add h1_2_description
This commit is contained in:
matheecs
parent
9a7481d1e8
commit
18f4921e59
|
|
@ -2,7 +2,7 @@
|
|||
|
||||
## Overview
|
||||
|
||||
This package includes a streamlined robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/).
|
||||
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/).
|
||||
|
||||
<p align="center">
|
||||
<img src="images/g1_23dof.png" width="45%"/>
|
||||
|
|
|
|||
|
|
@ -0,0 +1,79 @@
|
|||
# Unitree H1_2 Description (URDF & MJCF)
|
||||
|
||||
## Overview
|
||||
|
||||
This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree H1_2](https://www.unitree.com/h1), developed by [Unitree Robotics](https://www.unitree.com/).
|
||||
|
||||
<p align="center">
|
||||
<img src="h1_2.png" width="500"/>
|
||||
</p>
|
||||
|
||||
Unitree H1 have 51 DOFs:
|
||||
|
||||
```text
|
||||
root [⚓] => /pelvis/
|
||||
left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/
|
||||
left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/
|
||||
left_hip_roll_joint [⚙+X] => /left_hip_roll_link/
|
||||
left_knee_joint [⚙+Y] => /left_knee_link/
|
||||
left_ankle_pitch_joint [⚙+Y] => /left_ankle_pitch_link/
|
||||
left_ankle_roll_joint [⚙+X] => /left_ankle_roll_link/
|
||||
right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/
|
||||
right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/
|
||||
right_hip_roll_joint [⚙+X] => /right_hip_roll_link/
|
||||
right_knee_joint [⚙+Y] => /right_knee_link/
|
||||
right_ankle_pitch_joint [⚙+Y] => /right_ankle_pitch_link/
|
||||
right_ankle_roll_joint [⚙+X] => /right_ankle_roll_link/
|
||||
torso_joint [⚙+Z] => /torso_link/
|
||||
left_shoulder_pitch_joint [⚙+Y] => /left_shoulder_pitch_link/
|
||||
left_shoulder_roll_joint [⚙+X] => /left_shoulder_roll_link/
|
||||
left_shoulder_yaw_joint [⚙+Z] => /left_shoulder_yaw_link/
|
||||
left_elbow_joint [⚙+Y] => /left_elbow_link/
|
||||
left_wrist_roll_joint [⚙+X] => /left_wrist_roll_link/
|
||||
left_wrist_pitch_joint [⚙+Y] => /left_wrist_pitch_link/
|
||||
left_wrist_yaw_joint [⚙+Z] => /left_wrist_yaw_link/
|
||||
L_base_link_joint [⚓] => /L_hand_base_link/
|
||||
L_thumb_proximal_yaw_joint [⚙+Z] => /L_thumb_proximal_base/
|
||||
L_thumb_proximal_pitch_joint [⚙-Z] => /L_thumb_proximal/
|
||||
L_thumb_intermediate_joint [⚙-Z] => /L_thumb_intermediate/
|
||||
L_thumb_distal_joint [⚙-Z] => /L_thumb_distal/
|
||||
L_index_proximal_joint [⚙-Z] => /L_index_proximal/
|
||||
L_index_intermediate_joint [⚙-Z] => /L_index_intermediate/
|
||||
L_middle_proximal_joint [⚙-Z] => /L_middle_proximal/
|
||||
L_middle_intermediate_joint [⚙-Z] => /L_middle_intermediate/
|
||||
L_ring_proximal_joint [⚙-Z] => /L_ring_proximal/
|
||||
L_ring_intermediate_joint [⚙-Z] => /L_ring_intermediate/
|
||||
L_pinky_proximal_joint [⚙-Z] => /L_pinky_proximal/
|
||||
L_pinky_intermediate_joint [⚙-Z] => /L_pinky_intermediate/
|
||||
right_shoulder_pitch_joint [⚙+Y] => /right_shoulder_pitch_link/
|
||||
right_shoulder_roll_joint [⚙+X] => /right_shoulder_roll_link/
|
||||
right_shoulder_yaw_joint [⚙+Z] => /right_shoulder_yaw_link/
|
||||
right_elbow_joint [⚙+Y] => /right_elbow_link/
|
||||
right_wrist_roll_joint [⚙+X] => /right_wrist_roll_link/
|
||||
right_wrist_pitch_joint [⚙+Y] => /right_wrist_pitch_link/
|
||||
right_wrist_yaw_joint [⚙+Z] => /right_wrist_yaw_link/
|
||||
R_base_link_joint [⚓] => /R_hand_base_link/
|
||||
R_thumb_proximal_yaw_joint [⚙-Z] => /R_thumb_proximal_base/
|
||||
R_thumb_proximal_pitch_joint [⚙+Z] => /R_thumb_proximal/
|
||||
R_thumb_intermediate_joint [⚙+Z] => /R_thumb_intermediate/
|
||||
R_thumb_distal_joint [⚙+Z] => /R_thumb_distal/
|
||||
R_index_proximal_joint [⚙+Z] => /R_index_proximal/
|
||||
R_index_intermediate_joint [⚙+Z] => /R_index_intermediate/
|
||||
R_middle_proximal_joint [⚙+Z] => /R_middle_proximal/
|
||||
R_middle_intermediate_joint [⚙+Z] => /R_middle_intermediate/
|
||||
R_ring_proximal_joint [⚙+Z] => /R_ring_proximal/
|
||||
R_ring_intermediate_joint [⚙+Z] => /R_ring_intermediate/
|
||||
R_pinky_proximal_joint [⚙+Z] => /R_pinky_proximal/
|
||||
R_pinky_intermediate_joint [⚙+Z] => /R_pinky_intermediate/
|
||||
```
|
||||
|
||||
## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
|
||||
|
||||
1. Open MuJoCo Viewer
|
||||
|
||||
```bash
|
||||
pip install mujoco
|
||||
python -m mujoco.viewer
|
||||
```
|
||||
|
||||
2. Drag and drop the MJCF model file (`scene.xml`) to the MuJoCo Viewer.
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 753 KiB |
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,438 @@
|
|||
<mujoco model="h1_2">
|
||||
<compiler angle="radian" meshdir="meshes/" autolimits="true"/>
|
||||
<statistic meansize="0.112107" extent="1.95557" center="0.0256948 1.86841e-05 -0.178443"/>
|
||||
<asset>
|
||||
<mesh name="pelvis" file="pelvis.STL"/>
|
||||
<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
|
||||
<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
|
||||
<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
|
||||
<mesh name="left_knee_link" file="left_knee_link.STL"/>
|
||||
<mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
|
||||
<mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
|
||||
<mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
|
||||
<mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
|
||||
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
||||
<mesh name="right_knee_link" file="right_knee_link.STL"/>
|
||||
<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
|
||||
<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
|
||||
<mesh name="torso_link" file="torso_link.STL"/>
|
||||
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
|
||||
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
|
||||
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
|
||||
<mesh name="left_elbow_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="wrist_yaw_link" file="wrist_yaw_link.STL"/>
|
||||
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
|
||||
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
|
||||
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
|
||||
<mesh name="right_elbow_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="logo_link" file="logo_link.STL"/>
|
||||
<mesh name="L_hand_base_link" file="L_hand_base_link.STL"/>
|
||||
<mesh name="link11_L" file="link11_L.STL"/>
|
||||
<mesh name="link12_L" file="link12_L.STL"/>
|
||||
<mesh name="link13_L" file="link13_L.STL"/>
|
||||
<mesh name="link14_L" file="link14_L.STL"/>
|
||||
<mesh name="link15_L" file="link15_L.STL"/>
|
||||
<mesh name="link16_L" file="link16_L.STL"/>
|
||||
<mesh name="link17_L" file="link17_L.STL"/>
|
||||
<mesh name="link18_L" file="link18_L.STL"/>
|
||||
<mesh name="link19_L" file="link19_L.STL"/>
|
||||
<mesh name="link20_L" file="link20_L.STL"/>
|
||||
<mesh name="link21_L" file="link21_L.STL"/>
|
||||
<mesh name="link22_L" file="link22_L.STL"/>
|
||||
<mesh name="R_hand_base_link" file="R_hand_base_link.STL"/>
|
||||
<mesh name="link11_R" file="link11_R.STL"/>
|
||||
<mesh name="link12_R" file="link12_R.STL"/>
|
||||
<mesh name="link13_R" file="link13_R.STL"/>
|
||||
<mesh name="link14_R" file="link14_R.STL"/>
|
||||
<mesh name="link15_R" file="link15_R.STL"/>
|
||||
<mesh name="link16_R" file="link16_R.STL"/>
|
||||
<mesh name="link17_R" file="link17_R.STL"/>
|
||||
<mesh name="link18_R" file="link18_R.STL"/>
|
||||
<mesh name="link19_R" file="link19_R.STL"/>
|
||||
<mesh name="link20_R" file="link20_R.STL"/>
|
||||
<mesh name="link21_R" file="link21_R.STL"/>
|
||||
<mesh name="link22_R" file="link22_R.STL"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<body name="pelvis" pos="0 0 1.03">
|
||||
<inertial pos="-0.0004 3.7e-05 -0.046864" quat="0.497097 0.496809 -0.503132 0.502925" mass="5.983" diaginertia="0.0531565 0.0491678 0.00902583"/>
|
||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="pelvis"/>
|
||||
<geom size="0.05" rgba="0.1 0.1 0.1 1"/>
|
||||
<body name="left_hip_yaw_link" pos="0 0.0875 -0.1632">
|
||||
<inertial pos="0 -0.026197 0.006647" quat="0.704899 -0.0553755 0.0548434 0.705013" mass="2.829" diaginertia="0.00574303 0.00455361 0.00349461"/>
|
||||
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43" actuatorfrcrange="-200 200"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_yaw_link"/>
|
||||
<geom size="0.01 0.01" pos="0.02 0 0" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
|
||||
<body name="left_hip_pitch_link" pos="0 0.0755 0">
|
||||
<inertial pos="-0.00781 -0.004724 -6.3e-05" quat="0.701575 0.711394 0.0330266 0.0249149" mass="2.92" diaginertia="0.00560661 0.00445055 0.00385068"/>
|
||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5" actuatorfrcrange="-200 200"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_pitch_link"/>
|
||||
<geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
|
||||
<body name="left_hip_roll_link">
|
||||
<inertial pos="0.004171 -0.008576 -0.194509" quat="0.634842 0.0146079 0.0074063 0.772469" mass="4.962" diaginertia="0.0480229 0.0462788 0.00887409"/>
|
||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.43 3.14" actuatorfrcrange="-200 200"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_roll_link"/>
|
||||
<geom size="0.02 0.005" pos="0 0.06 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
|
||||
<body name="left_knee_link" pos="0 0 -0.4">
|
||||
<inertial pos="0.000179 0.000121 -0.168936" quat="0.416585 0.0104983 0.00514003 0.909021" mass="3.839" diaginertia="0.0391044 0.038959 0.00501125"/>
|
||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.12 2.19" actuatorfrcrange="-300 300"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_knee_link"/>
|
||||
<geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
|
||||
<body name="left_ankle_pitch_link" pos="0 0 -0.4">
|
||||
<inertial pos="-0.000294 0 -0.010794" quat="0.999984 0 -0.00574445 0" mass="0.102" diaginertia="2.39454e-05 2.1837e-05 1.34126e-05"/>
|
||||
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598" actuatorfrcrange="-60 60"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_ankle_pitch_link"/>
|
||||
<body name="left_ankle_roll_link" pos="0 0 -0.02">
|
||||
<inertial pos="0.029589 0 -0.015973" quat="0 0.725858 0 0.687845" mass="0.747" diaginertia="0.00359178 0.00343534 0.000640307"/>
|
||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799" actuatorfrcrange="-40 40"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_ankle_roll_link"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_ankle_roll_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hip_yaw_link" pos="0 -0.0875 -0.1632">
|
||||
<inertial pos="0 0.026197 0.006647" quat="0.705013 0.0548434 -0.0553755 0.704899" mass="2.829" diaginertia="0.00574303 0.00455361 0.00349461"/>
|
||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43" actuatorfrcrange="-200 200"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_yaw_link"/>
|
||||
<geom size="0.01 0.01" pos="0.02 0 0" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
|
||||
<body name="right_hip_pitch_link" pos="0 -0.0755 0">
|
||||
<inertial pos="-0.00781 0.004724 -6.3e-05" quat="0.711394 0.701575 -0.0249149 -0.0330266" mass="2.92" diaginertia="0.00560661 0.00445055 0.00385068"/>
|
||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5" actuatorfrcrange="-200 200"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_pitch_link"/>
|
||||
<geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
|
||||
<body name="right_hip_roll_link">
|
||||
<inertial pos="0.004171 0.008576 -0.194509" quat="0.772469 0.0074063 0.0146079 0.634842" mass="4.962" diaginertia="0.0480229 0.0462788 0.00887409"/>
|
||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.14 0.43" actuatorfrcrange="-200 200"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_roll_link"/>
|
||||
<geom size="0.02 0.005" pos="0 -0.06 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
|
||||
<body name="right_knee_link" pos="0 0 -0.4">
|
||||
<inertial pos="0.000179 -0.000121 -0.168936" quat="0.909021 0.00514003 0.0104983 0.416585" mass="3.839" diaginertia="0.0391044 0.038959 0.00501125"/>
|
||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.12 2.19" actuatorfrcrange="-300 300"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_knee_link"/>
|
||||
<geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
|
||||
<body name="right_ankle_pitch_link" pos="0 0 -0.4">
|
||||
<inertial pos="-0.000294 0 -0.010794" quat="0.999984 0 -0.00574445 0" mass="0.102" diaginertia="2.39454e-05 2.1837e-05 1.34126e-05"/>
|
||||
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598" actuatorfrcrange="-60 60"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_ankle_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_ankle_pitch_link"/>
|
||||
<body name="right_ankle_roll_link" pos="0 0 -0.02">
|
||||
<inertial pos="0.029589 0 -0.015973" quat="0 0.725858 0 0.687845" mass="0.747" diaginertia="0.00359178 0.00343534 0.000640307"/>
|
||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799" actuatorfrcrange="-40 40"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_ankle_roll_link"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_ankle_roll_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="torso_link">
|
||||
<inertial pos="0.000489 0.002797 0.20484" quat="0.999989 -0.00130808 -0.00282289 -0.00349105" mass="17.789" diaginertia="0.487315 0.409628 0.127837"/>
|
||||
<joint name="torso_joint" pos="0 0 0" axis="0 0 1" range="-2.35 2.35" actuatorfrcrange="-200 200"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="torso_link"/>
|
||||
<geom size="0.04 0.08 0.05" pos="0 0 0.15" type="box" rgba="0.1 0.1 0.1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="logo_link"/>
|
||||
<site name="imu" size="0.01" pos="-0.04452 -0.01891 0.27756"/>
|
||||
<body name="left_shoulder_pitch_link" pos="0 0.14806 0.42333" quat="0.991445 0.130526 0 0">
|
||||
<inertial pos="0.003053 0.06042 -0.0059" quat="0.761799 0.645681 -0.0378496 -0.0363943" mass="1.327" diaginertia="0.000588757 0.00053309 0.000393023"/>
|
||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 1.57" actuatorfrcrange="-40 40"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_pitch_link"/>
|
||||
<body name="left_shoulder_roll_link" pos="0.0342 0.061999 -0.0060011" quat="0.991445 -0.130526 0 0">
|
||||
<inertial pos="-0.030932 -1e-06 -0.10609" quat="0.986055 0.000456937 0.166408 0.00213553" mass="1.393" diaginertia="0.00200869 0.00193464 0.000449847"/>
|
||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.38 3.4" actuatorfrcrange="-40 40"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_roll_link"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_roll_link"/>
|
||||
<body name="left_shoulder_yaw_link" pos="-0.0342 0 -0.1456">
|
||||
<inertial pos="0.004583 0.001128 -0.001128" quat="0.663644 -0.0108866 -0.0267235 0.747492" mass="1.505" diaginertia="0.00431782 0.00420697 0.000645658"/>
|
||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.66 3.01" actuatorfrcrange="-18 18"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_yaw_link"/>
|
||||
<body name="left_elbow_link" pos="0.006 0.0329 -0.182">
|
||||
<inertial pos="0.077092 -0.028751 -0.009714" quat="0.544921 0.610781 0.423352 0.388305" mass="0.691" diaginertia="0.000942091 0.000905273 0.00023025"/>
|
||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-0.95 3.18" actuatorfrcrange="-18 18"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_elbow_link"/>
|
||||
<body name="left_wrist_roll_link" pos="0.121 -0.0329 -0.011">
|
||||
<inertial pos="0.035281 -0.00232 0.000337" quat="0.334998 0.622198 -0.240131 0.66557" mass="0.683" diaginertia="0.00034681 0.000328248 0.000294628"/>
|
||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.01 2.75" actuatorfrcrange="-19 19"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_wrist_roll_link"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_wrist_roll_link"/>
|
||||
<body name="left_wrist_pitch_link" pos="0.087 0 0">
|
||||
<inertial pos="0.020395 3.6e-05 -0.002973" quat="0.915893 -0.228405 -0.327262 -0.0432527" mass="0.484" diaginertia="7.25675e-05 7.00325e-05 6.9381e-05"/>
|
||||
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.4625 0.4625" actuatorfrcrange="-19 19"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_wrist_pitch_link"/>
|
||||
<body name="left_wrist_yaw_link" pos="0.02 0 0">
|
||||
<inertial pos="0.0770303 -0.00131441 -0.00068617" quat="0.499919 0.510625 0.506813 0.482165" mass="0.26543" diaginertia="0.000854397 0.000723298 0.00022115"/>
|
||||
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.27 1.27" actuatorfrcrange="-19 19"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wrist_yaw_link"/>
|
||||
<geom pos="0.054 0 0" quat="0.707107 0 0 0.707107" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
|
||||
<geom pos="0.054 0 0" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
|
||||
<body name="L_thumb_proximal_base" pos="0.1231 -0.01696 0.02045" quat="-2.59735e-06 0.707107 0 0.707107">
|
||||
<inertial pos="0.0048817 0.00038782 -0.00722" quat="0.445981 0.352284 0.495833 0.656617" mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08"/>
|
||||
<joint name="L_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link11_L"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link11_L"/>
|
||||
<body name="L_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
|
||||
<inertial pos="0.021936 -0.01279 -0.0080386" quat="0.25452 0.660687 -0.251949 0.659723" mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07"/>
|
||||
<joint name="L_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 0.6" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link12_L"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link12_L"/>
|
||||
<body name="L_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
|
||||
<inertial pos="0.0095531 0.0016282 -0.0072002" quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844" diaginertia="4.6532e-07 4.48114e-07 2.45646e-07"/>
|
||||
<joint name="L_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link13_L"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link13_L"/>
|
||||
<body name="L_thumb_distal" pos="0.020248 -0.010156 -0.0012">
|
||||
<inertial pos="0.0092888 -0.004953 -0.0060033" quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344" diaginertia="2.0026e-07 1.95246e-07 8.1594e-08"/>
|
||||
<joint name="L_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link14_L"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link14_L"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="L_index_proximal" pos="0.19053 0.00028533 0.032268" quat="0.706999 -0.0123409 -0.0123409 0.706999">
|
||||
<inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
|
||||
<joint name="L_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link15_L"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link15_L"/>
|
||||
<body name="L_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
|
||||
<inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08"/>
|
||||
<joint name="L_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link16_L"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link16_L"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="L_middle_proximal" pos="0.1911 0.00028533 0.01295" quat="0.707107 0 0 0.707107">
|
||||
<inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
|
||||
<joint name="L_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link17_L"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link17_L"/>
|
||||
<body name="L_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
|
||||
<inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08"/>
|
||||
<joint name="L_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link18_L"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link18_L"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="L_ring_proximal" pos="0.19091 0.00028533 -0.0062872" quat="0.706864 0.0185099 0.0185099 0.706864">
|
||||
<inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
|
||||
<joint name="L_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link19_L"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link19_L"/>
|
||||
<body name="L_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
|
||||
<inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08"/>
|
||||
<joint name="L_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link20_L"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link20_L"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="L_pinky_proximal" pos="0.18971 0.00028533 -0.025488" quat="0.706138 0.0370072 0.0370072 0.706138">
|
||||
<inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
|
||||
<joint name="L_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link21_L"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link21_L"/>
|
||||
<body name="L_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
|
||||
<inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08"/>
|
||||
<joint name="L_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link22_L"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link22_L"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_shoulder_pitch_link" pos="0 -0.14806 0.42333" quat="0.991445 -0.130526 0 0">
|
||||
<inertial pos="0.003053 -0.06042 -0.0059" quat="0.645681 0.761799 0.0363943 0.0378496" mass="1.327" diaginertia="0.000588757 0.00053309 0.000393023"/>
|
||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 1.57" actuatorfrcrange="-40 40"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_pitch_link"/>
|
||||
<body name="right_shoulder_roll_link" pos="0.0342 -0.061999 -0.0060011" quat="0.991445 0.130526 0 0">
|
||||
<inertial pos="-0.030932 1e-06 -0.10609" quat="0.986055 -0.000456937 0.166408 -0.00213553" mass="1.393" diaginertia="0.00200869 0.00193464 0.000449847"/>
|
||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.4 0.38" actuatorfrcrange="-40 40"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_roll_link"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_roll_link"/>
|
||||
<body name="right_shoulder_yaw_link" pos="-0.0342 0 -0.1456">
|
||||
<inertial pos="0.004583 -0.001128 -0.001128" quat="0.747492 -0.0267235 -0.0108866 0.663644" mass="1.505" diaginertia="0.00431782 0.00420697 0.000645658"/>
|
||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-3.01 2.66" actuatorfrcrange="-18 18"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_yaw_link"/>
|
||||
<body name="right_elbow_link" pos="0.006 -0.0329 -0.182">
|
||||
<inertial pos="0.077092 0.028751 -0.009714" quat="0.388305 0.423352 0.610781 0.544921" mass="0.691" diaginertia="0.000942091 0.000905273 0.00023025"/>
|
||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-0.95 3.18" actuatorfrcrange="-18 18"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_elbow_link"/>
|
||||
<body name="right_wrist_roll_link" pos="0.121 0.0329 -0.011">
|
||||
<inertial pos="0.035281 -0.00232 0.000337" quat="0.334998 0.622198 -0.240131 0.66557" mass="0.683" diaginertia="0.00034681 0.000328248 0.000294628"/>
|
||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.75 3.01" actuatorfrcrange="-19 19"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_wrist_roll_link"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_wrist_roll_link"/>
|
||||
<body name="right_wrist_pitch_link" pos="0.087 0 0">
|
||||
<inertial pos="0.020395 3.6e-05 -0.002973" quat="0.915893 -0.228405 -0.327262 -0.0432527" mass="0.484" diaginertia="7.25675e-05 7.00325e-05 6.9381e-05"/>
|
||||
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.4625 0.4625" actuatorfrcrange="-19 19"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_wrist_pitch_link"/>
|
||||
<body name="right_wrist_yaw_link" pos="0.02 0 0">
|
||||
<inertial pos="0.0770303 0.0013013 -0.000699011" quat="0.482149 0.506915 0.510629 0.499827" mass="0.26543" diaginertia="0.00085381 0.000722728 0.000221145"/>
|
||||
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.27 1.27" actuatorfrcrange="-19 19"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wrist_yaw_link"/>
|
||||
<geom pos="0.054 0 0" quat="0 0.707107 -0.707107 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
|
||||
<geom pos="0.054 0 0" quat="0 0.707107 -0.707107 0" type="mesh" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
|
||||
<body name="R_thumb_proximal_base" pos="0.1231 0.01696 0.02045" quat="-0.707107 -2.59735e-06 -0.707107 0">
|
||||
<inertial pos="-0.0048064 0.0009382 -0.00757" quat="0.515015 0.680854 0.408023 0.323596" mass="0.0018869" diaginertia="8.66026e-08 6.8732e-08 4.94194e-08"/>
|
||||
<joint name="R_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 1.3" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link11_R"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link11_R"/>
|
||||
<body name="R_thumb_proximal" pos="-0.0088099 0.010892 -0.00925" quat="0.0996843 0.0996847 0.700046 0.700044">
|
||||
<inertial pos="0.021932 0.012785 -0.0080386" quat="-0.254474 0.660716 0.251893 0.659733" mass="0.0066075" diaginertia="2.78601e-06 2.43933e-06 8.64566e-07"/>
|
||||
<joint name="R_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="-0.1 0.6" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link12_R"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link12_R"/>
|
||||
<body name="R_thumb_intermediate" pos="0.04407 0.034553 -0.0008">
|
||||
<inertial pos="0.0095544 -0.0016282 -0.0071997" quat="0.636718 0.307389 -0.636802 0.307548" mass="0.0037847" diaginertia="4.6531e-07 4.48089e-07 2.45661e-07"/>
|
||||
<joint name="R_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link13_R"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link13_R"/>
|
||||
<body name="R_thumb_distal" pos="0.020248 0.010156 -0.0012">
|
||||
<inertial pos="0.0092888 0.0049529 -0.0060033" quat="-0.266294 0.655967 0.262806 0.655537" mass="0.0033441" diaginertia="2.0026e-07 1.95247e-07 8.1593e-08"/>
|
||||
<joint name="R_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link14_R"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link14_R"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="R_index_proximal" pos="0.19053 -0.00028533 0.032268" quat="0.706999 0.0123358 -0.0123358 -0.706999">
|
||||
<inertial pos="0.0012259 0.011942 -0.0060001" quat="0.50867 0.49121 -0.508643 0.491172" mass="0.0042403" diaginertia="6.9398e-07 6.62871e-07 2.10909e-07"/>
|
||||
<joint name="R_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link15_R"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link15_R"/>
|
||||
<body name="R_index_intermediate" pos="-0.0026138 0.032026 -0.001">
|
||||
<inertial pos="0.0019697 0.019589 -0.005" quat="0.466773 0.531152 -0.466773 0.531153" mass="0.0045683" diaginertia="7.8179e-07 7.72465e-07 8.47212e-08"/>
|
||||
<joint name="R_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link16_R"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link16_R"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="R_middle_proximal" pos="0.1911 -0.00028533 0.01295" quat="0.707107 -2.59735e-06 2.59735e-06 -0.707107">
|
||||
<inertial pos="0.001297 0.011934 -0.0060001" quat="0.510131 0.489693 -0.510105 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
|
||||
<joint name="R_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link17_R"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link17_R"/>
|
||||
<body name="R_middle_intermediate" pos="-0.0024229 0.032041 -0.001">
|
||||
<inertial pos="0.001921 0.020796 -0.005" quat="0.466148 0.531627 -0.466229 0.531705" mass="0.0050396" diaginertia="9.8384e-07 9.73279e-07 9.14014e-08"/>
|
||||
<joint name="R_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link18_R"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link18_R"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="R_ring_proximal" pos="0.19091 -0.00028533 -0.0062872" quat="-0.706864 0.0185215 -0.0185215 0.706864">
|
||||
<inertial pos="0.001297 0.011934 -0.0060002" quat="0.510129 0.489691 -0.510107 0.489654" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
|
||||
<joint name="R_ring_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link19_R"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link19_R"/>
|
||||
<body name="R_ring_intermediate" pos="-0.0024229 0.032041 -0.001">
|
||||
<inertial pos="0.0021753 0.019567 -0.005" quat="0.469554 0.528695 -0.469554 0.528695" mass="0.0045683" diaginertia="7.8177e-07 7.72448e-07 8.4722e-08"/>
|
||||
<joint name="R_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link20_R"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link20_R"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="R_pinky_proximal" pos="0.18971 -0.00028533 -0.025488" quat="-0.706138 0.0369975 -0.0369975 0.706138">
|
||||
<inertial pos="0.001297 0.011934 -0.0060001" quat="0.51013 0.489693 -0.510106 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
|
||||
<joint name="R_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link21_R"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link21_R"/>
|
||||
<body name="R_pinky_intermediate" pos="-0.0024229 0.032041 -0.001">
|
||||
<inertial pos="0.0024748 0.016203 -0.0050031" quat="0.47398 0.528862 -0.469291 0.524799" mass="0.0035996" diaginertia="4.4867e-07 4.43723e-07 6.56538e-08"/>
|
||||
<joint name="R_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link22_R"/>
|
||||
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link22_R"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
|
||||
<actuator>
|
||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
||||
<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_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_yaw_joint" joint="right_hip_yaw_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_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="torso_joint" joint="torso_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"/>
|
||||
<motor name="L_index_proximal_joint" joint="L_index_proximal_joint"/>
|
||||
<motor name="L_index_intermediate_joint" joint="L_index_intermediate_joint"/>
|
||||
<motor name="L_middle_proximal_joint" joint="L_middle_proximal_joint"/>
|
||||
<motor name="L_middle_intermediate_joint" joint="L_middle_intermediate_joint"/>
|
||||
<motor name="L_ring_proximal_joint" joint="L_ring_proximal_joint"/>
|
||||
<motor name="L_ring_intermediate_joint" joint="L_ring_intermediate_joint"/>
|
||||
<motor name="L_pinky_proximal_joint" joint="L_pinky_proximal_joint"/>
|
||||
<motor name="L_pinky_intermediate_joint" joint="L_pinky_intermediate_joint"/>
|
||||
<motor name="L_thumb_proximal_yaw_joint" joint="L_thumb_proximal_yaw_joint"/>
|
||||
<motor name="L_thumb_proximal_pitch_joint" joint="L_thumb_proximal_pitch_joint"/>
|
||||
<motor name="L_thumb_intermediate_joint" joint="L_thumb_intermediate_joint"/>
|
||||
<motor name="L_thumb_distal_joint" joint="L_thumb_distal_joint"/>
|
||||
<motor name="R_index_proximal_joint" joint="R_index_proximal_joint"/>
|
||||
<motor name="R_index_intermediate_joint" joint="R_index_intermediate_joint"/>
|
||||
<motor name="R_middle_proximal_joint" joint="R_middle_proximal_joint"/>
|
||||
<motor name="R_middle_intermediate_joint" joint="R_middle_intermediate_joint"/>
|
||||
<motor name="R_ring_proximal_joint" joint="R_ring_proximal_joint"/>
|
||||
<motor name="R_ring_intermediate_joint" joint="R_ring_intermediate_joint"/>
|
||||
<motor name="R_pinky_proximal_joint" joint="R_pinky_proximal_joint"/>
|
||||
<motor name="R_pinky_intermediate_joint" joint="R_pinky_intermediate_joint"/>
|
||||
<motor name="R_thumb_proximal_yaw_joint" joint="R_thumb_proximal_yaw_joint"/>
|
||||
<motor name="R_thumb_proximal_pitch_joint" joint="R_thumb_proximal_pitch_joint"/>
|
||||
<motor name="R_thumb_intermediate_joint" joint="R_thumb_intermediate_joint"/>
|
||||
<motor name="R_thumb_distal_joint" joint="R_thumb_distal_joint"/>
|
||||
</actuator>
|
||||
|
||||
<sensor>
|
||||
<gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
|
||||
</sensor>
|
||||
</mujoco>
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
|
@ -0,0 +1,22 @@
|
|||
<mujoco model="h1 scene">
|
||||
<include file="h1_2.xml"/>
|
||||
|
||||
<statistic center="1.0 0.7 1.5" extent="0.8"/>
|
||||
|
||||
<visual>
|
||||
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<global azimuth="-140" elevation="-20"/>
|
||||
</visual>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
|
||||
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
||||
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
|
||||
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
|
|
@ -2,8 +2,7 @@
|
|||
|
||||
## Overview
|
||||
|
||||
This package includes a streamlined robot description (URDF & MJCF) for the [H1 Humanoid
|
||||
Robot](https://www.unitree.com/h1), developed by [Unitree Robotics](https://www.unitree.com/).
|
||||
This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree H1](https://www.unitree.com/h1), developed by [Unitree Robotics](https://www.unitree.com/).
|
||||
|
||||
The file `urdf/h1.urdf` is description for H1 without hands, and `urdf/h1_with_hand.urdf` for H1 with dexterous hands. Both `urdf/h1.urdf` and `urdf/h1_with_hand.urdf` support isaacgym environment.
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue