162 lines
13 KiB
XML
162 lines
13 KiB
XML
<mujoco model="g1_dual_arm">
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<compiler angle="radian" meshdir="meshes"/>
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<asset>
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<mesh name="waist_yaw_link" file="waist_yaw_link.STL"/>
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<mesh name="waist_roll_link" file="waist_roll_link.STL"/>
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<mesh name="torso_link" file="torso_link.STL"/>
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<mesh name="logo_link" file="logo_link.STL"/>
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<mesh name="head_link" file="head_link.STL"/>
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<mesh name="waist_support_link" file="waist_support_link.STL"/>
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<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
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<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
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<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
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<mesh name="left_elbow_link" file="left_elbow_link.STL"/>
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<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
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<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
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<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
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<mesh name="left_rubber_hand" file="left_rubber_hand.STL"/>
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<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
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<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
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<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
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<mesh name="right_elbow_link" file="right_elbow_link.STL"/>
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<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
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<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
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<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
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<mesh name="right_rubber_hand" file="right_rubber_hand.STL"/>
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</asset>
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<worldbody>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
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<geom pos="-0.0039635 0 0.035" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
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<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"/>
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<geom pos="-0.0039635 0 0.054" type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
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<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
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<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
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<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">
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<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"/>
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<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
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<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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<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
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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"/>
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<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
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<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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<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
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<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
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<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"/>
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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"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
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<body name="left_elbow_link" pos="0.015783 0 -0.080518">
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<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"/>
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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"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
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<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
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<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"/>
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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"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
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<body name="left_wrist_pitch_link" pos="0.038 0 0">
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<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"/>
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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"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
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<body name="left_wrist_yaw_link" pos="0.046 0 0">
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<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"/>
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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"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
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<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"/>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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<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">
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<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"/>
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<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
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<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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<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
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<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"/>
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<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
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<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
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<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
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<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"/>
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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"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
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<body name="right_elbow_link" pos="0.015783 0 -0.080518">
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<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"/>
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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"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
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<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
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<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"/>
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<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
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<body name="right_wrist_pitch_link" pos="0.038 0 0">
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<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"/>
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<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
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<body name="right_wrist_yaw_link" pos="0.046 0 0">
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<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"/>
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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"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
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<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"/>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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<actuator>
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<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
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<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
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<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
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<motor name="left_elbow_joint" joint="left_elbow_joint"/>
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<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
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<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
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<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
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<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
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<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
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<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
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<motor name="right_elbow_joint" joint="right_elbow_joint"/>
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<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
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<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
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<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
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</actuator>
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<!-- setup scene -->
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<statistic center="1.0 0.7 1.0" extent="0.8"/>
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<visual>
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<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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<global azimuth="-140" elevation="-20"/>
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</visual>
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<asset>
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<texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
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<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"/>
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<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
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</asset>
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<worldbody>
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<light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
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<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
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</worldbody>
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</mujoco> |