update G1 urdf&mjcf
This commit is contained in:
matheecs
parent
8bca7f8907
commit
dd4fa6866e
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@ -1,13 +0,0 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(g1_description)
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find_package(catkin REQUIRED)
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catkin_package()
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find_package(roslaunch)
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foreach(dir launch meshes)
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install(DIRECTORY ${dir}/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
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endforeach(dir)
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@ -5,54 +5,18 @@
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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/).
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<p align="center">
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<img src="g1.png" width="500"/>
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<img src="images/g1_23dof.png" width="45%"/>
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<img src="images/g1_29dof.png" width="45%"/>
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<img src="images/g1_29dof_with_hand.png" width="45%"/>
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<img src="images/g1_dual_arm.png" width="45%"/>
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</p>
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Current G1 have 37 DOFs:
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As shown, there are a total of 4 versions of MJCF/URDF for the G1 robot:
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```text
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root [⚓] => /pelvis/
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left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/
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left_hip_roll_joint [⚙+X] => /left_hip_roll_link/
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left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/
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left_knee_joint [⚙+Y] => /left_knee_link/
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left_ankle_pitch_joint [⚙+Y] => /left_ankle_pitch_link/
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left_ankle_roll_joint [⚙+X] => /left_ankle_roll_link/
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right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/
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right_hip_roll_joint [⚙+X] => /right_hip_roll_link/
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right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/
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right_knee_joint [⚙+Y] => /right_knee_link/
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right_ankle_pitch_joint [⚙+Y] => /right_ankle_pitch_link/
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right_ankle_roll_joint [⚙+X] => /right_ankle_roll_link/
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torso_joint [⚙+Z] => /torso_link/
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left_shoulder_pitch_joint [⚙+Y] => /left_shoulder_pitch_link/
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left_shoulder_roll_joint [⚙+X] => /left_shoulder_roll_link/
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left_shoulder_yaw_joint [⚙+Z] => /left_shoulder_yaw_link/
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left_elbow_pitch_joint [⚙+Y] => /left_elbow_pitch_link/
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left_elbow_roll_joint [⚙+X] => /left_elbow_roll_link/
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left_palm_joint [⚓] => /left_palm_link/
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left_zero_joint [⚙+Y] => /left_zero_link/
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left_one_joint [⚙+Z] => /left_one_link/
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left_two_joint [⚙+Z] => /left_two_link/
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left_three_joint [⚙+Z] => /left_three_link/
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left_four_joint [⚙+Z] => /left_four_link/
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left_five_joint [⚙+Z] => /left_five_link/
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left_six_joint [⚙+Z] => /left_six_link/
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right_shoulder_pitch_joint [⚙+Y] => /right_shoulder_pitch_link/
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right_shoulder_roll_joint [⚙+X] => /right_shoulder_roll_link/
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right_shoulder_yaw_joint [⚙+Z] => /right_shoulder_yaw_link/
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right_elbow_pitch_joint [⚙+Y] => /right_elbow_pitch_link/
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right_elbow_roll_joint [⚙+X] => /right_elbow_roll_link/
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right_palm_joint [⚓] => /right_palm_link/
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right_zero_joint [⚙+Y] => /right_zero_link/
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right_one_joint [⚙+Z] => /right_one_link/
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right_two_joint [⚙+Z] => /right_two_link/
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right_three_joint [⚙+Z] => /right_three_link/
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right_four_joint [⚙+Z] => /right_four_link/
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right_five_joint [⚙+Z] => /right_five_link/
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right_six_joint [⚙+Z] => /right_six_link/
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imu_joint [⚓] => /imu_link/
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```
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* `g1_23dof`
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* `g1_29dof`
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* `g1_29dof_with_hand`
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* `g1_dual_arm`
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## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
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@ -63,4 +27,4 @@ root [⚓] => /pelvis/
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python -m mujoco.viewer
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```
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2. Drag and drop the MJCF model file (`scene.xml`) to the MuJoCo Viewer.
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2. Drag and drop the MJCF/URDF model file (`g1_XXX.xml`/`g1_XXX.urdf`) to the MuJoCo Viewer.
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@ -1,125 +0,0 @@
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g1_gazebo:
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# Publish all joint states -----------------------------------
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 1000
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torso_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: torso_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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# left leg Controllers ---------------------------------------
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left_hip_pitch_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: left_hip_pitch_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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left_hip_roll_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: left_hip_roll_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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left_hip_yaw_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: left_hip_yaw_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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left_knee_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: left_knee_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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left_ankle_pitch_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: left_ankle_pitch_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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left_ankle_roll_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: left_ankle_roll_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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# right leg Controllers ---------------------------------------
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right_hip_pitch_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: right_hip_pitch_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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right_hip_roll_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: right_hip_roll_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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right_hip_yaw_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: right_hip_yaw_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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right_knee_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: right_knee_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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right_ankle_pitch_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: right_ankle_pitch_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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right_ankle_roll_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: right_ankle_roll_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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# left arm Controllers ---------------------------------------
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left_shoulder_pitch_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: left_shoulder_pitch_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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left_shoulder_roll_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: left_shoulder_roll_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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left_shoulder_yaw_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: left_shoulder_yaw_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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left_elbow_pitch_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: left_elbow_pitch_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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left_elbow_roll_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: left_elbow_roll_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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# right arm Controllers ---------------------------------------
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right_shoulder_pitch_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: right_shoulder_pitch_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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right_shoulder_roll_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: right_shoulder_roll_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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right_shoulder_yaw_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: right_shoulder_yaw_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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right_elbow_pitch_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: right_elbow_pitch_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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right_elbow_roll_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: right_elbow_roll_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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Binary file not shown.
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Before Width: | Height: | Size: 403 KiB |
File diff suppressed because it is too large
Load Diff
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@ -1,334 +0,0 @@
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<mujoco model="g1">
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<compiler angle="radian" meshdir="meshes/" autolimits="true" discardvisual="false"/>
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<statistic meansize="0.144785" extent="1.23314" center="0.025392 2.0634e-05 -0.245975"/>
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<default>
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<joint damping="0.5" armature="0.01" frictionloss="0.1"/>
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</default>
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<asset>
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<mesh name="pelvis" file="pelvis.STL"/>
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<mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
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<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
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<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
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<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
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<mesh name="left_knee_link" file="left_knee_link.STL"/>
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<mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
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<mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
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<mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
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<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
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<mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
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<mesh name="right_knee_link" file="right_knee_link.STL"/>
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<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
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<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
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<mesh name="torso_link" file="torso_link.STL"/>
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<mesh name="head_link" file="head_link.STL"/>
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<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
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<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
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<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
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<mesh name="left_elbow_pitch_link" file="left_elbow_pitch_link.STL"/>
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<mesh name="left_elbow_roll_link" file="left_elbow_roll_link.STL"/>
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<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
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<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
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<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
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<mesh name="right_elbow_pitch_link" file="right_elbow_pitch_link.STL"/>
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<mesh name="right_elbow_roll_link" file="right_elbow_roll_link.STL"/>
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<mesh name="logo_link" file="logo_link.STL"/>
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<mesh name="left_palm_link" file="left_palm_link.STL"/>
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<mesh name="left_zero_link" file="left_zero_link.STL"/>
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<mesh name="left_one_link" file="left_one_link.STL"/>
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<mesh name="left_two_link" file="left_two_link.STL"/>
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<mesh name="left_three_link" file="left_three_link.STL"/>
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<mesh name="left_four_link" file="left_four_link.STL"/>
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<mesh name="left_five_link" file="left_five_link.STL"/>
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<mesh name="left_six_link" file="left_six_link.STL"/>
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<mesh name="right_palm_link" file="right_palm_link.STL"/>
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<mesh name="right_zero_link" file="right_zero_link.STL"/>
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<mesh name="right_one_link" file="right_one_link.STL"/>
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<mesh name="right_two_link" file="right_two_link.STL"/>
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<mesh name="right_three_link" file="right_three_link.STL"/>
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<mesh name="right_four_link" file="right_four_link.STL"/>
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<mesh name="right_five_link" file="right_five_link.STL"/>
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<mesh name="right_six_link" file="right_six_link.STL"/>
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</asset>
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<worldbody>
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<body name="pelvis" pos="0 0 0.755">
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<inertial pos="0 0 -0.07605" quat="1 0 -0.000405289 0" mass="2.86" diaginertia="0.0079143 0.0069837 0.0059404"/>
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<joint name="floating_base_joint" type="free"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis"/>
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis_contour_link"/>
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<body name="left_hip_pitch_link" pos="0 0.06445 -0.1027" quat="0.984807 0 -0.17365 0">
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<inertial pos="0.001962 0.049392 -0.000941" quat="0.420735 0.907025 -0.0155675 -0.00670646" mass="1.299" diaginertia="0.00138785 0.000955478 0.00086947"/>
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<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.35 3.05"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
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<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
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<body name="left_hip_roll_link" pos="0 0.0523 0">
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<inertial pos="0.024757 -0.001036 -0.086323" quat="0.977498 -0.00692636 0.210181 0.0165269" mass="1.446" diaginertia="0.00244106 0.00230425 0.00142899"/>
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<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.26 2.53"/>
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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_hip_roll_link"/>
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
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<body name="left_hip_yaw_link" pos="0.01966 -0.0012139 -0.1241">
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<inertial pos="-0.053554 -0.011477 -0.14067" quat="0.645099 0.15885 0.202109 0.71956" mass="2.052" diaginertia="0.0114475 0.0107868 0.00214501"/>
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<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.75 2.75"/>
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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_hip_yaw_link"/>
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
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<body name="left_knee_link" pos="-0.078292 -0.0017335 -0.177225" quat="0.967714 0 0.252052 0">
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<inertial pos="0.005505 0.006534 -0.116629" quat="0.799234 -0.0128894 0.0354278 0.599836" mass="2.252" diaginertia="0.0127418 0.0124382 0.00192524"/>
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<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.33489 2.5449"/>
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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_knee_link"/>
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<geom size="0.015 0.075" pos="0.007 0.005 -0.15" type="cylinder" rgba="0.7 0.7 0.7 1"/>
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<body name="left_ankle_pitch_link" pos="0 0.0040687 -0.30007" quat="0.99678 0 -0.0801788 0">
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<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"/>
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<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.68 0.73"/>
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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_ankle_pitch_link"/>
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
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<body name="left_ankle_roll_link" pos="0 0 -0.017558">
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<inertial pos="0.024762 2e-05 -0.012526" quat="0.000771333 0.734476 0.000921291 0.678634" mass="0.391" diaginertia="0.00110394 0.0010657 0.000149255"/>
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<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
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<geom size="0.001" pos="-0.06 0.02 -0.03" rgba="0.2 0.2 0.2 1"/>
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<geom size="0.001" pos="-0.06 -0.02 -0.03" rgba="0.2 0.2 0.2 1"/>
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<geom size="0.001" pos="0.13 0.02 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.001" pos="0.13 -0.02 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hip_pitch_link" pos="0 -0.06445 -0.1027" quat="0.984807 0 -0.17365 0">
|
||||
<inertial pos="0.001962 -0.049392 -0.000941" quat="0.907025 0.420735 0.00670646 0.0155675" mass="1.299" diaginertia="0.00138785 0.000955478 0.00086947"/>
|
||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.35 3.05"/>
|
||||
<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 -0.0523 0">
|
||||
<inertial pos="0.024757 0.001036 -0.086323" quat="0.977498 0.00692636 0.210181 -0.0165269" mass="1.446" diaginertia="0.00244106 0.00230425 0.00142899"/>
|
||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.53 0.26"/>
|
||||
<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="0.01966 0.0012139 -0.1241">
|
||||
<inertial pos="-0.053554 0.011477 -0.14067" quat="0.71956 0.202109 0.15885 0.645099" mass="2.052" diaginertia="0.0114475 0.0107868 0.00214501"/>
|
||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.75 2.75"/>
|
||||
<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="-0.078292 0.0017335 -0.177225" quat="0.967714 0 0.252052 0">
|
||||
<inertial pos="0.005505 -0.006534 -0.116629" quat="0.599836 0.0354278 -0.0128894 0.799234" mass="2.252" diaginertia="0.0127418 0.0124382 0.00192524"/>
|
||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.33489 2.5449"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
||||
<geom size="0.015 0.075" pos="0.007 -0.005 -0.15" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_ankle_pitch_link" pos="0 -0.0040687 -0.30007" quat="0.99678 0 -0.0801788 0">
|
||||
<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="-0.68 0.73"/>
|
||||
<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="0.024762 -2e-05 -0.012526" quat="-0.000771333 0.734476 -0.000921291 0.678634" mass="0.391" diaginertia="0.00110394 0.0010657 0.000149255"/>
|
||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618"/>
|
||||
<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="0.001" pos="-0.06 0.02 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.001" pos="-0.06 -0.02 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.001" pos="0.13 0.02 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
<geom size="0.001" pos="0.13 -0.02 -0.03" rgba="0.2 0.2 0.2 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="torso_link">
|
||||
<inertial pos="0.00187791 0.00229457 0.208747" quat="0.999957 0.00624375 -0.00636707 -0.0026338" mass="7.52036" diaginertia="0.12848 0.111753 0.0350394"/>
|
||||
<joint name="torso_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"/>
|
||||
<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 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="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<body name="left_shoulder_pitch_link" pos="-0.0025 0.10396 0.25928" quat="0.990268 0.139172 0 0">
|
||||
<inertial pos="-0.001431 0.048811 0.001304" quat="0.786417 0.588396 -0.180543 0.0523639" mass="0.713" diaginertia="0.000466421 0.000440181 0.000410999"/>
|
||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.9671 2.7925"/>
|
||||
<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 type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
||||
<body name="left_shoulder_roll_link" pos="0 0.052 0" quat="0.990268 -0.139172 0 0">
|
||||
<inertial pos="-0.003415 0.006955 -0.064598" quat="0.70683 0.0105364 0.00575207 0.707282" mass="0.642" diaginertia="0.000683514 0.000616029 0.000372857"/>
|
||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515"/>
|
||||
<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="-0.00354 0.0062424 -0.1032">
|
||||
<inertial pos="0.000375 -0.00444 -0.072374" quat="0.903834 -0.0374183 0.00985482 0.42613" mass="0.713" diaginertia="0.000977874 0.000964661 0.000379065"/>
|
||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"/>
|
||||
<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_pitch_link" pos="0 0.00189 -0.0855">
|
||||
<inertial pos="0.064497 0.002873 0" quat="0.582347 0.582495 0.400893 0.401069" mass="0.601" diaginertia="0.00049549 0.0004712 0.00025371"/>
|
||||
<joint name="left_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.2268 3.4208"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_pitch_link"/>
|
||||
<body name="left_elbow_roll_link" pos="0.1 0 0">
|
||||
<inertial pos="0.133814 0.00147121 0.000265832" quat="0.496781 0.497877 0.498782 0.506502" mass="0.50826" diaginertia="0.00239763 0.00226639 0.000285577"/>
|
||||
<joint name="left_elbow_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.0943 2.0943"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_roll_link"/>
|
||||
<geom pos="0.12 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_palm_link"/>
|
||||
<geom pos="0.12 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_palm_link"/>
|
||||
<body name="left_zero_link" pos="0.17 0 0">
|
||||
<inertial pos="-0.0260466 -0.00877511 1.08605e-05" quat="0.59241 0.381376 -0.592953 0.389884" mass="0.0509893" diaginertia="8.68047e-06 7.23365e-06 4.58058e-06"/>
|
||||
<joint name="left_zero_joint" pos="0 0 0" axis="0 1 0" range="-0.523598 0.523598"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_zero_link"/>
|
||||
<body name="left_one_link" pos="-0.026525 -0.0188 -5e-05">
|
||||
<inertial pos="-0.00181538 -0.0327057 -0.000185871" quat="0.701646 0.698199 0.0817825 -0.116289" mass="0.047762" diaginertia="8.03051e-06 7.8455e-06 3.65282e-06"/>
|
||||
<joint name="left_one_joint" pos="0 0 0" axis="0 0 1" range="-1 1.2"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_one_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_two_link" pos="0 -0.0431 0">
|
||||
<inertial pos="-0.00135257 -0.0237591 -0.000119669" quat="0.717995 0.695316 -0.0180122 -0.0263741" mass="0.0138584" diaginertia="2.55338e-06 2.04399e-06 9.3995e-07"/>
|
||||
<joint name="left_two_joint" pos="0 0 0" axis="0 0 1" range="0 1.84"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_two_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_two_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_three_link" pos="0.205 0.004 0.02395">
|
||||
<inertial pos="0.0362561 -0.0015725 0.000269899" quat="0.540443 0.459072 0.5397 0.45376" mass="0.0488469" diaginertia="8.91742e-06 8.64873e-06 3.8319e-06"/>
|
||||
<joint name="left_three_joint" pos="0 0 0" axis="0 0 1" range="-1.84 0.3"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_three_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_three_link"/>
|
||||
<body name="left_four_link" pos="0.0471 -0.0036 0">
|
||||
<inertial pos="0.0237591 0.00135257 0.000119669" quat="0.478926 0.48905 0.526348 0.504399" mass="0.0138584" diaginertia="2.55338e-06 2.04399e-06 9.3995e-07"/>
|
||||
<joint name="left_four_joint" pos="0 0 0" axis="0 0 1" range="-1.84 0"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_four_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_four_link"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_five_link" pos="0.205 0.004 -0.02395">
|
||||
<inertial pos="0.0362561 -0.0015725 0.000269899" quat="0.540443 0.459072 0.5397 0.45376" mass="0.0488469" diaginertia="8.91742e-06 8.64873e-06 3.8319e-06"/>
|
||||
<joint name="left_five_joint" pos="0 0 0" axis="0 0 1" range="-1.84 0.3"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_five_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_five_link"/>
|
||||
<body name="left_six_link" pos="0.0471 -0.0036 0">
|
||||
<inertial pos="0.0237591 0.00135257 0.000119669" quat="0.478926 0.48905 0.526348 0.504399" mass="0.0138584" diaginertia="2.55338e-06 2.04399e-06 9.3995e-07"/>
|
||||
<joint name="left_six_joint" pos="0 0 0" axis="0 0 1" range="-1.84 0"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_six_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_six_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_shoulder_pitch_link" pos="-0.0025 -0.10396 0.25928" quat="0.990268 -0.139172 0 0">
|
||||
<inertial pos="-0.001431 -0.048811 0.001304" quat="0.588396 0.786417 -0.0523639 0.180543" mass="0.713" diaginertia="0.000466421 0.000440181 0.000410999"/>
|
||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.9671 2.7925"/>
|
||||
<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 type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
||||
<body name="right_shoulder_roll_link" pos="0 -0.052 0" quat="0.990268 0.139172 0 0">
|
||||
<inertial pos="-0.003415 -0.006955 -0.064598" quat="0.707282 0.00575207 0.0105364 0.70683" mass="0.642" diaginertia="0.000683514 0.000616029 0.000372857"/>
|
||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882"/>
|
||||
<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="-0.00354 -0.0062424 -0.1032">
|
||||
<inertial pos="0.000375 0.00444 -0.072374" quat="0.42613 0.00985482 -0.0374183 0.903834" mass="0.713" diaginertia="0.000977874 0.000964661 0.000379065"/>
|
||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"/>
|
||||
<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_pitch_link" pos="0 -0.00189 -0.0855">
|
||||
<inertial pos="0.064497 -0.002873 0" quat="0.401069 0.400893 0.582495 0.582347" mass="0.601" diaginertia="0.00049549 0.0004712 0.00025371"/>
|
||||
<joint name="right_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.2268 3.4208"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_pitch_link"/>
|
||||
<body name="right_elbow_roll_link" pos="0.1 0 0">
|
||||
<inertial pos="0.133814 -0.00147121 0.000265832" quat="0.506502 0.498782 0.497877 0.496781" mass="0.50826" diaginertia="0.00239763 0.00226639 0.000285577"/>
|
||||
<joint name="right_elbow_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.0943 2.0943"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_roll_link"/>
|
||||
<geom pos="0.12 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_palm_link"/>
|
||||
<geom pos="0.12 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_palm_link"/>
|
||||
<body name="right_zero_link" pos="0.17 0 0">
|
||||
<inertial pos="-0.0260466 0.00877511 1.08605e-05" quat="0.381376 0.59241 -0.389884 0.592953" mass="0.0509893" diaginertia="8.68047e-06 7.23365e-06 4.58058e-06"/>
|
||||
<joint name="right_zero_joint" pos="0 0 0" axis="0 1 0" range="-0.523598 0.523598"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_zero_link"/>
|
||||
<body name="right_one_link" pos="-0.026525 0.0188 -5e-05">
|
||||
<inertial pos="-0.00181538 0.0327057 -0.000185871" quat="0.698199 0.701646 0.116289 -0.0817825" mass="0.047762" diaginertia="8.03051e-06 7.8455e-06 3.65282e-06"/>
|
||||
<joint name="right_one_joint" pos="0 0 0" axis="0 0 1" range="-1.2 1"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_one_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_two_link" pos="0 0.0431 0">
|
||||
<inertial pos="-0.00135257 0.0237591 -0.000119669" quat="0.695316 0.717995 0.0263741 0.0180122" mass="0.0138584" diaginertia="2.55338e-06 2.04399e-06 9.3995e-07"/>
|
||||
<joint name="right_two_joint" pos="0 0 0" axis="0 0 1" range="-1.84 0"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_two_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_two_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_three_link" pos="0.205 -0.004 0.02395">
|
||||
<inertial pos="0.0362561 0.0015725 0.000269899" quat="0.45376 0.5397 0.459072 0.540443" mass="0.0488469" diaginertia="8.91742e-06 8.64873e-06 3.8319e-06"/>
|
||||
<joint name="right_three_joint" pos="0 0 0" axis="0 0 1" range="-0.3 1.84"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_three_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_three_link"/>
|
||||
<body name="right_four_link" pos="0.0471 0.0036 0">
|
||||
<inertial pos="0.0237591 -0.00135257 0.000119669" quat="0.504399 0.526348 0.48905 0.478926" mass="0.0138584" diaginertia="2.55338e-06 2.04399e-06 9.3995e-07"/>
|
||||
<joint name="right_four_joint" pos="0 0 0" axis="0 0 1" range="0 1.84"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_four_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_four_link"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_five_link" pos="0.205 -0.004 -0.02395">
|
||||
<inertial pos="0.0362561 0.0015725 0.000269899" quat="0.45376 0.5397 0.459072 0.540443" mass="0.0488469" diaginertia="8.91742e-06 8.64873e-06 3.8319e-06"/>
|
||||
<joint name="right_five_joint" pos="0 0 0" axis="0 0 1" range="-0.3 1.84"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_five_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_five_link"/>
|
||||
<body name="right_six_link" pos="0.0471 0.0036 0">
|
||||
<inertial pos="0.0237591 -0.00135257 0.000119669" quat="0.504399 0.526348 0.48905 0.478926" mass="0.0138584" diaginertia="2.55338e-06 2.04399e-06 9.3995e-07"/>
|
||||
<joint name="right_six_joint" pos="0 0 0" axis="0 0 1" range="0 1.84"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_six_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_six_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint" ctrllimited="true" ctrlrange="-88 88"/>
|
||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint" ctrllimited="true" ctrlrange="-88 88"/>
|
||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint" ctrllimited="true" ctrlrange="-88 88"/>
|
||||
<motor name="left_knee_joint" joint="left_knee_joint" ctrllimited="true" ctrlrange="-139 139"/>
|
||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint" ctrllimited="true" ctrlrange="-40 40"/>
|
||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint" ctrllimited="true" ctrlrange="-40 40"/>
|
||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint" ctrllimited="true" ctrlrange="-88 88"/>
|
||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint" ctrllimited="true" ctrlrange="-88 88"/>
|
||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint" ctrllimited="true" ctrlrange="-88 88"/>
|
||||
<motor name="right_knee_joint" joint="right_knee_joint" ctrllimited="true" ctrlrange="-139 139"/>
|
||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" ctrllimited="true" ctrlrange="-40 40"/>
|
||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint" ctrllimited="true" ctrlrange="-40 40"/>
|
||||
<motor name="torso_joint" joint="torso_joint" ctrllimited="true" ctrlrange="-88 88"/>
|
||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-20 20"/>
|
||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint" ctrllimited="true" ctrlrange="-20 20"/>
|
||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-20 20"/>
|
||||
<motor name="left_elbow_pitch_joint" joint="left_elbow_pitch_joint" ctrllimited="true" ctrlrange="-20 20"/>
|
||||
<motor name="left_elbow_roll_joint" joint="left_elbow_roll_joint" ctrllimited="true" ctrlrange="-20 20"/>
|
||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-20 20"/>
|
||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint" ctrllimited="true" ctrlrange="-20 20"/>
|
||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-20 20"/>
|
||||
<motor name="right_elbow_pitch_joint" joint="right_elbow_pitch_joint" ctrllimited="true" ctrlrange="-20 20"/>
|
||||
<motor name="right_elbow_roll_joint" joint="right_elbow_roll_joint" ctrllimited="true" ctrlrange="-20 20"/>
|
||||
<motor name="left_zero_joint" joint="left_zero_joint" ctrllimited="true" ctrlrange="-0.7 0.7"/>
|
||||
<motor name="left_one_joint" joint="left_one_joint" ctrllimited="true" ctrlrange="-0.7 0.7"/>
|
||||
<motor name="left_two_joint" joint="left_two_joint" ctrllimited="true" ctrlrange="-0.7 0.7"/>
|
||||
<motor name="left_three_joint" joint="left_three_joint" ctrllimited="true" ctrlrange="-0.7 0.7"/>
|
||||
<motor name="left_four_joint" joint="left_four_joint" ctrllimited="true" ctrlrange="-0.7 0.7"/>
|
||||
<motor name="left_five_joint" joint="left_five_joint" ctrllimited="true" ctrlrange="-0.7 0.7"/>
|
||||
<motor name="left_six_joint" joint="left_six_joint" ctrllimited="true" ctrlrange="-0.7 0.7"/>
|
||||
<motor name="right_zero_joint" joint="right_zero_joint" ctrllimited="true" ctrlrange="-0.7 0.7"/>
|
||||
<motor name="right_one_joint" joint="right_one_joint" ctrllimited="true" ctrlrange="-0.7 0.7"/>
|
||||
<motor name="right_two_joint" joint="right_two_joint" ctrllimited="true" ctrlrange="-0.7 0.7"/>
|
||||
<motor name="right_three_joint" joint="right_three_joint" ctrllimited="true" ctrlrange="-0.7 0.7"/>
|
||||
<motor name="right_four_joint" joint="right_four_joint" ctrllimited="true" ctrlrange="-0.7 0.7"/>
|
||||
<motor name="right_five_joint" joint="right_five_joint" ctrllimited="true" ctrlrange="-0.7 0.7"/>
|
||||
<motor name="right_six_joint" joint="right_six_joint" ctrllimited="true" ctrlrange="-0.7 0.7"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
|
|
@ -0,0 +1,880 @@
|
|||
<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_link"></link>
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<origin xyz="-0.03959 -0.00224 0.13792" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="imu_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 +1,246 @@
|
|||
<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"/>
|
||||
<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" 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-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-linear-acceleration" site="imu" 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">
|
||||
<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"/>
|
||||
<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" 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-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
|
||||
<accelerometer name="imu-linear-acceleration" site="imu" 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">
|
||||
<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_zero_link" file="left_hand_zero_link.STL"/>
|
||||
<mesh name="left_hand_one_link" file="left_hand_one_link.STL"/>
|
||||
<mesh name="left_hand_two_link" file="left_hand_two_link.STL"/>
|
||||
<mesh name="left_hand_three_link" file="left_hand_three_link.STL"/>
|
||||
<mesh name="left_hand_four_link" file="left_hand_four_link.STL"/>
|
||||
<mesh name="left_hand_five_link" file="left_hand_five_link.STL"/>
|
||||
<mesh name="left_hand_six_link" file="left_hand_six_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_zero_link" file="right_hand_zero_link.STL"/>
|
||||
<mesh name="right_hand_one_link" file="right_hand_one_link.STL"/>
|
||||
<mesh name="right_hand_two_link" file="right_hand_two_link.STL"/>
|
||||
<mesh name="right_hand_three_link" file="right_hand_three_link.STL"/>
|
||||
<mesh name="right_hand_four_link" file="right_hand_four_link.STL"/>
|
||||
<mesh name="right_hand_five_link" file="right_hand_five_link.STL"/>
|
||||
<mesh name="right_hand_six_link" file="right_hand_six_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"/>
|
||||
<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" 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_zero_link" pos="0.0695 0.003 0">
|
||||
<inertial pos="-0.000354413 -0.0132989 0.000412362" quat="0.385163 0.591021 -0.567321 0.424842" mass="0.0803302" diaginertia="1.39245e-05 1.32309e-05 1.19138e-05"/>
|
||||
<joint name="left_hand_zero_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_zero_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_zero_link"/>
|
||||
<body name="left_hand_one_link" pos="0 -0.0246 0">
|
||||
<inertial pos="0.0036206 -0.040444 -0.000297711" quat="0.696371 0.699653 0.125539 -0.0989605" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
|
||||
<joint name="left_hand_one_joint" pos="0 0 0" axis="0 0 1" range="-0.724312 1.0472" actuatorfrcrange="-0.7 0.7"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_one_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_two_link" pos="0.0055 -0.0528 0">
|
||||
<inertial pos="-0.00081406 -0.0345621 0.000129799" quat="0.701976 0.711984 0.0160342 0.00721768" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
|
||||
<joint name="left_hand_two_joint" pos="0 0 0" axis="0 0 1" range="0 2.0944" actuatorfrcrange="-0.7 0.7"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_two_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_two_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_hand_three_link" pos="0.1415 0.0013 -0.0285">
|
||||
<inertial pos="0.040444 -0.0036206 0.000287711" quat="0.583499 0.422433 0.562384 0.40596" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
|
||||
<joint name="left_hand_three_joint" pos="0 0 0" axis="0 0 1" range="-1.8326 0.191986" actuatorfrcrange="-0.7 0.7"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_three_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_three_link"/>
|
||||
<body name="left_hand_four_link" pos="0.0528 -0.0055 0">
|
||||
<inertial pos="0.0345621 0.00081406 -0.000129799" quat="0.514787 0.501475 0.491268 0.492111" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
|
||||
<joint name="left_hand_four_joint" pos="0 0 0" axis="0 0 1" range="-2.0944 0" actuatorfrcrange="-0.7 0.7"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_four_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_four_link"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_hand_five_link" pos="0.1415 0.0013 0.0285">
|
||||
<inertial pos="0.040444 -0.0036206 0.000287711" quat="0.583499 0.422433 0.562384 0.40596" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
|
||||
<joint name="left_hand_five_joint" pos="0 0 0" axis="0 0 1" range="-1.8326 0.191986" actuatorfrcrange="-0.7 0.7"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_five_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_five_link"/>
|
||||
<body name="left_hand_six_link" pos="0.0528 -0.0055 0">
|
||||
<inertial pos="0.0345621 0.00081406 -0.000129799" quat="0.514787 0.501475 0.491268 0.492111" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
|
||||
<joint name="left_hand_six_joint" pos="0 0 0" axis="0 0 1" range="-2.0944 0" actuatorfrcrange="-0.7 0.7"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_six_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_six_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 0.000573742" quat="0.507224 0.511377 0.494292 0.486717" mass="0.457415" diaginertia="0.0010598 0.000895373 0.0003238"/>
|
||||
<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_zero_link" pos="0.0695 -0.003 0">
|
||||
<inertial pos="-0.000354413 0.0132989 -0.000412362" quat="0.424842 0.567321 -0.591021 0.385163" mass="0.0803302" diaginertia="1.39245e-05 1.32309e-05 1.19138e-05"/>
|
||||
<joint name="right_hand_zero_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_zero_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_zero_link"/>
|
||||
<body name="right_hand_one_link" pos="0 0.0246 0">
|
||||
<inertial pos="0.0036206 0.040444 0.000297711" quat="0.696371 0.699653 -0.125539 0.0989605" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
|
||||
<joint name="right_hand_one_joint" pos="0 0 0" axis="0 0 1" range="-1.0472 0.724312" actuatorfrcrange="-0.7 0.7"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_one_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_two_link" pos="0.0055 0.0528 0">
|
||||
<inertial pos="-0.00081406 0.0345621 -0.000129799" quat="0.701976 0.711984 -0.0160342 -0.00721768" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
|
||||
<joint name="right_hand_two_joint" pos="0 0 0" axis="0 0 1" range="-2.0944 0" actuatorfrcrange="-0.7 0.7"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_two_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_two_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hand_three_link" pos="0.1415 -0.0013 0.0285">
|
||||
<inertial pos="0.040444 0.0036206 -0.000287711" quat="0.562384 0.40596 0.583499 0.422433" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
|
||||
<joint name="right_hand_three_joint" pos="0 0 0" axis="0 0 1" range="-0.191986 1.8326" actuatorfrcrange="-0.7 0.7"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_three_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_three_link"/>
|
||||
<body name="right_hand_four_link" pos="0.0528 0.0055 0">
|
||||
<inertial pos="0.0345621 -0.00081406 0.000129799" quat="0.491268 0.492111 0.514787 0.501475" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
|
||||
<joint name="right_hand_four_joint" pos="0 0 0" axis="0 0 1" range="0 2.0944" actuatorfrcrange="-0.7 0.7"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_four_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_four_link"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hand_five_link" pos="0.1415 -0.0013 -0.0285">
|
||||
<inertial pos="0.040444 0.0036206 -0.000287711" quat="0.562384 0.40596 0.583499 0.422433" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
|
||||
<joint name="right_hand_five_joint" pos="0 0 0" axis="0 0 1" range="-0.191986 1.8326" actuatorfrcrange="-0.7 0.7"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_five_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_five_link"/>
|
||||
<body name="right_hand_six_link" pos="0.0528 0.0055 0">
|
||||
<inertial pos="0.0345621 -0.00081406 0.000129799" quat="0.491268 0.492111 0.514787 0.501475" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
|
||||
<joint name="right_hand_six_joint" pos="0 0 0" axis="0 0 1" range="0 2.0944" actuatorfrcrange="-0.7 0.7"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_six_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_six_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_zero_joint" joint="left_hand_zero_joint"/>
|
||||
<motor name="left_hand_one_joint" joint="left_hand_one_joint"/>
|
||||
<motor name="left_hand_two_joint" joint="left_hand_two_joint"/>
|
||||
<motor name="left_hand_three_joint" joint="left_hand_three_joint"/>
|
||||
<motor name="left_hand_four_joint" joint="left_hand_four_joint"/>
|
||||
<motor name="left_hand_five_joint" joint="left_hand_five_joint"/>
|
||||
<motor name="left_hand_six_joint" joint="left_hand_six_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_zero_joint" joint="right_hand_zero_joint"/>
|
||||
<motor name="right_hand_one_joint" joint="right_hand_one_joint"/>
|
||||
<motor name="right_hand_two_joint" joint="right_hand_two_joint"/>
|
||||
<motor name="right_hand_three_joint" joint="right_hand_three_joint"/>
|
||||
<motor name="right_hand_four_joint" joint="right_hand_four_joint"/>
|
||||
<motor name="right_hand_five_joint" joint="right_hand_five_joint"/>
|
||||
<motor name="right_hand_six_joint" joint="right_hand_six_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>
|
||||
|
||||
|
||||
<!-- 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 +1,627 @@
|
|||
<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_link"></link>
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<origin xyz="-0.03959 -0.00224 0.13792" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="imu_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>
|
||||
|
|
@ -0,0 +1,115 @@
|
|||
# 电机顺序
|
||||
|
||||
## G1 全身关节电机顺序
|
||||
|
||||
`unitree_hg::msg::dds_::LowCmd_.motor_cmd` 与 `unitree_hg::msg::dds_::LowState_.motor_state` 包含 G1 全身电机（不含手）的信息，其电机顺序如下：
|
||||
|
||||
### 23DOF 版本
|
||||
|
||||
| Joint Index in IDL | Joint Name (LowCmd_.mode or LowState_.mode == 0) | Joint Name (LowCmd_.mode or LowState_.mode == 1) |
|
||||
| ------------------ | ------------------------------------------------ | ------------------------------------------------ |
|
||||
| 0 | L_LEG_HIP_PITCH | L_LEG_HIP_PITCH |
|
||||
| 1 | L_LEG_HIP_ROLL | L_LEG_HIP_ROLL |
|
||||
| 2 | L_LEG_HIP_YAW | L_LEG_HIP_YAW |
|
||||
| 3 | L_LEG_KNEE | L_LEG_KNEE |
|
||||
| 4 | **L_LEG_ANKLE_PITCH** | **L_LEG_ANKLE_B** |
|
||||
| 5 | **L_LEG_ANKLE_ROLL** | **L_LEG_ANKLE_A** |
|
||||
| 6 | R_LEG_HIP_PITCH | R_LEG_HIP_PITCH |
|
||||
| 7 | R_LEG_HIP_ROLL | R_LEG_HIP_ROLL |
|
||||
| 8 | R_LEG_HIP_YAW | R_LEG_HIP_YAW |
|
||||
| 9 | R_LEG_KNEE | R_LEG_KNEE |
|
||||
| 10 | **R_LEG_ANKLE_PITCH** | **R_LEG_ANKLE_B** |
|
||||
| 11 | **R_LEG_ANKLE_ROLL** | **R_LEG_ANKLE_A** |
|
||||
| 12 | TORSO | TORSO |
|
||||
| 13 | L_SHOULDER_PITCH | L_SHOULDER_PITCH |
|
||||
| 14 | L_SHOULDER_ROLL | L_SHOULDER_ROLL |
|
||||
| 15 | L_SHOULDER_YAW | L_SHOULDER_YAW |
|
||||
| 16 | L_ELBOW_PITCH | L_ELBOW_PITCH |
|
||||
| 17 | L_ELBOW_ROLL | L_ELBOW_ROLL |
|
||||
| 18 | R_SHOULDER_PITCH | R_SHOULDER_PITCH |
|
||||
| 19 | R_SHOULDER_ROLL | R_SHOULDER_ROLL |
|
||||
| 20 | R_SHOULDER_YAW | R_SHOULDER_YAW |
|
||||
| 21 | R_ELBOW_PITCH | R_ELBOW_PITCH |
|
||||
| 22 | R_ELBOW_ROLL | R_ELBOW_ROLL |
|
||||
|
||||
### 29DOF 版本
|
||||
|
||||
| Joint Index in IDL | Joint Name (LowCmd_.mode or LowState_.mode == 0) | Joint Name (LowCmd_.mode or LowState_.mode == 1) |
|
||||
| ------------------ | ------------------------------------------------ | ------------------------------------------------ |
|
||||
| 0 | L_LEG_HIP_PITCH | L_LEG_HIP_PITCH |
|
||||
| 1 | L_LEG_HIP_ROLL | L_LEG_HIP_ROLL |
|
||||
| 2 | L_LEG_HIP_YAW | L_LEG_HIP_YAW |
|
||||
| 3 | L_LEG_KNEE | L_LEG_KNEE |
|
||||
| 4 | **L_LEG_ANKLE_PITCH** | **L_LEG_ANKLE_B** |
|
||||
| 5 | **L_LEG_ANKLE_ROLL** | **L_LEG_ANKLE_A** |
|
||||
| 6 | R_LEG_HIP_PITCH | R_LEG_HIP_PITCH |
|
||||
| 7 | R_LEG_HIP_ROLL | R_LEG_HIP_ROLL |
|
||||
| 8 | R_LEG_HIP_YAW | R_LEG_HIP_YAW |
|
||||
| 9 | R_LEG_KNEE | R_LEG_KNEE |
|
||||
| 10 | **R_LEG_ANKLE_PITCH** | **R_LEG_ANKLE_B** |
|
||||
| 11 | **R_LEG_ANKLE_ROLL** | **R_LEG_ANKLE_A** |
|
||||
| 12 | WAIST_YAW | WAIST_YAW |
|
||||
| 13 | **WAIST_ROLL** | **WAIST_A** |
|
||||
| 14 | **WAIST_PITCH** | **WAIST_B** |
|
||||
| 15 | L_SHOULDER_PITCH | L_SHOULDER_PITCH |
|
||||
| 16 | L_SHOULDER_ROLL | L_SHOULDER_ROLL |
|
||||
| 17 | L_SHOULDER_YAW | L_SHOULDER_YAW |
|
||||
| 18 | L_ELBOW | L_ELBOW |
|
||||
| 19 | L_WRIST_ROLL | L_WRIST_ROLL |
|
||||
| 20 | L_WRIST_PITCH | L_WRIST_PITCH |
|
||||
| 21 | L_WRIST_YAW | L_WRIST_YAW |
|
||||
| 22 | R_SHOULDER_PITCH | R_SHOULDER_PITCH |
|
||||
| 23 | R_SHOULDER_ROLL | R_SHOULDER_ROLL |
|
||||
| 24 | R_SHOULDER_YAW | R_SHOULDER_YAW |
|
||||
| 25 | R_ELBOW | R_ELBOW |
|
||||
| 26 | R_WRIST_ROLL | R_WRIST_ROLL |
|
||||
| 27 | R_WRIST_PITCH | R_WRIST_PITCH |
|
||||
| 28 | R_WRIST_YAW | R_WRIST_YAW |
|
||||
|
||||
### 14DOF 双臂版本
|
||||
|
||||
| Joint Index in IDL | Joint Name |
|
||||
| ------------------ | ---------------- |
|
||||
| 0 | (empty) |
|
||||
| 1 | (empty) |
|
||||
| 2 | (empty) |
|
||||
| 3 | (empty) |
|
||||
| 4 | (empty) |
|
||||
| 5 | (empty) |
|
||||
| 6 | (empty) |
|
||||
| 7 | (empty) |
|
||||
| 8 | (empty) |
|
||||
| 9 | (empty) |
|
||||
| 10 | (empty) |
|
||||
| 11 | (empty) |
|
||||
| 12 | (empty) |
|
||||
| 13 | (empty) |
|
||||
| 14 | (empty) |
|
||||
| 15 | L_SHOULDER_PITCH |
|
||||
| 16 | L_SHOULDER_ROLL |
|
||||
| 17 | L_SHOULDER_YAW |
|
||||
| 18 | L_ELBOW |
|
||||
| 19 | L_WRIST_ROLL |
|
||||
| 20 | L_WRIST_PITCH |
|
||||
| 21 | L_WRIST_YAW |
|
||||
| 22 | R_SHOULDER_PITCH |
|
||||
| 23 | R_SHOULDER_ROLL |
|
||||
| 24 | R_SHOULDER_YAW |
|
||||
| 25 | R_ELBOW |
|
||||
| 26 | R_WRIST_ROLL |
|
||||
| 27 | R_WRIST_PITCH |
|
||||
| 28 | R_WRIST_YAW |
|
||||
|
||||
## Dex3-1 关节电机顺序
|
||||
|
||||
`unitree_hg::msg::dds_::HandCmd_.motor_cmd` 与 `unitree_hg::msg::dds_::HandState_.motor_state` 包含所有的灵巧手电机的信息，其电机顺序如下：
|
||||
|
||||
| Hand Joint Index in IDL | Hand Joint Name |
|
||||
| ----------------------- | --------------- |
|
||||
| 0 | thumb_0 |
|
||||
| 1 | thumb_1 |
|
||||
| 2 | thumb_2 |
|
||||
| 3 | index_0 |
|
||||
| 4 | index_1 |
|
||||
| 5 | middle_0 |
|
||||
| 6 | middle_1 |
|
||||
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|
After Width: | Height: | Size: 912 KiB |
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|
After Width: | Height: | Size: 920 KiB |
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|
After Width: | Height: | Size: 922 KiB |
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|
After Width: | Height: | Size: 827 KiB |
|
|
@ -1,239 +0,0 @@
|
|||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 719
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
Preferences:
|
||||
PromptSaveOnExit: true
|
||||
Toolbars:
|
||||
toolButtonStyle: 2
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz/RobotModel
|
||||
Collision Enabled: false
|
||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
pelvis:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
hip_rotation_link_left:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
hip_abduction_link_left:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
hip_flexion_link_left:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
knee_link_left:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
ankle_link_left:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
hip_rotation_link_right:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
hip_abduction_link_right:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
hip_flexion_link_right:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
knee_link_right:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
ankle_link_right:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
pelvis:
|
||||
Value: true
|
||||
hip_rotation_link_left:
|
||||
Value: true
|
||||
hip_abduction_link_left:
|
||||
Value: true
|
||||
hip_flexion_link_left:
|
||||
Value: true
|
||||
knee_link_left:
|
||||
Value: true
|
||||
ankle_link_left:
|
||||
Value: true
|
||||
hip_rotation_link_right:
|
||||
Value: true
|
||||
hip_abduction_link_right:
|
||||
Value: true
|
||||
hip_flexion_link_right:
|
||||
Value: true
|
||||
knee_link_right:
|
||||
Value: true
|
||||
ankle_link_right:
|
||||
Value: true
|
||||
Marker Alpha: 1
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
pelvis:
|
||||
hip_rotation_link_left:
|
||||
hip_abduction_link_left:
|
||||
hip_flexion_link_left:
|
||||
knee_link_left:
|
||||
ankle_link_left:
|
||||
{}
|
||||
hip_rotation_link_right:
|
||||
hip_abduction_link_right:
|
||||
hip_flexion_link_right:
|
||||
knee_link_right:
|
||||
ankle_link_right:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Default Light: true
|
||||
Fixed Frame: pelvis
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/FocusCamera
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Theta std deviation: 0.2617993950843811
|
||||
Topic: /initialpose
|
||||
X std deviation: 0.5
|
||||
Y std deviation: 0.5
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /move_base_simple/goal
|
||||
- Class: rviz/PublishPoint
|
||||
Single click: true
|
||||
Topic: /clicked_point
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 1.6701574325561523
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Field of View: 0.7853981852531433
|
||||
Focal Point:
|
||||
X: 0.11145864427089691
|
||||
Y: 0.10033124685287476
|
||||
Z: -0.35909000039100647
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.5303982496261597
|
||||
Target Frame: <Fixed Frame>
|
||||
Yaw: 0.8653979301452637
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1016
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074c0000003efc0100000002fb0000000800540069006d006501000000000000074c000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004db0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1868
|
||||
X: 52
|
||||
Y: 27
|
||||
|
|
@ -1,7 +0,0 @@
|
|||
<launch>
|
||||
<arg name="model"/>
|
||||
<param name="robot_description" textfile="$(find g1_description)/g1.urdf"/>
|
||||
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"/>
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find g1_description)/launch/check_joint.rviz"/>
|
||||
</launch>
|
||||
|
|
@ -1,82 +0,0 @@
|
|||
<launch>
|
||||
<arg name="wname" default="earth"/>
|
||||
<arg name="rname" default="g1"/>
|
||||
<arg name="robot_path" value="(find $(arg rname)_description)"/>
|
||||
<arg name="dollar" value="$"/>
|
||||
|
||||
<arg name="paused" default="true"/>
|
||||
<arg name="use_sim_time" default="true"/>
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="headless" default="false"/>
|
||||
<arg name="debug" default="false"/>
|
||||
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
|
||||
<arg name="user_debug" default="true"/>
|
||||
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(find unitree_gazebo)/worlds/$(arg wname).world"/>
|
||||
<arg name="debug" value="$(arg debug)"/>
|
||||
<arg name="gui" value="$(arg gui)"/>
|
||||
<arg name="paused" value="$(arg paused)"/>
|
||||
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
|
||||
<arg name="headless" value="$(arg headless)"/>
|
||||
</include>
|
||||
|
||||
<!-- Load the URDF into the ROS Parameter Server -->
|
||||
<param name="robot_description"
|
||||
command="$(find xacro)/xacro --inorder '$(arg dollar)$(arg robot_path)/xacro/robot.xacro'
|
||||
DEBUG:=$(arg user_debug)"/>
|
||||
<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
|
||||
<!-- Set trunk and joint positions at startup -->
|
||||
<node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
|
||||
args="-urdf -z 0.6 -model $(arg rname)_gazebo -param robot_description -unpause"/>
|
||||
|
||||
<!-- Load joint controller configurations from YAML file to parameter server -->
|
||||
<rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>
|
||||
|
||||
<!-- load the controllers -->
|
||||
<node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
|
||||
output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller
|
||||
|
||||
torso_controller
|
||||
|
||||
left_hip_pitch_controller
|
||||
left_hip_roll_controller
|
||||
left_hip_yaw_controller
|
||||
left_knee_controller
|
||||
left_ankle_pitch_controller
|
||||
left_ankle_roll_controller
|
||||
|
||||
right_hip_pitch_controller
|
||||
right_hip_roll_controller
|
||||
right_hip_yaw_controller
|
||||
right_knee_controller
|
||||
right_ankle_pitch_controller
|
||||
right_ankle_roll_controller
|
||||
|
||||
left_shoulder_pitch_controller
|
||||
left_shoulder_roll_controller
|
||||
left_shoulder_yaw_controller
|
||||
left_elbow_pitch_controller
|
||||
left_elbow_roll_controller
|
||||
|
||||
right_shoulder_pitch_controller
|
||||
right_shoulder_roll_controller
|
||||
right_shoulder_yaw_controller
|
||||
right_elbow_pitch_controller
|
||||
right_elbow_roll_controller
|
||||
"/>
|
||||
|
||||
<!-- convert joint states to TF transforms for rviz, etc -->
|
||||
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
|
||||
respawn="false" output="screen">
|
||||
<remap from="/joint_states" to="/$(arg rname)_gazebo/joint_states"/>
|
||||
</node>
|
||||
|
||||
<!-- <node pkg="unitree_gazebo" type="servo" name="servo" required="true" output="screen"/> -->
|
||||
|
||||
<!-- load the parameter unitree_controller -->
|
||||
<include file="$(find unitree_controller)/launch/set_ctrl.launch">
|
||||
<arg name="rname" value="$(arg rname)"/>
|
||||
</include>
|
||||
|
||||
</launch>
|
||||
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Loading…
Reference in New Issue