions = 21
|
||||
num_observations = 12 + num_actions * 3
|
||||
num_envs = 8192
|
||||
# 3 + 3 + 3 + 12 + 12 + 12 + 2 = 47
|
||||
num_observations = 47
|
||||
num_privileged_obs = 50
|
||||
num_actions = 12
|
||||
|
||||
|
||||
class control(LeggedRobotCfg.control):
|
||||
# PD Drive parameters:
|
||||
|
|
@ -47,74 +49,82 @@ class H1_2RoughCfg(LeggedRobotCfg):
|
|||
'hip_roll_joint': 200.,
|
||||
'hip_pitch_joint': 200.,
|
||||
'knee_joint': 300.,
|
||||
'ankle_pitch_joint': 60.,
|
||||
'ankle_pitch_joint': 40.,
|
||||
'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,
|
||||
'hip_yaw_joint': 2.5,
|
||||
'hip_roll_joint': 2.5,
|
||||
'hip_pitch_joint': 2.5,
|
||||
'knee_joint': 4,
|
||||
'ankle_pitch_joint': 2.0,
|
||||
'ankle_roll_joint': 2.0,
|
||||
} # [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
|
||||
decimation = 8
|
||||
|
||||
class sim(LeggedRobotCfg.sim):
|
||||
dt = 0.002 # stablize semi-euler integration for end effectors
|
||||
dt = 0.0025
|
||||
|
||||
class domain_rand(LeggedRobotCfg.domain_rand):
|
||||
randomize_friction = True
|
||||
friction_range = [0.1, 1.25]
|
||||
randomize_base_mass = True
|
||||
added_mass_range = [-1., 3.]
|
||||
push_robots = True
|
||||
push_interval_s = 5
|
||||
max_push_vel_xy = 1.5
|
||||
|
||||
class asset(LeggedRobotCfg.asset):
|
||||
file = '{LEGGED_GYM_ROOT_DIR}/resources/robots/h1_2/h1_2_12dof.urdf'
|
||||
name = "h1_2"
|
||||
foot_name = "ankle_roll"
|
||||
penalize_contacts_on = ["hip", "knee"]
|
||||
terminate_after_contacts_on = ["pelvis"]
|
||||
self_collisions = 0 # 1 to disable, 0 to enable...bitwise filter
|
||||
flip_visual_attachments = False
|
||||
armature = 1e-3
|
||||
|
||||
class rewards(LeggedRobotCfg.rewards):
|
||||
soft_dof_pos_limit = 0.9
|
||||
base_height_target = 0.98
|
||||
base_height_target = 1.0
|
||||
|
||||
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
|
||||
lin_vel_z = -2.0
|
||||
ang_vel_xy = -0.05
|
||||
orientation = -1.0
|
||||
base_height = -10.0
|
||||
dof_acc = -3e-8
|
||||
feet_air_time = 1.0
|
||||
dof_acc = -2.5e-7
|
||||
dof_vel = -1e-3
|
||||
feet_air_time = 0.0
|
||||
collision = 0.0
|
||||
action_rate = -0.1
|
||||
dof_pos_limits = -10.0
|
||||
|
||||
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
|
||||
action_rate = -0.01
|
||||
dof_pos_limits = -5.0
|
||||
alive = 0.15
|
||||
hip_pos = -1.0
|
||||
contact_no_vel = -0.2
|
||||
feet_swing_height = -20.0
|
||||
contact = 0.18
|
||||
|
||||
|
||||
class H1_2RoughCfgPPO(LeggedRobotCfgPPO):
|
||||
|
||||
class policy(LeggedRobotCfgPPO.policy):
|
||||
init_noise_std = 0.3
|
||||
activation = 'tanh'
|
||||
|
||||
class runner(LeggedRobotCfgPPO.runner):
|
||||
class policy:
|
||||
init_noise_std = 0.8
|
||||
actor_hidden_dims = [32]
|
||||
critic_hidden_dims = [32]
|
||||
activation = 'elu' # can be elu, relu, selu, crelu, lrelu, tanh, sigmoid
|
||||
# only for 'ActorCriticRecurrent':
|
||||
rnn_type = 'lstm'
|
||||
rnn_hidden_size = 64
|
||||
rnn_num_layers = 1
|
||||
class algorithm( LeggedRobotCfgPPO.algorithm ):
|
||||
entropy_coef = 0.01
|
||||
class runner( LeggedRobotCfgPPO.runner ):
|
||||
policy_class_name = "ActorCriticRecurrent"
|
||||
max_iterations = 10000
|
||||
run_name = ''
|
||||
experiment_name = 'h1_2'
|
||||
experiment_name = 'h1_2'
|
||||
|
|
@ -0,0 +1,124 @@
|
|||
|
||||
from legged_gym.envs.base.legged_robot import LeggedRobot
|
||||
|
||||
from isaacgym.torch_utils import *
|
||||
from isaacgym import gymtorch, gymapi, gymutil
|
||||
import torch
|
||||
|
||||
class H1_2Robot(LeggedRobot):
|
||||
|
||||
def _get_noise_scale_vec(self, cfg):
|
||||
""" Sets a vector used to scale the noise added to the observations.
|
||||
[NOTE]: Must be adapted when changing the observations structure
|
||||
|
||||
Args:
|
||||
cfg (Dict): Environment config file
|
||||
|
||||
Returns:
|
||||
[torch.Tensor]: Vector of scales used to multiply a uniform distribution in [-1, 1]
|
||||
"""
|
||||
noise_vec = torch.zeros_like(self.obs_buf[0])
|
||||
self.add_noise = self.cfg.noise.add_noise
|
||||
noise_scales = self.cfg.noise.noise_scales
|
||||
noise_level = self.cfg.noise.noise_level
|
||||
noise_vec[:3] = noise_scales.ang_vel * noise_level * self.obs_scales.ang_vel
|
||||
noise_vec[3:6] = noise_scales.gravity * noise_level
|
||||
noise_vec[6:9] = 0. # commands
|
||||
noise_vec[9:9+self.num_actions] = noise_scales.dof_pos * noise_level * self.obs_scales.dof_pos
|
||||
noise_vec[9+self.num_actions:9+2*self.num_actions] = noise_scales.dof_vel * noise_level * self.obs_scales.dof_vel
|
||||
noise_vec[9+2*self.num_actions:9+3*self.num_actions] = 0. # previous actions
|
||||
noise_vec[9+3*self.num_actions:9+3*self.num_actions+2] = 0. # sin/cos phase
|
||||
|
||||
return noise_vec
|
||||
|
||||
def _init_foot(self):
|
||||
self.feet_num = len(self.feet_indices)
|
||||
|
||||
rigid_body_state = self.gym.acquire_rigid_body_state_tensor(self.sim)
|
||||
self.rigid_body_states = gymtorch.wrap_tensor(rigid_body_state)
|
||||
self.rigid_body_states_view = self.rigid_body_states.view(self.num_envs, -1, 13)
|
||||
self.feet_state = self.rigid_body_states_view[:, self.feet_indices, :]
|
||||
self.feet_pos = self.feet_state[:, :, :3]
|
||||
self.feet_vel = self.feet_state[:, :, 7:10]
|
||||
|
||||
def _init_buffers(self):
|
||||
super()._init_buffers()
|
||||
self._init_foot()
|
||||
|
||||
def update_feet_state(self):
|
||||
self.gym.refresh_rigid_body_state_tensor(self.sim)
|
||||
|
||||
self.feet_state = self.rigid_body_states_view[:, self.feet_indices, :]
|
||||
self.feet_pos = self.feet_state[:, :, :3]
|
||||
self.feet_vel = self.feet_state[:, :, 7:10]
|
||||
|
||||
def _post_physics_step_callback(self):
|
||||
self.update_feet_state()
|
||||
|
||||
period = 0.8
|
||||
offset = 0.5
|
||||
self.phase = (self.episode_length_buf * self.dt) % period / period
|
||||
self.phase_left = self.phase
|
||||
self.phase_right = (self.phase + offset) % 1
|
||||
self.leg_phase = torch.cat([self.phase_left.unsqueeze(1), self.phase_right.unsqueeze(1)], dim=-1)
|
||||
|
||||
return super()._post_physics_step_callback()
|
||||
|
||||
|
||||
def compute_observations(self):
|
||||
""" Computes observations
|
||||
"""
|
||||
sin_phase = torch.sin(2 * np.pi * self.phase ).unsqueeze(1)
|
||||
cos_phase = torch.cos(2 * np.pi * self.phase ).unsqueeze(1)
|
||||
self.obs_buf = torch.cat(( self.base_ang_vel * self.obs_scales.ang_vel,
|
||||
self.projected_gravity,
|
||||
self.commands[:, :3] * self.commands_scale,
|
||||
(self.dof_pos - self.default_dof_pos) * self.obs_scales.dof_pos,
|
||||
self.dof_vel * self.obs_scales.dof_vel,
|
||||
self.actions,
|
||||
sin_phase,
|
||||
cos_phase
|
||||
),dim=-1)
|
||||
self.privileged_obs_buf = torch.cat(( self.base_lin_vel * self.obs_scales.lin_vel,
|
||||
self.base_ang_vel * self.obs_scales.ang_vel,
|
||||
self.projected_gravity,
|
||||
self.commands[:, :3] * self.commands_scale,
|
||||
(self.dof_pos - self.default_dof_pos) * self.obs_scales.dof_pos,
|
||||
self.dof_vel * self.obs_scales.dof_vel,
|
||||
self.actions,
|
||||
sin_phase,
|
||||
cos_phase
|
||||
),dim=-1)
|
||||
# add perceptive inputs if not blind
|
||||
# add noise if needed
|
||||
if self.add_noise:
|
||||
self.obs_buf += (2 * torch.rand_like(self.obs_buf) - 1) * self.noise_scale_vec
|
||||
|
||||
|
||||
def _reward_contact(self):
|
||||
res = torch.zeros(self.num_envs, dtype=torch.float, device=self.device)
|
||||
for i in range(self.feet_num):
|
||||
is_stance = self.leg_phase[:, i] < 0.55
|
||||
contact = self.contact_forces[:, self.feet_indices[i], 2] > 1
|
||||
res += ~(contact ^ is_stance)
|
||||
return res
|
||||
|
||||
def _reward_feet_swing_height(self):
|
||||
contact = torch.norm(self.contact_forces[:, self.feet_indices, :3], dim=2) > 1.
|
||||
pos_error = torch.square(self.feet_pos[:, :, 2] - 0.08) * ~contact
|
||||
return torch.sum(pos_error, dim=(1))
|
||||
|
||||
def _reward_alive(self):
|
||||
# Reward for staying alive
|
||||
return 1.0
|
||||
|
||||
def _reward_contact_no_vel(self):
|
||||
# Penalize contact with no velocity
|
||||
contact = torch.norm(self.contact_forces[:, self.feet_indices, :3], dim=2) > 1.
|
||||
contact_feet_vel = self.feet_vel * contact.unsqueeze(-1)
|
||||
penalize = torch.square(contact_feet_vel[:, :, :3])
|
||||
return torch.sum(penalize, dim=(1,2))
|
||||
|
||||
def _reward_hip_pos(self):
|
||||
return torch.sum(torch.square(self.dof_pos[:,[0,2,6,8]]), dim=1)
|
||||
|
||||
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|
|
@ -0,0 +1,30 @@
|
|||
# Unitree G1 Description (URDF & MJCF)
|
||||
|
||||
## Overview
|
||||
|
||||
This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/).
|
||||
|
||||
MJCF/URDF for the G1 robot:
|
||||
|
||||
| MJCF/URDF file name | `mode_machine` | Hip roll reduction ratio | Update status | dof#leg | dof#waist | dof#arm | dof#hand |
|
||||
| ----------------------------- | :------------: | :----------------------: | ------------- | :-----: | :-------: | :-----: | :------: |
|
||||
| `g1_23dof` | 1 | 14.5 | Beta | 6*2 | 1 | 5*2 | 0 |
|
||||
| `g1_29dof` | 2 | 14.5 | Beta | 6*2 | 3 | 7*2 | 0 |
|
||||
| `g1_29dof_with_hand` | 2 | 14.5 | Beta | 6*2 | 3 | 7*2 | 7*2 |
|
||||
| `g1_29dof_lock_waist` | 3 | 14.5 | Beta | 6*2 | 1 | 7*2 | 0 |
|
||||
| `g1_23dof_rev_1_0` | 4 | 22.5 | Up-to-date | 6*2 | 1 | 5*2 | 0 |
|
||||
| `g1_29dof_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 0 |
|
||||
| `g1_29dof_with_hand_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 7*2 |
|
||||
| `g1_29dof_lock_waist_rev_1_0` | 6 | 22.5 | Up-to-date | 6*2 | 1 | 7*2 | 0 |
|
||||
| `g1_dual_arm` | 9 | null | Up-to-date | 0 | 0 | 7*2 | 0 |
|
||||
|
||||
## 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/URDF model file (`g1_XXX.xml`/`g1_XXX.urdf`) to the MuJoCo Viewer.
|
||||
|
|
@ -0,0 +1,854 @@
|
|||
<robot name="g1_12dof">
|
||||
<mujoco>
|
||||
<compiler meshdir="meshes" discardvisual="false"/>
|
||||
</mujoco>
|
||||
|
||||
<!-- [CAUTION] uncomment when convert to mujoco -->
|
||||
<!-- <link name="world"></link>
|
||||
<joint name="floating_base_joint" type="floating">
|
||||
<parent link="world"/>
|
||||
<child link="pelvis"/>
|
||||
</joint> -->
|
||||
|
||||
<link name="pelvis">
|
||||
<inertial>
|
||||
<origin xyz="0 0 -0.07605" rpy="0 0 0"/>
|
||||
<mass value="3.813"/>
|
||||
<inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pelvis.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="pelvis_contour_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.001"/>
|
||||
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pelvis_contour_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pelvis_contour_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="pelvis_contour_joint" type="fixed">
|
||||
<parent link="pelvis"/>
|
||||
<child link="pelvis_contour_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- Legs -->
|
||||
<link name="left_hip_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0"/>
|
||||
<mass value="1.35"/>
|
||||
<inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hip_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hip_pitch_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_hip_pitch_joint" type="revolute">
|
||||
<origin xyz="0 0.064452 -0.1027" rpy="0 0 0"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="left_hip_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
|
||||
</joint>
|
||||
<link name="left_hip_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0"/>
|
||||
<mass value="1.52"/>
|
||||
<inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hip_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hip_roll_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_hip_roll_joint" type="revolute">
|
||||
<origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0"/>
|
||||
<parent link="left_hip_pitch_link"/>
|
||||
<child link="left_hip_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-0.5236" upper="2.9671" effort="139" velocity="20"/>
|
||||
</joint>
|
||||
<link name="left_hip_yaw_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0"/>
|
||||
<mass value="1.702"/>
|
||||
<inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hip_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hip_yaw_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_hip_yaw_joint" type="revolute">
|
||||
<origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
|
||||
<parent link="left_hip_roll_link"/>
|
||||
<child link="left_hip_yaw_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
|
||||
</joint>
|
||||
<link name="left_knee_link">
|
||||
<inertial>
|
||||
<origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0"/>
|
||||
<mass value="1.932"/>
|
||||
<inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_knee_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_knee_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_knee_joint" type="revolute">
|
||||
<origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0"/>
|
||||
<parent link="left_hip_yaw_link"/>
|
||||
<child link="left_knee_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
|
||||
</joint>
|
||||
<link name="left_ankle_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
|
||||
<mass value="0.074"/>
|
||||
<inertia ixx="0.01" ixy="0" ixz="-2.9E-06" iyy="0.01" iyz="0" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_ankle_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_ankle_pitch_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_ankle_pitch_joint" type="revolute">
|
||||
<origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0"/>
|
||||
<parent link="left_knee_link"/>
|
||||
<child link="left_ankle_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
|
||||
</joint>
|
||||
<link name="left_ankle_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
|
||||
<mass value="0.608"/>
|
||||
<inertia ixx="0.01" ixy="2E-07" ixz="8.91E-05" iyy="0.01" iyz="-1E-07" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_ankle_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_ankle_roll_joint" type="revolute">
|
||||
<origin xyz="0 0 -0.017558" rpy="0 0 0"/>
|
||||
<parent link="left_ankle_pitch_link"/>
|
||||
<child link="left_ankle_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_hip_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0"/>
|
||||
<mass value="1.35"/>
|
||||
<inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hip_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hip_pitch_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_hip_pitch_joint" type="revolute">
|
||||
<origin xyz="0 -0.064452 -0.1027" rpy="0 0 0"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="right_hip_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
|
||||
</joint>
|
||||
<link name="right_hip_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0"/>
|
||||
<mass value="1.52"/>
|
||||
<inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hip_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hip_roll_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_hip_roll_joint" type="revolute">
|
||||
<origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0"/>
|
||||
<parent link="right_hip_pitch_link"/>
|
||||
<child link="right_hip_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-2.9671" upper="0.5236" effort="139" velocity="20"/>
|
||||
</joint>
|
||||
<link name="right_hip_yaw_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0"/>
|
||||
<mass value="1.702"/>
|
||||
<inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hip_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hip_yaw_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_hip_yaw_joint" type="revolute">
|
||||
<origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
|
||||
<parent link="right_hip_roll_link"/>
|
||||
<child link="right_hip_yaw_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
|
||||
</joint>
|
||||
<link name="right_knee_link">
|
||||
<inertial>
|
||||
<origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0"/>
|
||||
<mass value="1.932"/>
|
||||
<inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_knee_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_knee_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_knee_joint" type="revolute">
|
||||
<origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0"/>
|
||||
<parent link="right_hip_yaw_link"/>
|
||||
<child link="right_knee_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
|
||||
</joint>
|
||||
<link name="right_ankle_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
|
||||
<mass value="0.074"/>
|
||||
<inertia ixx="0.01" ixy="0" ixz="-2.9E-06" iyy="0.01" iyz="0" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_ankle_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_ankle_pitch_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_ankle_pitch_joint" type="revolute">
|
||||
<origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0"/>
|
||||
<parent link="right_knee_link"/>
|
||||
<child link="right_ankle_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_ankle_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
|
||||
<mass value="0.608"/>
|
||||
<inertia ixx="0.01" ixy="-2E-07" ixz="8.91E-05" iyy="0.01" iyz="1E-07" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_ankle_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_ankle_roll_joint" type="revolute">
|
||||
<origin xyz="0 0 -0.017558" rpy="0 0 0"/>
|
||||
<parent link="right_ankle_pitch_link"/>
|
||||
<child link="right_ankle_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
|
||||
</joint>
|
||||
|
||||
<!-- Torso -->
|
||||
<joint name="waist_yaw_joint" type="fixed">
|
||||
<origin xyz="-0.0039635 0 0.044" rpy="0 0 0"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="torso_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.618" upper="2.618" effort="88" velocity="32"/>
|
||||
</joint>
|
||||
<link name="torso_link">
|
||||
<inertial>
|
||||
<origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0"/>
|
||||
<mass value="6.78"/>
|
||||
<inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/torso_link_23dof_rev_1_0.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/torso_link_23dof_rev_1_0.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- LOGO -->
|
||||
<joint name="logo_joint" type="fixed">
|
||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="logo_link"/>
|
||||
</joint>
|
||||
<link name="logo_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.001"/>
|
||||
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/logo_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/logo_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- Head -->
|
||||
<link name="head_link">
|
||||
<inertial>
|
||||
<origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0"/>
|
||||
<mass value="1.036"/>
|
||||
<inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/head_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/head_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="head_joint" type="fixed">
|
||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="head_link"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<!-- IMU -->
|
||||
<link name="imu_in_torso"></link>
|
||||
<joint name="imu_in_torso_joint" type="fixed">
|
||||
<origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="imu_in_torso"/>
|
||||
</joint>
|
||||
|
||||
<link name="imu_in_pelvis"></link>
|
||||
<joint name="imu_in_pelvis_joint" type="fixed">
|
||||
<origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="imu_in_pelvis"/>
|
||||
</joint>
|
||||
|
||||
<!-- d435 -->
|
||||
<link name="d435_link"></link>
|
||||
<joint name="d435_joint" type="fixed">
|
||||
<origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="d435_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- mid360 -->
|
||||
<link name="mid360_link"></link>
|
||||
<joint name="mid360_joint" type="fixed">
|
||||
<origin xyz="0.0002835 0.00003 0.41618" rpy="0 0.04014257279586953 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="mid360_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- Arm -->
|
||||
<link name="left_shoulder_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0.035892 -0.011628" rpy="0 0 0"/>
|
||||
<mass value="0.718"/>
|
||||
<inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_shoulder_pitch_joint" type="fixed">
|
||||
<origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="left_shoulder_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="left_shoulder_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0"/>
|
||||
<mass value="0.643"/>
|
||||
<inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_shoulder_roll_joint" type="fixed">
|
||||
<origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0"/>
|
||||
<parent link="left_shoulder_pitch_link"/>
|
||||
<child link="left_shoulder_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-1.5882" upper="2.2515" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="left_shoulder_yaw_link">
|
||||
<inertial>
|
||||
<origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0"/>
|
||||
<mass value="0.734"/>
|
||||
<inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_shoulder_yaw_joint" type="fixed">
|
||||
<origin xyz="0 0.00624 -0.1032" rpy="0 0 0"/>
|
||||
<parent link="left_shoulder_roll_link"/>
|
||||
<child link="left_shoulder_yaw_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="left_elbow_link">
|
||||
<inertial>
|
||||
<origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0"/>
|
||||
<mass value="0.6"/>
|
||||
<inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_elbow_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_elbow_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_elbow_joint" type="fixed">
|
||||
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
||||
<parent link="left_shoulder_yaw_link"/>
|
||||
<child link="left_elbow_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<joint name="left_wrist_roll_joint" type="fixed">
|
||||
<origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="left_elbow_link"/>
|
||||
<child link="left_wrist_roll_rubber_hand"/>
|
||||
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
||||
</joint>
|
||||
<link name="left_wrist_roll_rubber_hand">
|
||||
<inertial>
|
||||
<origin xyz="0.10794656650 0.00163511945 0.00202244863" rpy="0 0 0"/>
|
||||
<mass value="0.35692864"/>
|
||||
<inertia ixx="0.00019613494735" ixy="-0.00000419816908" ixz="-0.00003950860580" iyy="0.00200280358206" iyz="0.00000249774203" izz="0.00194181412808"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_wrist_roll_rubber_hand.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_wrist_roll_rubber_hand.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_shoulder_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="0 -0.035892 -0.011628" rpy="0 0 0"/>
|
||||
<mass value="0.718"/>
|
||||
<inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_shoulder_pitch_joint" type="fixed">
|
||||
<origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="right_shoulder_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_shoulder_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0"/>
|
||||
<mass value="0.643"/>
|
||||
<inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_shoulder_roll_joint" type="fixed">
|
||||
<origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0"/>
|
||||
<parent link="right_shoulder_pitch_link"/>
|
||||
<child link="right_shoulder_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-2.2515" upper="1.5882" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_shoulder_yaw_link">
|
||||
<inertial>
|
||||
<origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0"/>
|
||||
<mass value="0.734"/>
|
||||
<inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_shoulder_yaw_joint" type="fixed">
|
||||
<origin xyz="0 -0.00624 -0.1032" rpy="0 0 0"/>
|
||||
<parent link="right_shoulder_roll_link"/>
|
||||
<child link="right_shoulder_yaw_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_elbow_link">
|
||||
<inertial>
|
||||
<origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0"/>
|
||||
<mass value="0.6"/>
|
||||
<inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_elbow_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_elbow_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_elbow_joint" type="fixed">
|
||||
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
||||
<parent link="right_shoulder_yaw_link"/>
|
||||
<child link="right_elbow_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<joint name="right_wrist_roll_joint" type="fixed">
|
||||
<origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="right_elbow_link"/>
|
||||
<child link="right_wrist_roll_rubber_hand"/>
|
||||
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
||||
</joint>
|
||||
<link name="right_wrist_roll_rubber_hand">
|
||||
<inertial>
|
||||
<origin xyz="0.10794656650 -0.00163511945 0.00202244863" rpy="0 0 0"/>
|
||||
<mass value="0.35692864"/>
|
||||
<inertia ixx="0.00019613494735" ixy="0.00000419816908" ixz="-0.00003950860580" iyy="0.00200280358206" iyz="-0.00000249774203" izz="0.00194181412808"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_wrist_roll_rubber_hand.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_wrist_roll_rubber_hand.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,166 @@
|
|||
<mujoco model="g1_12dof">
|
||||
<compiler angle="radian" meshdir="meshes/"/>
|
||||
|
||||
<statistic meansize="0.144785" extent="1.23314" center="0.025392 2.0634e-05 -0.245975"/>
|
||||
<default>
|
||||
<joint damping="0.001" armature="0.01" frictionloss="0.1"/>
|
||||
</default>
|
||||
|
||||
<asset>
|
||||
<mesh name="pelvis" file="pelvis.STL"/>
|
||||
<mesh name="pelvis_contour_link" file="pelvis_contour_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_hip_yaw_link" file="left_hip_yaw_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_pitch_link" file="right_hip_pitch_link.STL"/>
|
||||
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
||||
<mesh name="right_hip_yaw_link" file="right_hip_yaw_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_23dof_rev_1_0" file="torso_link_23dof_rev_1_0.STL"/>
|
||||
<mesh name="logo_link" file="logo_link.STL"/>
|
||||
<mesh name="head_link" file="head_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_link" file="left_elbow_link.STL"/>
|
||||
<mesh name="left_wrist_roll_rubber_hand" file="left_wrist_roll_rubber_hand.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_link" file="right_elbow_link.STL"/>
|
||||
<mesh name="right_wrist_roll_rubber_hand" file="right_wrist_roll_rubber_hand.STL"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<body name="pelvis" pos="0 0 0.793">
|
||||
<inertial pos="0.0144905 0.000151462 0.144068" quat="0.999881 -0.000505543 -0.0154276 0.000328408" mass="17.7349" diaginertia="0.552723 0.454092 0.211762"/>
|
||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link_23dof_rev_1_0"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link_23dof_rev_1_0"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<geom pos="-7.2e-06 0.10022 0.29178" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="7.72569e-07 0.141427 0.293195" quat="0.700213 0.0985001 0.700232 0.0983605" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<geom pos="3.73942e-07 0.14056 0.288961" quat="1 3.00026e-05 2.74716e-05 -9.57958e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.00400139 0.146564 0.235962" quat="1 3.00026e-05 2.74716e-05 -9.57958e-05" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<geom pos="-4.10007e-06 0.146807 0.185762" quat="1 3.00026e-05 2.74716e-05 -9.57958e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<geom pos="-4.10007e-06 0.146807 0.185762" quat="1 3.00026e-05 2.74716e-05 -9.57958e-05" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<geom pos="0.0157745 0.146808 0.105243" quat="1 3.00026e-05 2.74716e-05 -9.57958e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<geom pos="0.0157745 0.146808 0.105243" quat="1 3.00026e-05 2.74716e-05 -9.57958e-05" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<geom pos="0.115774 0.148678 0.0952374" quat="1 3.00026e-05 2.74716e-05 -9.57958e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_rubber_hand"/>
|
||||
<geom pos="0.115774 0.148678 0.0952374" quat="1 3.00026e-05 2.74716e-05 -9.57958e-05" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_rubber_hand"/>
|
||||
<geom pos="-7.2e-06 -0.10021 0.29178" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="7.72569e-07 -0.141417 0.293195" quat="0.700213 -0.0985001 0.700232 -0.0983605" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<geom pos="3.73942e-07 -0.14055 0.288961" quat="1 -3.00026e-05 2.74716e-05 9.57958e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.00400139 -0.146554 0.235962" quat="1 -3.00026e-05 2.74716e-05 9.57958e-05" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<geom pos="-4.10007e-06 -0.146797 0.185762" quat="1 -3.00026e-05 2.74716e-05 9.57958e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<geom pos="-4.10007e-06 -0.146797 0.185762" quat="1 -3.00026e-05 2.74716e-05 9.57958e-05" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<geom pos="0.0157745 -0.146798 0.105243" quat="1 -3.00026e-05 2.74716e-05 9.57958e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<geom pos="0.0157745 -0.146798 0.105243" quat="1 -3.00026e-05 2.74716e-05 9.57958e-05" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<geom pos="0.115774 -0.148668 0.0952374" quat="1 -3.00026e-05 2.74716e-05 9.57958e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_rubber_hand"/>
|
||||
<geom pos="0.115774 -0.148668 0.0952374" quat="1 -3.00026e-05 2.74716e-05 9.57958e-05" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_rubber_hand"/>
|
||||
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
||||
<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
|
||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
||||
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
||||
<inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
|
||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
||||
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
||||
<inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
|
||||
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
||||
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
||||
<inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458"/>
|
||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
||||
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
||||
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
|
||||
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
||||
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
|
||||
<inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
|
||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
|
||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
||||
<inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
|
||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
||||
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
||||
<inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
|
||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
||||
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
||||
<inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
|
||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
||||
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
||||
<inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452"/>
|
||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
||||
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
||||
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
|
||||
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
||||
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
|
||||
<inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
|
||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
|
||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
|
|
@ -0,0 +1,903 @@
|
|||
<robot name="g1_23dof">
|
||||
<mujoco>
|
||||
<compiler meshdir="meshes" discardvisual="false"/>
|
||||
</mujoco>
|
||||
|
||||
<!-- [CAUTION] uncomment when convert to mujoco -->
|
||||
<!-- <link name="world"></link>
|
||||
<joint name="floating_base_joint" type="floating">
|
||||
<parent link="world"/>
|
||||
<child link="pelvis"/>
|
||||
</joint> -->
|
||||
|
||||
<link name="pelvis">
|
||||
<inertial>
|
||||
<origin xyz="0 0 -0.07605" rpy="0 0 0"/>
|
||||
<mass value="3.813"/>
|
||||
<inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pelvis.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="pelvis_contour_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.001"/>
|
||||
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pelvis_contour_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pelvis_contour_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="pelvis_contour_joint" type="fixed">
|
||||
<parent link="pelvis"/>
|
||||
<child link="pelvis_contour_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- Legs -->
|
||||
<link name="left_hip_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0"/>
|
||||
<mass value="1.35"/>
|
||||
<inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hip_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hip_pitch_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_hip_pitch_joint" type="revolute">
|
||||
<origin xyz="0 0.064452 -0.1027" rpy="0 0 0"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="left_hip_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
|
||||
</joint>
|
||||
<link name="left_hip_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0"/>
|
||||
<mass value="1.52"/>
|
||||
<inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hip_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hip_roll_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_hip_roll_joint" type="revolute">
|
||||
<origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0"/>
|
||||
<parent link="left_hip_pitch_link"/>
|
||||
<child link="left_hip_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-0.5236" upper="2.9671" effort="88" velocity="32"/>
|
||||
</joint>
|
||||
<link name="left_hip_yaw_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0"/>
|
||||
<mass value="1.702"/>
|
||||
<inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hip_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hip_yaw_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_hip_yaw_joint" type="revolute">
|
||||
<origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
|
||||
<parent link="left_hip_roll_link"/>
|
||||
<child link="left_hip_yaw_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
|
||||
</joint>
|
||||
<link name="left_knee_link">
|
||||
<inertial>
|
||||
<origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0"/>
|
||||
<mass value="1.932"/>
|
||||
<inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_knee_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_knee_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_knee_joint" type="revolute">
|
||||
<origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0"/>
|
||||
<parent link="left_hip_yaw_link"/>
|
||||
<child link="left_knee_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
|
||||
</joint>
|
||||
<link name="left_ankle_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
|
||||
<mass value="0.074"/>
|
||||
<inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_ankle_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_ankle_pitch_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_ankle_pitch_joint" type="revolute">
|
||||
<origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0"/>
|
||||
<parent link="left_knee_link"/>
|
||||
<child link="left_ankle_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
|
||||
</joint>
|
||||
<link name="left_ankle_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
|
||||
<mass value="0.608"/>
|
||||
<inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_ankle_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_ankle_roll_joint" type="revolute">
|
||||
<origin xyz="0 0 -0.017558" rpy="0 0 0"/>
|
||||
<parent link="left_ankle_pitch_link"/>
|
||||
<child link="left_ankle_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_hip_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0"/>
|
||||
<mass value="1.35"/>
|
||||
<inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hip_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hip_pitch_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_hip_pitch_joint" type="revolute">
|
||||
<origin xyz="0 -0.064452 -0.1027" rpy="0 0 0"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="right_hip_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
|
||||
</joint>
|
||||
<link name="right_hip_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0"/>
|
||||
<mass value="1.52"/>
|
||||
<inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hip_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hip_roll_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_hip_roll_joint" type="revolute">
|
||||
<origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0"/>
|
||||
<parent link="right_hip_pitch_link"/>
|
||||
<child link="right_hip_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-2.9671" upper="0.5236" effort="88" velocity="32"/>
|
||||
</joint>
|
||||
<link name="right_hip_yaw_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0"/>
|
||||
<mass value="1.702"/>
|
||||
<inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hip_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hip_yaw_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_hip_yaw_joint" type="revolute">
|
||||
<origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
|
||||
<parent link="right_hip_roll_link"/>
|
||||
<child link="right_hip_yaw_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
|
||||
</joint>
|
||||
<link name="right_knee_link">
|
||||
<inertial>
|
||||
<origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0"/>
|
||||
<mass value="1.932"/>
|
||||
<inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_knee_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_knee_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_knee_joint" type="revolute">
|
||||
<origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0"/>
|
||||
<parent link="right_hip_yaw_link"/>
|
||||
<child link="right_knee_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
|
||||
</joint>
|
||||
<link name="right_ankle_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
|
||||
<mass value="0.074"/>
|
||||
<inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_ankle_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_ankle_pitch_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_ankle_pitch_joint" type="revolute">
|
||||
<origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0"/>
|
||||
<parent link="right_knee_link"/>
|
||||
<child link="right_ankle_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_ankle_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
|
||||
<mass value="0.608"/>
|
||||
<inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_ankle_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_ankle_roll_joint" type="revolute">
|
||||
<origin xyz="0 0 -0.017558" rpy="0 0 0"/>
|
||||
<parent link="right_ankle_pitch_link"/>
|
||||
<child link="right_ankle_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
|
||||
</joint>
|
||||
|
||||
<!-- Torso -->
|
||||
<link name="waist_yaw_fixed_link">
|
||||
<inertial>
|
||||
<origin xyz="0.003964 0 0.018769" rpy="0 0 0"/>
|
||||
<mass value="0.244"/>
|
||||
<inertia ixx="9.9587E-05" ixy="-1.833E-06" ixz="-1.2617E-05" iyy="0.00012411" iyz="-1.18E-07" izz="0.00015586"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/waist_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="waist_yaw_fixed_joint" type="fixed">
|
||||
<origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="waist_yaw_fixed_link"/>
|
||||
</joint>
|
||||
<joint name="waist_yaw_joint" type="revolute">
|
||||
<origin xyz="-0.0039635 0 0.054" rpy="0 0 0"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="torso_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.618" upper="2.618" effort="88" velocity="32"/>
|
||||
</joint>
|
||||
<link name="torso_link">
|
||||
<inertial>
|
||||
<origin xyz="0.002601 0.000257 0.153719" rpy="0 0 0"/>
|
||||
<mass value="8.562"/>
|
||||
<inertia ixx="0.065674966" ixy="-8.597E-05" ixz="-0.001737252" iyy="0.053535188" iyz="8.6899E-05" izz="0.030808125"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/torso_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/torso_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- LOGO -->
|
||||
<joint name="logo_joint" type="fixed">
|
||||
<origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="logo_link"/>
|
||||
</joint>
|
||||
<link name="logo_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.001"/>
|
||||
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/logo_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/logo_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- Head -->
|
||||
<link name="head_link">
|
||||
<inertial>
|
||||
<origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0"/>
|
||||
<mass value="1.036"/>
|
||||
<inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/head_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/head_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="head_joint" type="fixed">
|
||||
<origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="head_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- Waist Support -->
|
||||
<link name="waist_support_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.001"/>
|
||||
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/waist_support_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/waist_support_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="waist_support_joint" type="fixed">
|
||||
<origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="waist_support_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- IMU -->
|
||||
<link name="imu_in_torso"></link>
|
||||
<joint name="imu_in_torso_joint" type="fixed">
|
||||
<origin xyz="-0.03959 -0.00224 0.13792" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="imu_in_torso"/>
|
||||
</joint>
|
||||
|
||||
<link name="imu_in_pelvis"></link>
|
||||
<joint name="imu_in_pelvis_joint" type="fixed">
|
||||
<origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="imu_in_pelvis"/>
|
||||
</joint>
|
||||
|
||||
<!-- d435 -->
|
||||
<link name="d435_link"></link>
|
||||
<joint name="d435_joint" type="fixed">
|
||||
<origin xyz="0.0576235 0.01753 0.41987" rpy="0 0.8307767239493009 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="d435_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- mid360 -->
|
||||
<link name="mid360_link"></link>
|
||||
<joint name="mid360_joint" type="fixed">
|
||||
<origin xyz="0.0002835 0.00003 0.40618" rpy="0 0.04014257279586953 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="mid360_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- Arm -->
|
||||
<link name="left_shoulder_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0.035892 -0.011628" rpy="0 0 0"/>
|
||||
<mass value="0.718"/>
|
||||
<inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_shoulder_pitch_joint" type="revolute">
|
||||
<origin xyz="0.0039563 0.10022 0.23778" rpy="0.27931 5.4949E-05 -0.00019159"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="left_shoulder_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="left_shoulder_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0"/>
|
||||
<mass value="0.643"/>
|
||||
<inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_shoulder_roll_joint" type="revolute">
|
||||
<origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0"/>
|
||||
<parent link="left_shoulder_pitch_link"/>
|
||||
<child link="left_shoulder_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-1.5882" upper="2.2515" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="left_shoulder_yaw_link">
|
||||
<inertial>
|
||||
<origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0"/>
|
||||
<mass value="0.734"/>
|
||||
<inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_shoulder_yaw_joint" type="revolute">
|
||||
<origin xyz="0 0.00624 -0.1032" rpy="0 0 0"/>
|
||||
<parent link="left_shoulder_roll_link"/>
|
||||
<child link="left_shoulder_yaw_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="left_elbow_link">
|
||||
<inertial>
|
||||
<origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0"/>
|
||||
<mass value="0.6"/>
|
||||
<inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_elbow_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_elbow_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_elbow_joint" type="revolute">
|
||||
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
||||
<parent link="left_shoulder_yaw_link"/>
|
||||
<child link="left_elbow_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<joint name="left_wrist_roll_joint" type="revolute">
|
||||
<origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="left_elbow_link"/>
|
||||
<child link="left_wrist_roll_rubber_hand"/>
|
||||
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
||||
</joint>
|
||||
<link name="left_wrist_roll_rubber_hand">
|
||||
<inertial>
|
||||
<origin xyz="0.10794656650 0.00163511945 0.00202244863" rpy="0 0 0"/>
|
||||
<mass value="0.35692864"/>
|
||||
<inertia ixx="0.00019613494735" ixy="-0.00000419816908" ixz="-0.00003950860580" iyy="0.00200280358206" iyz="0.00000249774203" izz="0.00194181412808"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_wrist_roll_rubber_hand.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_wrist_roll_rubber_hand.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_shoulder_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="0 -0.035892 -0.011628" rpy="0 0 0"/>
|
||||
<mass value="0.718"/>
|
||||
<inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_shoulder_pitch_joint" type="revolute">
|
||||
<origin xyz="0.0039563 -0.10021 0.23778" rpy="-0.27931 5.4949E-05 0.00019159"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="right_shoulder_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_shoulder_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0"/>
|
||||
<mass value="0.643"/>
|
||||
<inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_shoulder_roll_joint" type="revolute">
|
||||
<origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0"/>
|
||||
<parent link="right_shoulder_pitch_link"/>
|
||||
<child link="right_shoulder_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-2.2515" upper="1.5882" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_shoulder_yaw_link">
|
||||
<inertial>
|
||||
<origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0"/>
|
||||
<mass value="0.734"/>
|
||||
<inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_shoulder_yaw_joint" type="revolute">
|
||||
<origin xyz="0 -0.00624 -0.1032" rpy="0 0 0"/>
|
||||
<parent link="right_shoulder_roll_link"/>
|
||||
<child link="right_shoulder_yaw_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_elbow_link">
|
||||
<inertial>
|
||||
<origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0"/>
|
||||
<mass value="0.6"/>
|
||||
<inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_elbow_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_elbow_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_elbow_joint" type="revolute">
|
||||
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
||||
<parent link="right_shoulder_yaw_link"/>
|
||||
<child link="right_elbow_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<joint name="right_wrist_roll_joint" type="revolute">
|
||||
<origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="right_elbow_link"/>
|
||||
<child link="right_wrist_roll_rubber_hand"/>
|
||||
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
||||
</joint>
|
||||
<link name="right_wrist_roll_rubber_hand">
|
||||
<inertial>
|
||||
<origin xyz="0.10794656650 -0.00163511945 0.00202244863" rpy="0 0 0"/>
|
||||
<mass value="0.35692864"/>
|
||||
<inertia ixx="0.00019613494735" ixy="0.00000419816908" ixz="-0.00003950860580" iyy="0.00200280358206" iyz="-0.00000249774203" izz="0.00194181412808"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_wrist_roll_rubber_hand.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_wrist_roll_rubber_hand.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,249 @@
|
|||
<mujoco model="g1_23dof">
|
||||
<compiler angle="radian" meshdir="meshes"/>
|
||||
|
||||
<asset>
|
||||
<mesh name="pelvis" file="pelvis.STL"/>
|
||||
<mesh name="pelvis_contour_link" file="pelvis_contour_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_hip_yaw_link" file="left_hip_yaw_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_pitch_link" file="right_hip_pitch_link.STL"/>
|
||||
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
||||
<mesh name="right_hip_yaw_link" file="right_hip_yaw_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="waist_yaw_link" file="waist_yaw_link.STL"/>
|
||||
<mesh name="torso_link" file="torso_link.STL"/>
|
||||
<mesh name="logo_link" file="logo_link.STL"/>
|
||||
<mesh name="head_link" file="head_link.STL"/>
|
||||
<mesh name="waist_support_link" file="waist_support_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_link" file="left_elbow_link.STL"/>
|
||||
<mesh name="left_wrist_roll_rubber_hand" file="left_wrist_roll_rubber_hand.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_link" file="right_elbow_link.STL"/>
|
||||
<mesh name="right_wrist_roll_rubber_hand" file="right_wrist_roll_rubber_hand.STL"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<body name="pelvis" pos="0 0 0.793">
|
||||
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
|
||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
|
||||
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
||||
<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
|
||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
||||
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
||||
<inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
|
||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
||||
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
||||
<inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
|
||||
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
||||
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
||||
<inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458"/>
|
||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
||||
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
||||
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
|
||||
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
||||
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
|
||||
<inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
|
||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
|
||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
||||
<inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
|
||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
||||
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
||||
<inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
|
||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
||||
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
||||
<inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
|
||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
||||
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
||||
<inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452"/>
|
||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
||||
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
||||
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
|
||||
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
||||
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
|
||||
<inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
|
||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
|
||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="torso_link" pos="-0.0039635 0 0.054">
|
||||
<inertial pos="0.0034309 0.00025505 0.174524" quat="0.99988 0.000261157 0.0149809 -0.0038211" mass="9.842" diaginertia="0.135151 0.123088 0.0327256"/>
|
||||
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
||||
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
|
||||
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
||||
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
||||
<inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
||||
<inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<body name="left_wrist_roll_rubber_hand" pos="0.1 0.00188791 -0.01">
|
||||
<inertial pos="0.107947 0.00163512 0.00202245" quat="0.494051 0.504265 0.48416 0.516933" mass="0.356929" diaginertia="0.00200292 0.0019426 0.000195232"/>
|
||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_rubber_hand"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_rubber_hand"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
||||
<inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
||||
<inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
||||
<inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<body name="right_wrist_roll_rubber_hand" pos="0.1 -0.00188791 -0.01">
|
||||
<inertial pos="0.107947 -0.00163512 0.00202245" quat="0.516933 0.48416 0.504265 0.494051" mass="0.356929" diaginertia="0.00200292 0.0019426 0.000195232"/>
|
||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_rubber_hand"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_rubber_hand"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
||||
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
||||
</actuator>
|
||||
|
||||
<sensor>
|
||||
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
|
||||
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
|
||||
</sensor>
|
||||
|
||||
|
||||
<!-- setup scene -->
|
||||
<statistic center="1.0 0.7 1.0" 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>
|
||||
|
|
@ -0,0 +1,854 @@
|
|||
<robot name="g1_23dof_rev_1_0">
|
||||
<mujoco>
|
||||
<compiler meshdir="meshes" discardvisual="false"/>
|
||||
</mujoco>
|
||||
|
||||
<!-- [CAUTION] uncomment when convert to mujoco -->
|
||||
<!-- <link name="world"></link>
|
||||
<joint name="floating_base_joint" type="floating">
|
||||
<parent link="world"/>
|
||||
<child link="pelvis"/>
|
||||
</joint> -->
|
||||
|
||||
<link name="pelvis">
|
||||
<inertial>
|
||||
<origin xyz="0 0 -0.07605" rpy="0 0 0"/>
|
||||
<mass value="3.813"/>
|
||||
<inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pelvis.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="pelvis_contour_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.001"/>
|
||||
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pelvis_contour_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pelvis_contour_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="pelvis_contour_joint" type="fixed">
|
||||
<parent link="pelvis"/>
|
||||
<child link="pelvis_contour_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- Legs -->
|
||||
<link name="left_hip_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0"/>
|
||||
<mass value="1.35"/>
|
||||
<inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hip_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hip_pitch_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_hip_pitch_joint" type="revolute">
|
||||
<origin xyz="0 0.064452 -0.1027" rpy="0 0 0"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="left_hip_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
|
||||
</joint>
|
||||
<link name="left_hip_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0"/>
|
||||
<mass value="1.52"/>
|
||||
<inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hip_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hip_roll_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_hip_roll_joint" type="revolute">
|
||||
<origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0"/>
|
||||
<parent link="left_hip_pitch_link"/>
|
||||
<child link="left_hip_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-0.5236" upper="2.9671" effort="139" velocity="20"/>
|
||||
</joint>
|
||||
<link name="left_hip_yaw_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0"/>
|
||||
<mass value="1.702"/>
|
||||
<inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hip_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hip_yaw_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_hip_yaw_joint" type="revolute">
|
||||
<origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
|
||||
<parent link="left_hip_roll_link"/>
|
||||
<child link="left_hip_yaw_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
|
||||
</joint>
|
||||
<link name="left_knee_link">
|
||||
<inertial>
|
||||
<origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0"/>
|
||||
<mass value="1.932"/>
|
||||
<inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_knee_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_knee_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_knee_joint" type="revolute">
|
||||
<origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0"/>
|
||||
<parent link="left_hip_yaw_link"/>
|
||||
<child link="left_knee_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
|
||||
</joint>
|
||||
<link name="left_ankle_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
|
||||
<mass value="0.074"/>
|
||||
<inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_ankle_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_ankle_pitch_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_ankle_pitch_joint" type="revolute">
|
||||
<origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0"/>
|
||||
<parent link="left_knee_link"/>
|
||||
<child link="left_ankle_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
|
||||
</joint>
|
||||
<link name="left_ankle_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
|
||||
<mass value="0.608"/>
|
||||
<inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_ankle_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_ankle_roll_joint" type="revolute">
|
||||
<origin xyz="0 0 -0.017558" rpy="0 0 0"/>
|
||||
<parent link="left_ankle_pitch_link"/>
|
||||
<child link="left_ankle_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_hip_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0"/>
|
||||
<mass value="1.35"/>
|
||||
<inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hip_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hip_pitch_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_hip_pitch_joint" type="revolute">
|
||||
<origin xyz="0 -0.064452 -0.1027" rpy="0 0 0"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="right_hip_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
|
||||
</joint>
|
||||
<link name="right_hip_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0"/>
|
||||
<mass value="1.52"/>
|
||||
<inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hip_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hip_roll_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_hip_roll_joint" type="revolute">
|
||||
<origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0"/>
|
||||
<parent link="right_hip_pitch_link"/>
|
||||
<child link="right_hip_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-2.9671" upper="0.5236" effort="139" velocity="20"/>
|
||||
</joint>
|
||||
<link name="right_hip_yaw_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0"/>
|
||||
<mass value="1.702"/>
|
||||
<inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hip_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hip_yaw_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_hip_yaw_joint" type="revolute">
|
||||
<origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
|
||||
<parent link="right_hip_roll_link"/>
|
||||
<child link="right_hip_yaw_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
|
||||
</joint>
|
||||
<link name="right_knee_link">
|
||||
<inertial>
|
||||
<origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0"/>
|
||||
<mass value="1.932"/>
|
||||
<inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_knee_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_knee_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_knee_joint" type="revolute">
|
||||
<origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0"/>
|
||||
<parent link="right_hip_yaw_link"/>
|
||||
<child link="right_knee_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
|
||||
</joint>
|
||||
<link name="right_ankle_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
|
||||
<mass value="0.074"/>
|
||||
<inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_ankle_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_ankle_pitch_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_ankle_pitch_joint" type="revolute">
|
||||
<origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0"/>
|
||||
<parent link="right_knee_link"/>
|
||||
<child link="right_ankle_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_ankle_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
|
||||
<mass value="0.608"/>
|
||||
<inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_ankle_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_ankle_roll_joint" type="revolute">
|
||||
<origin xyz="0 0 -0.017558" rpy="0 0 0"/>
|
||||
<parent link="right_ankle_pitch_link"/>
|
||||
<child link="right_ankle_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
|
||||
</joint>
|
||||
|
||||
<!-- Torso -->
|
||||
<joint name="waist_yaw_joint" type="revolute">
|
||||
<origin xyz="-0.0039635 0 0.044" rpy="0 0 0"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="torso_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.618" upper="2.618" effort="88" velocity="32"/>
|
||||
</joint>
|
||||
<link name="torso_link">
|
||||
<inertial>
|
||||
<origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0"/>
|
||||
<mass value="6.78"/>
|
||||
<inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/torso_link_23dof_rev_1_0.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/torso_link_23dof_rev_1_0.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- LOGO -->
|
||||
<joint name="logo_joint" type="fixed">
|
||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="logo_link"/>
|
||||
</joint>
|
||||
<link name="logo_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.001"/>
|
||||
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/logo_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/logo_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- Head -->
|
||||
<link name="head_link">
|
||||
<inertial>
|
||||
<origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0"/>
|
||||
<mass value="1.036"/>
|
||||
<inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/head_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/head_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="head_joint" type="fixed">
|
||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="head_link"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<!-- IMU -->
|
||||
<link name="imu_in_torso"></link>
|
||||
<joint name="imu_in_torso_joint" type="fixed">
|
||||
<origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="imu_in_torso"/>
|
||||
</joint>
|
||||
|
||||
<link name="imu_in_pelvis"></link>
|
||||
<joint name="imu_in_pelvis_joint" type="fixed">
|
||||
<origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="imu_in_pelvis"/>
|
||||
</joint>
|
||||
|
||||
<!-- d435 -->
|
||||
<link name="d435_link"></link>
|
||||
<joint name="d435_joint" type="fixed">
|
||||
<origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="d435_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- mid360 -->
|
||||
<link name="mid360_link"></link>
|
||||
<joint name="mid360_joint" type="fixed">
|
||||
<origin xyz="0.0002835 0.00003 0.41618" rpy="0 0.04014257279586953 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="mid360_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- Arm -->
|
||||
<link name="left_shoulder_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0.035892 -0.011628" rpy="0 0 0"/>
|
||||
<mass value="0.718"/>
|
||||
<inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_shoulder_pitch_joint" type="revolute">
|
||||
<origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="left_shoulder_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="left_shoulder_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0"/>
|
||||
<mass value="0.643"/>
|
||||
<inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_shoulder_roll_joint" type="revolute">
|
||||
<origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0"/>
|
||||
<parent link="left_shoulder_pitch_link"/>
|
||||
<child link="left_shoulder_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-1.5882" upper="2.2515" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="left_shoulder_yaw_link">
|
||||
<inertial>
|
||||
<origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0"/>
|
||||
<mass value="0.734"/>
|
||||
<inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_shoulder_yaw_joint" type="revolute">
|
||||
<origin xyz="0 0.00624 -0.1032" rpy="0 0 0"/>
|
||||
<parent link="left_shoulder_roll_link"/>
|
||||
<child link="left_shoulder_yaw_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="left_elbow_link">
|
||||
<inertial>
|
||||
<origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0"/>
|
||||
<mass value="0.6"/>
|
||||
<inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_elbow_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_elbow_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_elbow_joint" type="revolute">
|
||||
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
||||
<parent link="left_shoulder_yaw_link"/>
|
||||
<child link="left_elbow_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<joint name="left_wrist_roll_joint" type="revolute">
|
||||
<origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="left_elbow_link"/>
|
||||
<child link="left_wrist_roll_rubber_hand"/>
|
||||
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
||||
</joint>
|
||||
<link name="left_wrist_roll_rubber_hand">
|
||||
<inertial>
|
||||
<origin xyz="0.10794656650 0.00163511945 0.00202244863" rpy="0 0 0"/>
|
||||
<mass value="0.35692864"/>
|
||||
<inertia ixx="0.00019613494735" ixy="-0.00000419816908" ixz="-0.00003950860580" iyy="0.00200280358206" iyz="0.00000249774203" izz="0.00194181412808"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_wrist_roll_rubber_hand.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_wrist_roll_rubber_hand.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_shoulder_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="0 -0.035892 -0.011628" rpy="0 0 0"/>
|
||||
<mass value="0.718"/>
|
||||
<inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_shoulder_pitch_joint" type="revolute">
|
||||
<origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="right_shoulder_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_shoulder_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0"/>
|
||||
<mass value="0.643"/>
|
||||
<inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_shoulder_roll_joint" type="revolute">
|
||||
<origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0"/>
|
||||
<parent link="right_shoulder_pitch_link"/>
|
||||
<child link="right_shoulder_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-2.2515" upper="1.5882" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_shoulder_yaw_link">
|
||||
<inertial>
|
||||
<origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0"/>
|
||||
<mass value="0.734"/>
|
||||
<inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_shoulder_yaw_joint" type="revolute">
|
||||
<origin xyz="0 -0.00624 -0.1032" rpy="0 0 0"/>
|
||||
<parent link="right_shoulder_roll_link"/>
|
||||
<child link="right_shoulder_yaw_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_elbow_link">
|
||||
<inertial>
|
||||
<origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0"/>
|
||||
<mass value="0.6"/>
|
||||
<inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_elbow_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_elbow_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_elbow_joint" type="revolute">
|
||||
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
||||
<parent link="right_shoulder_yaw_link"/>
|
||||
<child link="right_elbow_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<joint name="right_wrist_roll_joint" type="revolute">
|
||||
<origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="right_elbow_link"/>
|
||||
<child link="right_wrist_roll_rubber_hand"/>
|
||||
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
||||
</joint>
|
||||
<link name="right_wrist_roll_rubber_hand">
|
||||
<inertial>
|
||||
<origin xyz="0.10794656650 -0.00163511945 0.00202244863" rpy="0 0 0"/>
|
||||
<mass value="0.35692864"/>
|
||||
<inertia ixx="0.00019613494735" ixy="0.00000419816908" ixz="-0.00003950860580" iyy="0.00200280358206" iyz="-0.00000249774203" izz="0.00194181412808"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_wrist_roll_rubber_hand.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_wrist_roll_rubber_hand.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,244 @@
|
|||
<mujoco model="g1_23dof_rev_1_0">
|
||||
<compiler angle="radian" meshdir="meshes"/>
|
||||
|
||||
<asset>
|
||||
<mesh name="pelvis" file="pelvis.STL"/>
|
||||
<mesh name="pelvis_contour_link" file="pelvis_contour_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_hip_yaw_link" file="left_hip_yaw_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_pitch_link" file="right_hip_pitch_link.STL"/>
|
||||
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
||||
<mesh name="right_hip_yaw_link" file="right_hip_yaw_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_23dof_rev_1_0" file="torso_link_23dof_rev_1_0.STL"/>
|
||||
<mesh name="logo_link" file="logo_link.STL"/>
|
||||
<mesh name="head_link" file="head_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_link" file="left_elbow_link.STL"/>
|
||||
<mesh name="left_wrist_roll_rubber_hand" file="left_wrist_roll_rubber_hand.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_link" file="right_elbow_link.STL"/>
|
||||
<mesh name="right_wrist_roll_rubber_hand" file="right_wrist_roll_rubber_hand.STL"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<body name="pelvis" pos="0 0 0.793">
|
||||
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
|
||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
|
||||
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
||||
<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
|
||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
||||
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
||||
<inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
|
||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
||||
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
||||
<inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
|
||||
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
||||
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
||||
<inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458"/>
|
||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
||||
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
||||
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
|
||||
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
||||
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
|
||||
<inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
|
||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
|
||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
||||
<inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
|
||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
||||
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
||||
<inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
|
||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
||||
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
||||
<inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
|
||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
||||
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
||||
<inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452"/>
|
||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
||||
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
||||
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
|
||||
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
||||
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
|
||||
<inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
|
||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
|
||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="torso_link" pos="-0.0039635 0 0.044">
|
||||
<inertial pos="0.00203158 0.000339683 0.184568" quat="0.999803 -6.03319e-05 0.0198256 0.00131986" mass="7.818" diaginertia="0.121847 0.109825 0.0273735"/>
|
||||
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
|
||||
<geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link_23dof_rev_1_0"/>
|
||||
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link_23dof_rev_1_0"/>
|
||||
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
|
||||
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
||||
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
||||
<inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
||||
<inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<body name="left_wrist_roll_rubber_hand" pos="0.1 0.00188791 -0.01">
|
||||
<inertial pos="0.107947 0.00163512 0.00202245" quat="0.494051 0.504265 0.48416 0.516933" mass="0.356929" diaginertia="0.00200292 0.0019426 0.000195232"/>
|
||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_rubber_hand"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_rubber_hand"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
||||
<inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
||||
<inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
||||
<inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<body name="right_wrist_roll_rubber_hand" pos="0.1 -0.00188791 -0.01">
|
||||
<inertial pos="0.107947 -0.00163512 0.00202245" quat="0.516933 0.48416 0.504265 0.494051" mass="0.356929" diaginertia="0.00200292 0.0019426 0.000195232"/>
|
||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_rubber_hand"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_rubber_hand"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
||||
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
||||
</actuator>
|
||||
|
||||
<sensor>
|
||||
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
|
||||
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
|
||||
</sensor>
|
||||
|
||||
|
||||
<!-- setup scene -->
|
||||
<statistic center="1.0 0.7 1.0" 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>
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,297 @@
|
|||
<mujoco model="g1_29dof">
|
||||
<compiler angle="radian" meshdir="meshes"/>
|
||||
|
||||
<asset>
|
||||
<mesh name="pelvis" file="pelvis.STL"/>
|
||||
<mesh name="pelvis_contour_link" file="pelvis_contour_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_hip_yaw_link" file="left_hip_yaw_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_pitch_link" file="right_hip_pitch_link.STL"/>
|
||||
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
||||
<mesh name="right_hip_yaw_link" file="right_hip_yaw_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="waist_yaw_link" file="waist_yaw_link.STL"/>
|
||||
<mesh name="waist_roll_link" file="waist_roll_link.STL"/>
|
||||
<mesh name="torso_link" file="torso_link.STL"/>
|
||||
<mesh name="logo_link" file="logo_link.STL"/>
|
||||
<mesh name="head_link" file="head_link.STL"/>
|
||||
<mesh name="waist_support_link" file="waist_support_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_link" file="left_elbow_link.STL"/>
|
||||
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
|
||||
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
|
||||
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
|
||||
<mesh name="left_rubber_hand" file="left_rubber_hand.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_link" file="right_elbow_link.STL"/>
|
||||
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
|
||||
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
|
||||
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
|
||||
<mesh name="right_rubber_hand" file="right_rubber_hand.STL"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<body name="pelvis" pos="0 0 0.793">
|
||||
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
|
||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
|
||||
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
||||
<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
|
||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
||||
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
||||
<inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
|
||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
||||
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
||||
<inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
|
||||
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
||||
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
||||
<inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458"/>
|
||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
||||
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
||||
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
|
||||
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
||||
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
|
||||
<inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
|
||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
|
||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
||||
<inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
|
||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
||||
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
||||
<inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
|
||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
||||
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
||||
<inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
|
||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
||||
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
||||
<inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452"/>
|
||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
||||
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
||||
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
|
||||
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
||||
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
|
||||
<inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
|
||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
|
||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="waist_yaw_link">
|
||||
<inertial pos="0.003964 0 0.018769" quat="-0.0178291 0.628464 0.0282471 0.777121" mass="0.244" diaginertia="0.000158561 0.000124229 9.67669e-05"/>
|
||||
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
|
||||
<body name="waist_roll_link" pos="-0.0039635 0 0.035">
|
||||
<inertial pos="0 -0.000236 0.010111" quat="0.99979 0.020492 0 0" mass="0.047" diaginertia="7.515e-06 6.40206e-06 3.98394e-06"/>
|
||||
<joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
|
||||
<body name="torso_link" pos="0 0 0.019">
|
||||
<inertial pos="0.00331658 0.000261533 0.179856" quat="0.999831 0.000376204 0.0179895 -0.00377704" mass="9.598" diaginertia="0.12407 0.111951 0.0325382"/>
|
||||
<joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
||||
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
|
||||
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
||||
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
||||
<inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
||||
<inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
||||
<inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
|
||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
||||
<body name="left_wrist_pitch_link" pos="0.038 0 0">
|
||||
<inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
|
||||
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
||||
<body name="left_wrist_yaw_link" pos="0.046 0 0">
|
||||
<inertial pos="0.0708244 0.000191745 0.00161742" quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
|
||||
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_rubber_hand"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
||||
<inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
||||
<inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
||||
<inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
||||
<inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
|
||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
||||
<body name="right_wrist_pitch_link" pos="0.038 0 0">
|
||||
<inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
|
||||
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<body name="right_wrist_yaw_link" pos="0.046 0 0">
|
||||
<inertial pos="0.0708244 -0.000191745 0.00161742" quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
|
||||
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_rubber_hand"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
||||
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
||||
<motor name="waist_roll_joint" joint="waist_roll_joint"/>
|
||||
<motor name="waist_pitch_joint" joint="waist_pitch_joint"/>
|
||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
||||
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
|
||||
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
|
||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
||||
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
|
||||
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
|
||||
</actuator>
|
||||
|
||||
<sensor>
|
||||
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
|
||||
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
|
||||
</sensor>
|
||||
|
||||
|
||||
<!-- setup scene -->
|
||||
<statistic center="1.0 0.7 1.0" 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>
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,293 @@
|
|||
<mujoco model="g1_29dof_lock_waist">
|
||||
<compiler angle="radian" meshdir="meshes"/>
|
||||
|
||||
<asset>
|
||||
<mesh name="pelvis" file="pelvis.STL"/>
|
||||
<mesh name="pelvis_contour_link" file="pelvis_contour_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_hip_yaw_link" file="left_hip_yaw_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_pitch_link" file="right_hip_pitch_link.STL"/>
|
||||
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
||||
<mesh name="right_hip_yaw_link" file="right_hip_yaw_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="waist_yaw_link" file="waist_yaw_link.STL"/>
|
||||
<mesh name="waist_roll_link" file="waist_roll_link.STL"/>
|
||||
<mesh name="torso_link" file="torso_link.STL"/>
|
||||
<mesh name="logo_link" file="logo_link.STL"/>
|
||||
<mesh name="head_link" file="head_link.STL"/>
|
||||
<mesh name="waist_support_link" file="waist_support_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_link" file="left_elbow_link.STL"/>
|
||||
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
|
||||
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
|
||||
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
|
||||
<mesh name="left_rubber_hand" file="left_rubber_hand.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_link" file="right_elbow_link.STL"/>
|
||||
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
|
||||
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
|
||||
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
|
||||
<mesh name="right_rubber_hand" file="right_rubber_hand.STL"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<body name="pelvis" pos="0 0 0.793">
|
||||
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
|
||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
|
||||
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
||||
<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
|
||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
||||
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
||||
<inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
|
||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
||||
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
||||
<inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
|
||||
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
||||
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
||||
<inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458"/>
|
||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
||||
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
||||
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
|
||||
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
||||
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
|
||||
<inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
|
||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
|
||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
||||
<inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
|
||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
||||
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
||||
<inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
|
||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
||||
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
||||
<inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
|
||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
||||
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
||||
<inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452"/>
|
||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
||||
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
||||
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
|
||||
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
||||
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
|
||||
<inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
|
||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
|
||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="waist_yaw_link">
|
||||
<inertial pos="0.003964 0 0.018769" quat="-0.0178291 0.628464 0.0282471 0.777121" mass="0.244" diaginertia="0.000158561 0.000124229 9.67669e-05"/>
|
||||
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
|
||||
<body name="waist_roll_link" pos="-0.0039635 0 0.035">
|
||||
<inertial pos="0 -0.000236 0.010111" quat="0.99979 0.020492 0 0" mass="0.047" diaginertia="7.515e-06 6.40206e-06 3.98394e-06"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
|
||||
<body name="torso_link" pos="0 0 0.019">
|
||||
<inertial pos="0.00331658 0.000261533 0.179856" quat="0.999831 0.000376204 0.0179895 -0.00377704" mass="9.598" diaginertia="0.12407 0.111951 0.0325382"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
||||
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
|
||||
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
||||
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
||||
<inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
||||
<inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
||||
<inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
|
||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
||||
<body name="left_wrist_pitch_link" pos="0.038 0 0">
|
||||
<inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
|
||||
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
||||
<body name="left_wrist_yaw_link" pos="0.046 0 0">
|
||||
<inertial pos="0.0708244 0.000191745 0.00161742" quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
|
||||
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_rubber_hand"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
||||
<inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
||||
<inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
||||
<inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
||||
<inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
|
||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
||||
<body name="right_wrist_pitch_link" pos="0.038 0 0">
|
||||
<inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
|
||||
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<body name="right_wrist_yaw_link" pos="0.046 0 0">
|
||||
<inertial pos="0.0708244 -0.000191745 0.00161742" quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
|
||||
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_rubber_hand"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
||||
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
||||
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
|
||||
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
|
||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
||||
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
|
||||
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
|
||||
</actuator>
|
||||
|
||||
<sensor>
|
||||
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
|
||||
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
|
||||
</sensor>
|
||||
|
||||
|
||||
<!-- setup scene -->
|
||||
<statistic center="1.0 0.7 1.0" 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>
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,290 @@
|
|||
<mujoco model="g1_29dof_lock_waist_rev_1_0">
|
||||
<compiler angle="radian" meshdir="meshes"/>
|
||||
|
||||
<asset>
|
||||
<mesh name="pelvis" file="pelvis.STL"/>
|
||||
<mesh name="pelvis_contour_link" file="pelvis_contour_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_hip_yaw_link" file="left_hip_yaw_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_pitch_link" file="right_hip_pitch_link.STL"/>
|
||||
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
||||
<mesh name="right_hip_yaw_link" file="right_hip_yaw_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="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL"/>
|
||||
<mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL"/>
|
||||
<mesh name="torso_link" file="torso_link_rev_1_0.STL"/>
|
||||
<mesh name="logo_link" file="logo_link.STL"/>
|
||||
<mesh name="head_link" file="head_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_link" file="left_elbow_link.STL"/>
|
||||
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
|
||||
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
|
||||
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
|
||||
<mesh name="left_rubber_hand" file="left_rubber_hand.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_link" file="right_elbow_link.STL"/>
|
||||
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
|
||||
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
|
||||
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
|
||||
<mesh name="right_rubber_hand" file="right_rubber_hand.STL"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<body name="pelvis" pos="0 0 0.793">
|
||||
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
|
||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
|
||||
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
||||
<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
|
||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
||||
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
||||
<inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
|
||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
||||
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
||||
<inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
|
||||
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
||||
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
||||
<inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458"/>
|
||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
||||
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
||||
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
|
||||
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
||||
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
|
||||
<inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
|
||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
|
||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
||||
<inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
|
||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
||||
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
||||
<inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
|
||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
||||
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
||||
<inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
|
||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
||||
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
||||
<inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452"/>
|
||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
||||
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
||||
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
|
||||
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
||||
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
|
||||
<inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
|
||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
|
||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="waist_yaw_link">
|
||||
<inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821" mass="0.214" diaginertia="0.000163531 0.000107714 0.000102205"/>
|
||||
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
|
||||
<body name="waist_roll_link" pos="-0.0039635 0 0.044">
|
||||
<inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086" diaginertia="8.245e-06 7.079e-06 6.339e-06"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
|
||||
<body name="torso_link">
|
||||
<inertial pos="0.00203158 0.000339683 0.184568" quat="0.999803 -6.03319e-05 0.0198256 0.00131986" mass="7.818" diaginertia="0.121847 0.109825 0.0273735"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
|
||||
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
||||
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
||||
<inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
||||
<inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
||||
<inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
|
||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
||||
<body name="left_wrist_pitch_link" pos="0.038 0 0">
|
||||
<inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
|
||||
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
||||
<body name="left_wrist_yaw_link" pos="0.046 0 0">
|
||||
<inertial pos="0.0708244 0.000191745 0.00161742" quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
|
||||
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_rubber_hand"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
||||
<inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
||||
<inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
||||
<inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
||||
<inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
|
||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
||||
<body name="right_wrist_pitch_link" pos="0.038 0 0">
|
||||
<inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
|
||||
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<body name="right_wrist_yaw_link" pos="0.046 0 0">
|
||||
<inertial pos="0.0708244 -0.000191745 0.00161742" quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
|
||||
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_rubber_hand"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
||||
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
||||
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
|
||||
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
|
||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
||||
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
|
||||
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
|
||||
</actuator>
|
||||
|
||||
<sensor>
|
||||
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
|
||||
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
|
||||
</sensor>
|
||||
|
||||
|
||||
<!-- setup scene -->
|
||||
<statistic center="1.0 0.7 1.0" 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>
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,294 @@
|
|||
<mujoco model="g1_29dof_rev_1_0">
|
||||
<compiler angle="radian" meshdir="meshes"/>
|
||||
|
||||
<asset>
|
||||
<mesh name="pelvis" file="pelvis.STL"/>
|
||||
<mesh name="pelvis_contour_link" file="pelvis_contour_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_hip_yaw_link" file="left_hip_yaw_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_pitch_link" file="right_hip_pitch_link.STL"/>
|
||||
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
||||
<mesh name="right_hip_yaw_link" file="right_hip_yaw_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="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL"/>
|
||||
<mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL"/>
|
||||
<mesh name="torso_link" file="torso_link_rev_1_0.STL"/>
|
||||
<mesh name="logo_link" file="logo_link.STL"/>
|
||||
<mesh name="head_link" file="head_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_link" file="left_elbow_link.STL"/>
|
||||
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
|
||||
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
|
||||
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
|
||||
<mesh name="left_rubber_hand" file="left_rubber_hand.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_link" file="right_elbow_link.STL"/>
|
||||
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
|
||||
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
|
||||
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
|
||||
<mesh name="right_rubber_hand" file="right_rubber_hand.STL"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<body name="pelvis" pos="0 0 0.793">
|
||||
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
|
||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
|
||||
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
||||
<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
|
||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
||||
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
||||
<inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
|
||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
||||
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
||||
<inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
|
||||
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
||||
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
||||
<inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458"/>
|
||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
||||
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
||||
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
|
||||
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
||||
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
|
||||
<inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
|
||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
|
||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
||||
<inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
|
||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
||||
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
||||
<inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
|
||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
||||
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
||||
<inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
|
||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
||||
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
||||
<inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452"/>
|
||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
||||
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
||||
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
|
||||
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
||||
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
|
||||
<inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
|
||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
|
||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="waist_yaw_link">
|
||||
<inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821" mass="0.214" diaginertia="0.000163531 0.000107714 0.000102205"/>
|
||||
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
|
||||
<body name="waist_roll_link" pos="-0.0039635 0 0.044">
|
||||
<inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086" diaginertia="8.245e-06 7.079e-06 6.339e-06"/>
|
||||
<joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
|
||||
<body name="torso_link">
|
||||
<inertial pos="0.00203158 0.000339683 0.184568" quat="0.999803 -6.03319e-05 0.0198256 0.00131986" mass="7.818" diaginertia="0.121847 0.109825 0.0273735"/>
|
||||
<joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
|
||||
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
||||
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
||||
<inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
||||
<inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
||||
<inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
|
||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
||||
<body name="left_wrist_pitch_link" pos="0.038 0 0">
|
||||
<inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
|
||||
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
||||
<body name="left_wrist_yaw_link" pos="0.046 0 0">
|
||||
<inertial pos="0.0708244 0.000191745 0.00161742" quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
|
||||
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_rubber_hand"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
||||
<inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
||||
<inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
||||
<inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
||||
<inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
|
||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
||||
<body name="right_wrist_pitch_link" pos="0.038 0 0">
|
||||
<inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
|
||||
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<body name="right_wrist_yaw_link" pos="0.046 0 0">
|
||||
<inertial pos="0.0708244 -0.000191745 0.00161742" quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
|
||||
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_rubber_hand"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
||||
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
||||
<motor name="waist_roll_joint" joint="waist_roll_joint"/>
|
||||
<motor name="waist_pitch_joint" joint="waist_pitch_joint"/>
|
||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
||||
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
|
||||
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
|
||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
||||
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
|
||||
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
|
||||
</actuator>
|
||||
|
||||
<sensor>
|
||||
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
|
||||
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
|
||||
</sensor>
|
||||
|
||||
|
||||
<!-- setup scene -->
|
||||
<statistic center="1.0 0.7 1.0" 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>
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,411 @@
|
|||
<mujoco model="g1_29dof_with_hand">
|
||||
<compiler angle="radian" meshdir="meshes"/>
|
||||
|
||||
<asset>
|
||||
<mesh name="pelvis" file="pelvis.STL"/>
|
||||
<mesh name="pelvis_contour_link" file="pelvis_contour_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_hip_yaw_link" file="left_hip_yaw_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_pitch_link" file="right_hip_pitch_link.STL"/>
|
||||
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
||||
<mesh name="right_hip_yaw_link" file="right_hip_yaw_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="waist_yaw_link" file="waist_yaw_link.STL"/>
|
||||
<mesh name="waist_roll_link" file="waist_roll_link.STL"/>
|
||||
<mesh name="torso_link" file="torso_link.STL"/>
|
||||
<mesh name="logo_link" file="logo_link.STL"/>
|
||||
<mesh name="head_link" file="head_link.STL"/>
|
||||
<mesh name="waist_support_link" file="waist_support_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_link" file="left_elbow_link.STL"/>
|
||||
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
|
||||
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
|
||||
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
|
||||
<mesh name="left_hand_palm_link" file="left_hand_palm_link.STL"/>
|
||||
<mesh name="left_hand_thumb_0_link" file="left_hand_thumb_0_link.STL"/>
|
||||
<mesh name="left_hand_thumb_1_link" file="left_hand_thumb_1_link.STL"/>
|
||||
<mesh name="left_hand_thumb_2_link" file="left_hand_thumb_2_link.STL"/>
|
||||
<mesh name="left_hand_middle_0_link" file="left_hand_middle_0_link.STL"/>
|
||||
<mesh name="left_hand_middle_1_link" file="left_hand_middle_1_link.STL"/>
|
||||
<mesh name="left_hand_index_0_link" file="left_hand_index_0_link.STL"/>
|
||||
<mesh name="left_hand_index_1_link" file="left_hand_index_1_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_link" file="right_elbow_link.STL"/>
|
||||
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
|
||||
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
|
||||
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
|
||||
<mesh name="right_hand_palm_link" file="right_hand_palm_link.STL"/>
|
||||
<mesh name="right_hand_thumb_0_link" file="right_hand_thumb_0_link.STL"/>
|
||||
<mesh name="right_hand_thumb_1_link" file="right_hand_thumb_1_link.STL"/>
|
||||
<mesh name="right_hand_thumb_2_link" file="right_hand_thumb_2_link.STL"/>
|
||||
<mesh name="right_hand_middle_0_link" file="right_hand_middle_0_link.STL"/>
|
||||
<mesh name="right_hand_middle_1_link" file="right_hand_middle_1_link.STL"/>
|
||||
<mesh name="right_hand_index_0_link" file="right_hand_index_0_link.STL"/>
|
||||
<mesh name="right_hand_index_1_link" file="right_hand_index_1_link.STL"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<body name="pelvis" pos="0 0 0.793">
|
||||
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
|
||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
|
||||
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
||||
<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
|
||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
||||
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
||||
<inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
|
||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
||||
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
||||
<inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
|
||||
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
||||
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
||||
<inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458"/>
|
||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
||||
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
||||
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
|
||||
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
||||
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
|
||||
<inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
|
||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
|
||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
||||
<inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
|
||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
||||
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
||||
<inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
|
||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
||||
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
||||
<inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
|
||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
||||
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
||||
<inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452"/>
|
||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
||||
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
||||
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
|
||||
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
||||
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
|
||||
<inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
|
||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
|
||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="waist_yaw_link">
|
||||
<inertial pos="0.003964 0 0.018769" quat="-0.0178291 0.628464 0.0282471 0.777121" mass="0.244" diaginertia="0.000158561 0.000124229 9.67669e-05"/>
|
||||
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
|
||||
<body name="waist_roll_link" pos="-0.0039635 0 0.035">
|
||||
<inertial pos="0 -0.000236 0.010111" quat="0.99979 0.020492 0 0" mass="0.047" diaginertia="7.515e-06 6.40206e-06 3.98394e-06"/>
|
||||
<joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
|
||||
<body name="torso_link" pos="0 0 0.019">
|
||||
<inertial pos="0.00331658 0.000261533 0.179856" quat="0.999831 0.000376204 0.0179895 -0.00377704" mass="9.598" diaginertia="0.12407 0.111951 0.0325382"/>
|
||||
<joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
||||
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
|
||||
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
||||
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
||||
<inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
||||
<inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
||||
<inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
|
||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
||||
<body name="left_wrist_pitch_link" pos="0.038 0 0">
|
||||
<inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
|
||||
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
||||
<body name="left_wrist_yaw_link" pos="0.046 0 0">
|
||||
<inertial pos="0.0885506 0.00212216 -0.000374562" quat="0.487149 0.493844 0.513241 0.505358" mass="0.457415" diaginertia="0.00105989 0.000895419 0.000323842"/>
|
||||
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_palm_link"/>
|
||||
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_palm_link"/>
|
||||
<body name="left_hand_thumb_0_link" pos="0.067 0.003 0">
|
||||
<inertial pos="-0.000884246 -0.00863407 0.000944293" quat="0.462991 0.643965 -0.460173 0.398986" mass="0.0862366" diaginertia="1.6546e-05 1.60058e-05 1.43741e-05"/>
|
||||
<joint name="left_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link"/>
|
||||
<body name="left_hand_thumb_1_link" pos="-0.0025 -0.0193 0">
|
||||
<inertial pos="-0.000827888 -0.0354744 -0.0003809" quat="0.685598 0.705471 -0.15207 0.0956069" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="left_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-0.724312 1.0472" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_1_link"/>
|
||||
<geom size="0.01 0.015 0.01" pos="-0.001 -0.032 0" type="box" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_hand_thumb_2_link" pos="0 -0.0458 0">
|
||||
<inertial pos="-0.00171735 -0.0262819 0.000107789" quat="0.703174 0.710977 -0.00017564 -0.00766553" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="left_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_hand_middle_0_link" pos="0.1192 0.0046 -0.0285">
|
||||
<inertial pos="0.0354744 0.000827888 0.0003809" quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="left_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link"/>
|
||||
<body name="left_hand_middle_1_link" pos="0.0458 0 0">
|
||||
<inertial pos="0.0262819 0.00171735 -0.000107789" quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="left_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_hand_index_0_link" pos="0.1192 0.0046 0.0285">
|
||||
<inertial pos="0.0354744 0.000827888 0.0003809" quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="left_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link"/>
|
||||
<body name="left_hand_index_1_link" pos="0.0458 0 0">
|
||||
<inertial pos="0.0262819 0.00171735 -0.000107789" quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="left_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
||||
<inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
||||
<inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
||||
<inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
||||
<inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
|
||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
||||
<body name="right_wrist_pitch_link" pos="0.038 0 0">
|
||||
<inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
|
||||
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<body name="right_wrist_yaw_link" pos="0.046 0 0">
|
||||
<inertial pos="0.0885506 -0.00212216 -0.000374562" quat="0.505358 0.513241 0.493844 0.487149" mass="0.457415" diaginertia="0.00105989 0.000895419 0.000323842"/>
|
||||
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link"/>
|
||||
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link"/>
|
||||
<body name="right_hand_thumb_0_link" pos="0.067 -0.003 0">
|
||||
<inertial pos="-0.000884246 0.00863407 0.000944293" quat="0.643965 0.462991 -0.398986 0.460173" mass="0.0862366" diaginertia="1.6546e-05 1.60058e-05 1.43741e-05"/>
|
||||
<joint name="right_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link"/>
|
||||
<body name="right_hand_thumb_1_link" pos="-0.0025 0.0193 0">
|
||||
<inertial pos="-0.000827888 0.0354744 -0.0003809" quat="0.705471 0.685598 -0.0956069 0.15207" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="right_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-1.0472 0.724312" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_1_link"/>
|
||||
<geom size="0.01 0.015 0.01" pos="-0.001 0.032 0" type="box" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_hand_thumb_2_link" pos="0 0.0458 0">
|
||||
<inertial pos="-0.00171735 0.0262819 0.000107789" quat="0.710977 0.703174 0.00766553 0.00017564" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="right_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_2_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_2_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hand_middle_0_link" pos="0.1192 -0.0046 -0.0285">
|
||||
<inertial pos="0.0354744 -0.000827888 0.0003809" quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="right_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="0 1.5708" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link"/>
|
||||
<body name="right_hand_middle_1_link" pos="0.0458 0 0">
|
||||
<inertial pos="0.0262819 -0.00171735 -0.000107789" quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="right_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hand_index_0_link" pos="0.1192 -0.0046 0.0285">
|
||||
<inertial pos="0.0354744 -0.000827888 0.0003809" quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="right_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="0 1.5708" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
|
||||
<body name="right_hand_index_1_link" pos="0.0458 0 0">
|
||||
<inertial pos="0.0262819 -0.00171735 -0.000107789" quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="right_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
||||
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
||||
<motor name="waist_roll_joint" joint="waist_roll_joint"/>
|
||||
<motor name="waist_pitch_joint" joint="waist_pitch_joint"/>
|
||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
||||
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
|
||||
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
|
||||
<motor name="left_hand_thumb_0_joint" joint="left_hand_thumb_0_joint"/>
|
||||
<motor name="left_hand_thumb_1_joint" joint="left_hand_thumb_1_joint"/>
|
||||
<motor name="left_hand_thumb_2_joint" joint="left_hand_thumb_2_joint"/>
|
||||
<motor name="left_hand_middle_0_joint" joint="left_hand_middle_0_joint"/>
|
||||
<motor name="left_hand_middle_1_joint" joint="left_hand_middle_1_joint"/>
|
||||
<motor name="left_hand_index_0_joint" joint="left_hand_index_0_joint"/>
|
||||
<motor name="left_hand_index_1_joint" joint="left_hand_index_1_joint"/>
|
||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
||||
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
|
||||
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
|
||||
<motor name="right_hand_thumb_0_joint" joint="right_hand_thumb_0_joint"/>
|
||||
<motor name="right_hand_thumb_1_joint" joint="right_hand_thumb_1_joint"/>
|
||||
<motor name="right_hand_thumb_2_joint" joint="right_hand_thumb_2_joint"/>
|
||||
<motor name="right_hand_index_0_joint" joint="right_hand_index_0_joint"/>
|
||||
<motor name="right_hand_index_1_joint" joint="right_hand_index_1_joint"/>
|
||||
<motor name="right_hand_middle_0_joint" joint="right_hand_middle_0_joint"/>
|
||||
<motor name="right_hand_middle_1_joint" joint="right_hand_middle_1_joint"/>
|
||||
</actuator>
|
||||
|
||||
<sensor>
|
||||
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
|
||||
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
|
||||
</sensor>
|
||||
|
||||
|
||||
<!-- setup scene -->
|
||||
<statistic center="1.0 0.7 1.0" 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>
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,408 @@
|
|||
<mujoco model="g1_29dof_with_hand_rev_1_0">
|
||||
<compiler angle="radian" meshdir="meshes"/>
|
||||
|
||||
<asset>
|
||||
<mesh name="pelvis" file="pelvis.STL"/>
|
||||
<mesh name="pelvis_contour_link" file="pelvis_contour_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_hip_yaw_link" file="left_hip_yaw_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_pitch_link" file="right_hip_pitch_link.STL"/>
|
||||
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
||||
<mesh name="right_hip_yaw_link" file="right_hip_yaw_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="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL"/>
|
||||
<mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL"/>
|
||||
<mesh name="torso_link" file="torso_link_rev_1_0.STL"/>
|
||||
<mesh name="logo_link" file="logo_link.STL"/>
|
||||
<mesh name="head_link" file="head_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_link" file="left_elbow_link.STL"/>
|
||||
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
|
||||
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
|
||||
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
|
||||
<mesh name="left_hand_palm_link" file="left_hand_palm_link.STL"/>
|
||||
<mesh name="left_hand_thumb_0_link" file="left_hand_thumb_0_link.STL"/>
|
||||
<mesh name="left_hand_thumb_1_link" file="left_hand_thumb_1_link.STL"/>
|
||||
<mesh name="left_hand_thumb_2_link" file="left_hand_thumb_2_link.STL"/>
|
||||
<mesh name="left_hand_middle_0_link" file="left_hand_middle_0_link.STL"/>
|
||||
<mesh name="left_hand_middle_1_link" file="left_hand_middle_1_link.STL"/>
|
||||
<mesh name="left_hand_index_0_link" file="left_hand_index_0_link.STL"/>
|
||||
<mesh name="left_hand_index_1_link" file="left_hand_index_1_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_link" file="right_elbow_link.STL"/>
|
||||
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
|
||||
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
|
||||
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
|
||||
<mesh name="right_hand_palm_link" file="right_hand_palm_link.STL"/>
|
||||
<mesh name="right_hand_thumb_0_link" file="right_hand_thumb_0_link.STL"/>
|
||||
<mesh name="right_hand_thumb_1_link" file="right_hand_thumb_1_link.STL"/>
|
||||
<mesh name="right_hand_thumb_2_link" file="right_hand_thumb_2_link.STL"/>
|
||||
<mesh name="right_hand_middle_0_link" file="right_hand_middle_0_link.STL"/>
|
||||
<mesh name="right_hand_middle_1_link" file="right_hand_middle_1_link.STL"/>
|
||||
<mesh name="right_hand_index_0_link" file="right_hand_index_0_link.STL"/>
|
||||
<mesh name="right_hand_index_1_link" file="right_hand_index_1_link.STL"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<body name="pelvis" pos="0 0 0.793">
|
||||
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
|
||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
|
||||
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
||||
<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
|
||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
||||
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
||||
<inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
|
||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
||||
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
||||
<inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
|
||||
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
||||
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
||||
<inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458"/>
|
||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
||||
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
||||
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
|
||||
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
||||
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
|
||||
<inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
|
||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
|
||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
||||
<inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
|
||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
||||
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
||||
<inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
|
||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
||||
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
||||
<inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
|
||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
||||
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
||||
<inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452"/>
|
||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
||||
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
||||
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
|
||||
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
||||
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
|
||||
<inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
|
||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
|
||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="waist_yaw_link">
|
||||
<inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821" mass="0.214" diaginertia="0.000163531 0.000107714 0.000102205"/>
|
||||
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
|
||||
<body name="waist_roll_link" pos="-0.0039635 0 0.044">
|
||||
<inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086" diaginertia="8.245e-06 7.079e-06 6.339e-06"/>
|
||||
<joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
|
||||
<body name="torso_link">
|
||||
<inertial pos="0.00203158 0.000339683 0.184568" quat="0.999803 -6.03319e-05 0.0198256 0.00131986" mass="7.818" diaginertia="0.121847 0.109825 0.0273735"/>
|
||||
<joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
|
||||
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
||||
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
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|
||||
<inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
||||
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|
||||
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|
||||
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|
||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
||||
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|
||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
||||
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|
||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
||||
<body name="left_wrist_pitch_link" pos="0.038 0 0">
|
||||
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|
||||
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
||||
<body name="left_wrist_yaw_link" pos="0.046 0 0">
|
||||
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|
||||
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_palm_link"/>
|
||||
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_palm_link"/>
|
||||
<body name="left_hand_thumb_0_link" pos="0.067 0.003 0">
|
||||
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|
||||
<joint name="left_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link"/>
|
||||
<body name="left_hand_thumb_1_link" pos="-0.0025 -0.0193 0">
|
||||
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|
||||
<joint name="left_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-0.724312 1.0472" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_1_link"/>
|
||||
<geom size="0.01 0.015 0.01" pos="-0.001 -0.032 0" type="box" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_hand_thumb_2_link" pos="0 -0.0458 0">
|
||||
<inertial pos="-0.00171735 -0.0262819 0.000107789" quat="0.703174 0.710977 -0.00017564 -0.00766553" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="left_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_hand_middle_0_link" pos="0.1192 0.0046 -0.0285">
|
||||
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|
||||
<joint name="left_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link"/>
|
||||
<body name="left_hand_middle_1_link" pos="0.0458 0 0">
|
||||
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|
||||
<joint name="left_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_hand_index_0_link" pos="0.1192 0.0046 0.0285">
|
||||
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|
||||
<joint name="left_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link"/>
|
||||
<body name="left_hand_index_1_link" pos="0.0458 0 0">
|
||||
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|
||||
<joint name="left_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
||||
<inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
||||
<inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
||||
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|
||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
||||
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|
||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
||||
<inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
|
||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
||||
<body name="right_wrist_pitch_link" pos="0.038 0 0">
|
||||
<inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
|
||||
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<body name="right_wrist_yaw_link" pos="0.046 0 0">
|
||||
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|
||||
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link"/>
|
||||
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link"/>
|
||||
<body name="right_hand_thumb_0_link" pos="0.067 -0.003 0">
|
||||
<inertial pos="-0.000884246 0.00863407 0.000944293" quat="0.643965 0.462991 -0.398986 0.460173" mass="0.0862366" diaginertia="1.6546e-05 1.60058e-05 1.43741e-05"/>
|
||||
<joint name="right_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link"/>
|
||||
<body name="right_hand_thumb_1_link" pos="-0.0025 0.0193 0">
|
||||
<inertial pos="-0.000827888 0.0354744 -0.0003809" quat="0.705471 0.685598 -0.0956069 0.15207" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="right_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-1.0472 0.724312" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_1_link"/>
|
||||
<geom size="0.01 0.015 0.01" pos="-0.001 0.032 0" type="box" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_hand_thumb_2_link" pos="0 0.0458 0">
|
||||
<inertial pos="-0.00171735 0.0262819 0.000107789" quat="0.710977 0.703174 0.00766553 0.00017564" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="right_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_2_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_2_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hand_middle_0_link" pos="0.1192 -0.0046 -0.0285">
|
||||
<inertial pos="0.0354744 -0.000827888 0.0003809" quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="right_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="0 1.5708" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link"/>
|
||||
<body name="right_hand_middle_1_link" pos="0.0458 0 0">
|
||||
<inertial pos="0.0262819 -0.00171735 -0.000107789" quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="right_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hand_index_0_link" pos="0.1192 -0.0046 0.0285">
|
||||
<inertial pos="0.0354744 -0.000827888 0.0003809" quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="right_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="0 1.5708" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
|
||||
<body name="right_hand_index_1_link" pos="0.0458 0 0">
|
||||
<inertial pos="0.0262819 -0.00171735 -0.000107789" quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="right_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
||||
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
||||
<motor name="waist_roll_joint" joint="waist_roll_joint"/>
|
||||
<motor name="waist_pitch_joint" joint="waist_pitch_joint"/>
|
||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
||||
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
|
||||
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
|
||||
<motor name="left_hand_thumb_0_joint" joint="left_hand_thumb_0_joint"/>
|
||||
<motor name="left_hand_thumb_1_joint" joint="left_hand_thumb_1_joint"/>
|
||||
<motor name="left_hand_thumb_2_joint" joint="left_hand_thumb_2_joint"/>
|
||||
<motor name="left_hand_middle_0_joint" joint="left_hand_middle_0_joint"/>
|
||||
<motor name="left_hand_middle_1_joint" joint="left_hand_middle_1_joint"/>
|
||||
<motor name="left_hand_index_0_joint" joint="left_hand_index_0_joint"/>
|
||||
<motor name="left_hand_index_1_joint" joint="left_hand_index_1_joint"/>
|
||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
||||
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
|
||||
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
|
||||
<motor name="right_hand_thumb_0_joint" joint="right_hand_thumb_0_joint"/>
|
||||
<motor name="right_hand_thumb_1_joint" joint="right_hand_thumb_1_joint"/>
|
||||
<motor name="right_hand_thumb_2_joint" joint="right_hand_thumb_2_joint"/>
|
||||
<motor name="right_hand_index_0_joint" joint="right_hand_index_0_joint"/>
|
||||
<motor name="right_hand_index_1_joint" joint="right_hand_index_1_joint"/>
|
||||
<motor name="right_hand_middle_0_joint" joint="right_hand_middle_0_joint"/>
|
||||
<motor name="right_hand_middle_1_joint" joint="right_hand_middle_1_joint"/>
|
||||
</actuator>
|
||||
|
||||
<sensor>
|
||||
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
|
||||
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
|
||||
</sensor>
|
||||
|
||||
|
||||
<!-- setup scene -->
|
||||
<statistic center="1.0 0.7 1.0" 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>
|
||||
|
|
@ -0,0 +1,650 @@
|
|||
<robot name="g1_dual_arm">
|
||||
<mujoco>
|
||||
<compiler meshdir="meshes" discardvisual="false"/>
|
||||
</mujoco>
|
||||
|
||||
<!-- [CAUTION] uncomment when convert to mujoco -->
|
||||
<!-- <link name="world"></link>
|
||||
<joint name="floating_base_joint" type="floating">
|
||||
<parent link="world"/>
|
||||
<child link="waist_yaw_link"/>
|
||||
</joint> -->
|
||||
|
||||
<!-- Torso -->
|
||||
<link name="waist_yaw_link">
|
||||
<inertial>
|
||||
<origin xyz="0.003964 0 0.018769" rpy="0 0 0"/>
|
||||
<mass value="0.244"/>
|
||||
<inertia ixx="9.9587E-05" ixy="-1.833E-06" ixz="-1.2617E-05" iyy="0.00012411" iyz="-1.18E-07" izz="0.00015586"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/waist_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="waist_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="0 -0.000236 0.010111" rpy="0 0 0"/>
|
||||
<mass value="0.047"/>
|
||||
<inertia ixx="7.515E-06" ixy="0" ixz="0" iyy="6.398E-06" iyz="9.9E-08" izz="3.988E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/waist_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="waist_roll_joint" type="fixed">
|
||||
<origin xyz="-0.0039635 0 0.035" rpy="0 0 0"/>
|
||||
<parent link="waist_yaw_link"/>
|
||||
<child link="waist_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
|
||||
</joint>
|
||||
<link name="torso_link">
|
||||
<inertial>
|
||||
<origin xyz="0.002601 0.000257 0.153719" rpy="0 0 0"/>
|
||||
<mass value="8.562"/>
|
||||
<inertia ixx="0.065674966" ixy="-8.597E-05" ixz="-0.001737252" iyy="0.053535188" iyz="8.6899E-05" izz="0.030808125"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/torso_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/torso_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="waist_pitch_joint" type="fixed">
|
||||
<origin xyz="0 0 0.019" rpy="0 0 0"/>
|
||||
<parent link="waist_roll_link"/>
|
||||
<child link="torso_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
|
||||
</joint>
|
||||
|
||||
<!-- LOGO -->
|
||||
<joint name="logo_joint" type="fixed">
|
||||
<origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="logo_link"/>
|
||||
</joint>
|
||||
<link name="logo_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.001"/>
|
||||
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/logo_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/logo_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- Head -->
|
||||
<link name="head_link">
|
||||
<inertial>
|
||||
<origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0"/>
|
||||
<mass value="1.036"/>
|
||||
<inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/head_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/head_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="head_joint" type="fixed">
|
||||
<origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="head_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- Waist Support -->
|
||||
<link name="waist_support_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.001"/>
|
||||
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/waist_support_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/waist_support_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="waist_support_joint" type="fixed">
|
||||
<origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="waist_support_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- IMU -->
|
||||
<link name="imu_in_torso"></link>
|
||||
<joint name="imu_in_torso_joint" type="fixed">
|
||||
<origin xyz="-0.03959 -0.00224 0.13792" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="imu_in_torso"/>
|
||||
</joint>
|
||||
|
||||
<link name="imu_in_pelvis"></link>
|
||||
<joint name="imu_in_pelvis_joint" type="fixed">
|
||||
<origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="imu_in_pelvis"/>
|
||||
</joint>
|
||||
|
||||
<!-- d435 -->
|
||||
<link name="d435_link"></link>
|
||||
<joint name="d435_joint" type="fixed">
|
||||
<origin xyz="0.0576235 0.01753 0.41987" rpy="0 0.8307767239493009 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="d435_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- mid360 -->
|
||||
<link name="mid360_link"></link>
|
||||
<joint name="mid360_joint" type="fixed">
|
||||
<origin xyz="0.0002835 0.00003 0.40618" rpy="0 0.04014257279586953 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="mid360_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- Arm -->
|
||||
<link name="left_shoulder_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0.035892 -0.011628" rpy="0 0 0"/>
|
||||
<mass value="0.718"/>
|
||||
<inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_shoulder_pitch_joint" type="revolute">
|
||||
<origin xyz="0.0039563 0.10022 0.23778" rpy="0.27931 5.4949E-05 -0.00019159"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="left_shoulder_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="left_shoulder_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0"/>
|
||||
<mass value="0.643"/>
|
||||
<inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_shoulder_roll_joint" type="revolute">
|
||||
<origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0"/>
|
||||
<parent link="left_shoulder_pitch_link"/>
|
||||
<child link="left_shoulder_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-1.5882" upper="2.2515" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="left_shoulder_yaw_link">
|
||||
<inertial>
|
||||
<origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0"/>
|
||||
<mass value="0.734"/>
|
||||
<inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_shoulder_yaw_joint" type="revolute">
|
||||
<origin xyz="0 0.00624 -0.1032" rpy="0 0 0"/>
|
||||
<parent link="left_shoulder_roll_link"/>
|
||||
<child link="left_shoulder_yaw_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="left_elbow_link">
|
||||
<inertial>
|
||||
<origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0"/>
|
||||
<mass value="0.6"/>
|
||||
<inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_elbow_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_elbow_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_elbow_joint" type="revolute">
|
||||
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
||||
<parent link="left_shoulder_yaw_link"/>
|
||||
<child link="left_elbow_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<joint name="left_wrist_roll_joint" type="revolute">
|
||||
<origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="left_elbow_link"/>
|
||||
<child link="left_wrist_roll_link"/>
|
||||
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
||||
</joint>
|
||||
<link name="left_wrist_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="0.01713944778 0.00053759094 0.00000048864" rpy="0 0 0"/>
|
||||
<mass value="0.08544498"/>
|
||||
<inertia ixx="0.00004821544023" ixy="-0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="-0.00000000123525" izz="0.00005482106541"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_wrist_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_wrist_roll_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_wrist_pitch_joint" type="revolute">
|
||||
<origin xyz="0.038 0 0" rpy="0 0 0"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="left_wrist_roll_link"/>
|
||||
<child link="left_wrist_pitch_link"/>
|
||||
<limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
|
||||
</joint>
|
||||
<link name="left_wrist_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="0.02299989837 -0.00111685314 -0.00111658096" rpy="0 0 0"/>
|
||||
<mass value="0.48404956"/>
|
||||
<inertia ixx="0.00016579646273" ixy="-0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="0.00000081417712" izz="0.00042953697654"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_wrist_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_wrist_pitch_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_wrist_yaw_joint" type="revolute">
|
||||
<origin xyz="0.046 0 0" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_wrist_pitch_link"/>
|
||||
<child link="left_wrist_yaw_link"/>
|
||||
<limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
|
||||
</joint>
|
||||
<link name="left_wrist_yaw_link">
|
||||
<inertial>
|
||||
<origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0 0 0"/>
|
||||
<mass value="0.08457647"/>
|
||||
<inertia ixx="0.00004929128828" ixy="-0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="0.00000043217198" izz="0.00003928083826"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_wrist_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_wrist_yaw_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_hand_palm_joint" type="fixed">
|
||||
<origin xyz="0.0415 0.003 0" rpy="0 0 0"/>
|
||||
<parent link="left_wrist_yaw_link"/>
|
||||
<child link="left_rubber_hand"/>
|
||||
</joint>
|
||||
<link name="left_rubber_hand">
|
||||
<inertial>
|
||||
<origin xyz="0.05361310808 -0.00295905240 0.00215413091" rpy="0 0 0"/>
|
||||
<mass value="0.170"/>
|
||||
<inertia ixx="0.00010099485234748" ixy="0.00003618590790516" ixz="-0.00000074301518642" iyy="0.00028135871571621" iyz="0.00000330189743286" izz="0.00021894770413514"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_rubber_hand.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="right_shoulder_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="0 -0.035892 -0.011628" rpy="0 0 0"/>
|
||||
<mass value="0.718"/>
|
||||
<inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_shoulder_pitch_joint" type="revolute">
|
||||
<origin xyz="0.0039563 -0.10021 0.23778" rpy="-0.27931 5.4949E-05 0.00019159"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="right_shoulder_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_shoulder_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0"/>
|
||||
<mass value="0.643"/>
|
||||
<inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_shoulder_roll_joint" type="revolute">
|
||||
<origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0"/>
|
||||
<parent link="right_shoulder_pitch_link"/>
|
||||
<child link="right_shoulder_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-2.2515" upper="1.5882" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_shoulder_yaw_link">
|
||||
<inertial>
|
||||
<origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0"/>
|
||||
<mass value="0.734"/>
|
||||
<inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_shoulder_yaw_joint" type="revolute">
|
||||
<origin xyz="0 -0.00624 -0.1032" rpy="0 0 0"/>
|
||||
<parent link="right_shoulder_roll_link"/>
|
||||
<child link="right_shoulder_yaw_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_elbow_link">
|
||||
<inertial>
|
||||
<origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0"/>
|
||||
<mass value="0.6"/>
|
||||
<inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_elbow_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_elbow_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_elbow_joint" type="revolute">
|
||||
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
||||
<parent link="right_shoulder_yaw_link"/>
|
||||
<child link="right_elbow_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<joint name="right_wrist_roll_joint" type="revolute">
|
||||
<origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="right_elbow_link"/>
|
||||
<child link="right_wrist_roll_link"/>
|
||||
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
||||
</joint>
|
||||
<link name="right_wrist_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="0.01713944778 -0.00053759094 0.00000048864" rpy="0 0 0"/>
|
||||
<mass value="0.08544498"/>
|
||||
<inertia ixx="0.00004821544023" ixy="0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="0.00000000123525" izz="0.00005482106541"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_wrist_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_wrist_roll_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_wrist_pitch_joint" type="revolute">
|
||||
<origin xyz="0.038 0 0" rpy="0 0 0"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="right_wrist_roll_link"/>
|
||||
<child link="right_wrist_pitch_link"/>
|
||||
<limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
|
||||
</joint>
|
||||
<link name="right_wrist_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="0.02299989837 0.00111685314 -0.00111658096" rpy="0 0 0"/>
|
||||
<mass value="0.48404956"/>
|
||||
<inertia ixx="0.00016579646273" ixy="0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="-0.00000081417712" izz="0.00042953697654"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_wrist_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_wrist_pitch_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_wrist_yaw_joint" type="revolute">
|
||||
<origin xyz="0.046 0 0" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_wrist_pitch_link"/>
|
||||
<child link="right_wrist_yaw_link"/>
|
||||
<limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
|
||||
</joint>
|
||||
<link name="right_wrist_yaw_link">
|
||||
<inertial>
|
||||
<origin xyz="0.02200381568 -0.00049485096 0.00053861123" rpy="0 0 0"/>
|
||||
<mass value="0.08457647"/>
|
||||
<inertia ixx="0.00004929128828" ixy="0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="-0.00000043217198" izz="0.00003928083826"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_wrist_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_wrist_yaw_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_hand_palm_joint" type="fixed">
|
||||
<origin xyz="0.0415 -0.003 0" rpy="0 0 0"/>
|
||||
<parent link="right_wrist_yaw_link"/>
|
||||
<child link="right_rubber_hand"/>
|
||||
</joint>
|
||||
<link name="right_rubber_hand">
|
||||
<inertial>
|
||||
<origin xyz="0.05361310808 0.00295905240 0.00215413091" rpy="0 0 0"/>
|
||||
<mass value="0.170"/>
|
||||
<inertia ixx="0.00010099485234748" ixy="-0.00003618590790516" ixz="-0.00000074301518642" iyy="0.00028135871571621" iyz="-0.00000330189743286" izz="0.00021894770413514"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_rubber_hand.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,162 @@
|
|||
<mujoco model="g1_dual_arm">
|
||||
<compiler angle="radian" meshdir="meshes"/>
|
||||
|
||||
<asset>
|
||||
<mesh name="waist_yaw_link" file="waist_yaw_link.STL"/>
|
||||
<mesh name="waist_roll_link" file="waist_roll_link.STL"/>
|
||||
<mesh name="torso_link" file="torso_link.STL"/>
|
||||
<mesh name="logo_link" file="logo_link.STL"/>
|
||||
<mesh name="head_link" file="head_link.STL"/>
|
||||
<mesh name="waist_support_link" file="waist_support_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_link" file="left_elbow_link.STL"/>
|
||||
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
|
||||
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
|
||||
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
|
||||
<mesh name="left_rubber_hand" file="left_rubber_hand.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_link" file="right_elbow_link.STL"/>
|
||||
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
|
||||
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
|
||||
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
|
||||
<mesh name="right_rubber_hand" file="right_rubber_hand.STL"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
|
||||
<geom pos="-0.0039635 0 0.035" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
|
||||
<geom pos="-0.0039635 0 0.054" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
||||
<geom pos="-0.0039635 0 0.054" type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
||||
<body name="left_shoulder_pitch_link" pos="-7.2e-06 0.10022 0.29178" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
||||
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
||||
<inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
||||
<inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
||||
<inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
|
||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
||||
<body name="left_wrist_pitch_link" pos="0.038 0 0">
|
||||
<inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
|
||||
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
||||
<body name="left_wrist_yaw_link" pos="0.046 0 0">
|
||||
<inertial pos="0.0708244 0.000191745 0.00161742" quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
|
||||
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_rubber_hand"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_shoulder_pitch_link" pos="-7.2e-06 -0.10021 0.29178" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
||||
<inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
||||
<inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
||||
<inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
||||
<inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
|
||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
||||
<body name="right_wrist_pitch_link" pos="0.038 0 0">
|
||||
<inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
|
||||
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<body name="right_wrist_yaw_link" pos="0.046 0 0">
|
||||
<inertial pos="0.0708244 -0.000191745 0.00161742" quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
|
||||
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_rubber_hand"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
||||
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
|
||||
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
|
||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
||||
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
|
||||
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
|
||||
</actuator>
|
||||
|
||||
|
||||
<!-- setup scene -->
|
||||
<statistic center="1.0 0.7 1.0" 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>
|
||||
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Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue