add g1 rev 1.0 urdf & mjcf
This commit is contained in:
matheecs
parent
809c5f8fdc
commit
e6b9e8c669
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@ -0,0 +1,847 @@
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<robot name="g1_23dof">
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<mujoco>
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<compiler meshdir="meshes" discardvisual="false"/>
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</mujoco>
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<!-- [CAUTION] uncomment when convert to mujoco -->
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<!-- <link name="world"></link>
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<joint name="floating_base_joint" type="floating">
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<parent link="world"/>
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<child link="pelvis"/>
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</joint> -->
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<link name="pelvis">
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<inertial>
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<origin xyz="0 0 -0.07605" rpy="0 0 0"/>
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<mass value="3.813"/>
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<inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/pelvis.STL"/>
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</geometry>
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<material name="dark">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</visual>
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</link>
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<link name="pelvis_contour_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="0.001"/>
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<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/pelvis_contour_link.STL"/>
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/pelvis_contour_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="pelvis_contour_joint" type="fixed">
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<parent link="pelvis"/>
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<child link="pelvis_contour_link"/>
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</joint>
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<!-- Legs -->
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<link name="left_hip_pitch_link">
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<inertial>
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<origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0"/>
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<mass value="1.35"/>
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<inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hip_pitch_link.STL"/>
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</geometry>
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<material name="dark">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hip_pitch_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_hip_pitch_joint" type="revolute">
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<origin xyz="0 0.064452 -0.1027" rpy="0 0 0"/>
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<parent link="pelvis"/>
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<child link="left_hip_pitch_link"/>
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<axis xyz="0 1 0"/>
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<limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
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</joint>
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<link name="left_hip_roll_link">
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<inertial>
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<origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0"/>
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<mass value="1.52"/>
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<inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hip_roll_link.STL"/>
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hip_roll_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_hip_roll_joint" type="revolute">
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<origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0"/>
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<parent link="left_hip_pitch_link"/>
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<child link="left_hip_roll_link"/>
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<axis xyz="1 0 0"/>
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<limit lower="-0.5236" upper="2.9671" effort="88" velocity="32"/>
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</joint>
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<link name="left_hip_yaw_link">
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<inertial>
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<origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0"/>
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<mass value="1.702"/>
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<inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hip_yaw_link.STL"/>
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hip_yaw_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_hip_yaw_joint" type="revolute">
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<origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
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<parent link="left_hip_roll_link"/>
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<child link="left_hip_yaw_link"/>
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<axis xyz="0 0 1"/>
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<limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
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</joint>
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<link name="left_knee_link">
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<inertial>
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<origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0"/>
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<mass value="1.932"/>
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<inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_knee_link.STL"/>
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_knee_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_knee_joint" type="revolute">
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<origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0"/>
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<parent link="left_hip_yaw_link"/>
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<child link="left_knee_link"/>
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<axis xyz="0 1 0"/>
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<limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
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</joint>
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<link name="left_ankle_pitch_link">
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<inertial>
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<origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
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<mass value="0.074"/>
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<inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_ankle_pitch_link.STL"/>
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_ankle_pitch_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_ankle_pitch_joint" type="revolute">
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<origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0"/>
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<parent link="left_knee_link"/>
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<child link="left_ankle_pitch_link"/>
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<axis xyz="0 1 0"/>
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<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
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</joint>
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<link name="left_ankle_roll_link">
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<inertial>
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<origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
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<mass value="0.608"/>
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<inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_ankle_roll_link.STL"/>
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</geometry>
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<material name="dark">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
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<geometry>
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<sphere radius="0.005"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
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<geometry>
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<sphere radius="0.005"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
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<geometry>
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<sphere radius="0.005"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
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<geometry>
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<sphere radius="0.005"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_ankle_roll_joint" type="revolute">
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<origin xyz="0 0 -0.017558" rpy="0 0 0"/>
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<parent link="left_ankle_pitch_link"/>
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<child link="left_ankle_roll_link"/>
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<axis xyz="1 0 0"/>
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<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
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</joint>
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<link name="right_hip_pitch_link">
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<inertial>
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<origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0"/>
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<mass value="1.35"/>
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<inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/right_hip_pitch_link.STL"/>
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</geometry>
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<material name="dark">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/right_hip_pitch_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="right_hip_pitch_joint" type="revolute">
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<origin xyz="0 -0.064452 -0.1027" rpy="0 0 0"/>
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<parent link="pelvis"/>
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<child link="right_hip_pitch_link"/>
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<axis xyz="0 1 0"/>
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<limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
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</joint>
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<link name="right_hip_roll_link">
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<inertial>
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<origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0"/>
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<mass value="1.52"/>
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<inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/right_hip_roll_link.STL"/>
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/right_hip_roll_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="right_hip_roll_joint" type="revolute">
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<origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0"/>
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<parent link="right_hip_pitch_link"/>
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<child link="right_hip_roll_link"/>
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<axis xyz="1 0 0"/>
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<limit lower="-2.9671" upper="0.5236" effort="88" velocity="32"/>
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</joint>
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<link name="right_hip_yaw_link">
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<inertial>
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<origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0"/>
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<mass value="1.702"/>
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<inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/right_hip_yaw_link.STL"/>
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/right_hip_yaw_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="right_hip_yaw_joint" type="revolute">
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<origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
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<parent link="right_hip_roll_link"/>
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<child link="right_hip_yaw_link"/>
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<axis xyz="0 0 1"/>
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<limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
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</joint>
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<link name="right_knee_link">
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<inertial>
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<origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0"/>
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<mass value="1.932"/>
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<inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/right_knee_link.STL"/>
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/right_knee_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="right_knee_joint" type="revolute">
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<origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0"/>
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<parent link="right_hip_yaw_link"/>
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<child link="right_knee_link"/>
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<axis xyz="0 1 0"/>
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<limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
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</joint>
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<link name="right_ankle_pitch_link">
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<inertial>
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<origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
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<mass value="0.074"/>
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||||
<inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/right_ankle_pitch_link.STL"/>
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/right_ankle_pitch_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="right_ankle_pitch_joint" type="revolute">
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<origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0"/>
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<parent link="right_knee_link"/>
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<child link="right_ankle_pitch_link"/>
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<axis xyz="0 1 0"/>
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<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
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</joint>
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<link name="right_ankle_roll_link">
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<inertial>
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<origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
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<mass value="0.608"/>
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||||
<inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
|
||||
<mesh filename="meshes/right_ankle_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.005"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_ankle_roll_joint" type="revolute">
|
||||
<origin xyz="0 0 -0.017558" rpy="0 0 0"/>
|
||||
<parent link="right_ankle_pitch_link"/>
|
||||
<child link="right_ankle_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
|
||||
</joint>
|
||||
|
||||
<!-- Torso -->
|
||||
<joint name="waist_yaw_joint" type="revolute">
|
||||
<origin xyz="-0.0039635 0 0.044" rpy="0 0 0"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="torso_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.618" upper="2.618" effort="88" velocity="32"/>
|
||||
</joint>
|
||||
<link name="torso_link">
|
||||
<inertial>
|
||||
<origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0"/>
|
||||
<mass value="6.78"/>
|
||||
<inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/torso_link_23dof_rev_1_0.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/torso_link_23dof_rev_1_0.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- LOGO -->
|
||||
<joint name="logo_joint" type="fixed">
|
||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="logo_link"/>
|
||||
</joint>
|
||||
<link name="logo_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.001"/>
|
||||
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/logo_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/logo_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- Head -->
|
||||
<link name="head_link">
|
||||
<inertial>
|
||||
<origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0"/>
|
||||
<mass value="1.036"/>
|
||||
<inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/head_link.STL"/>
|
||||
</geometry>
|
||||
<material name="dark">
|
||||
<color rgba="0.2 0.2 0.2 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/head_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="head_joint" type="fixed">
|
||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="head_link"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<!-- IMU -->
|
||||
<link name="imu_link"></link>
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="imu_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- d435 -->
|
||||
<link name="d435_link"></link>
|
||||
<joint name="d435_joint" type="fixed">
|
||||
<origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="d435_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- mid360 -->
|
||||
<link name="mid360_link"></link>
|
||||
<joint name="mid360_joint" type="fixed">
|
||||
<origin xyz="0.0002835 0.00003 0.41618" rpy="0 0.04014257279586953 0"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="mid360_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- Arm -->
|
||||
<link name="left_shoulder_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0.035892 -0.011628" rpy="0 0 0"/>
|
||||
<mass value="0.718"/>
|
||||
<inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_shoulder_pitch_joint" type="revolute">
|
||||
<origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="left_shoulder_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="left_shoulder_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0"/>
|
||||
<mass value="0.643"/>
|
||||
<inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_shoulder_roll_joint" type="revolute">
|
||||
<origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0"/>
|
||||
<parent link="left_shoulder_pitch_link"/>
|
||||
<child link="left_shoulder_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-1.5882" upper="2.2515" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="left_shoulder_yaw_link">
|
||||
<inertial>
|
||||
<origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0"/>
|
||||
<mass value="0.734"/>
|
||||
<inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_shoulder_yaw_joint" type="revolute">
|
||||
<origin xyz="0 0.00624 -0.1032" rpy="0 0 0"/>
|
||||
<parent link="left_shoulder_roll_link"/>
|
||||
<child link="left_shoulder_yaw_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="left_elbow_link">
|
||||
<inertial>
|
||||
<origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0"/>
|
||||
<mass value="0.6"/>
|
||||
<inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_elbow_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_elbow_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_elbow_joint" type="revolute">
|
||||
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
||||
<parent link="left_shoulder_yaw_link"/>
|
||||
<child link="left_elbow_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<joint name="left_wrist_roll_joint" type="revolute">
|
||||
<origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="left_elbow_link"/>
|
||||
<child link="left_wrist_roll_rubber_hand"/>
|
||||
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
||||
</joint>
|
||||
<link name="left_wrist_roll_rubber_hand">
|
||||
<inertial>
|
||||
<origin xyz="0.10794656650 0.00163511945 0.00202244863" rpy="0 0 0"/>
|
||||
<mass value="0.35692864"/>
|
||||
<inertia ixx="0.00019613494735" ixy="-0.00000419816908" ixz="-0.00003950860580" iyy="0.00200280358206" iyz="0.00000249774203" izz="0.00194181412808"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_wrist_roll_rubber_hand.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_wrist_roll_rubber_hand.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_shoulder_pitch_link">
|
||||
<inertial>
|
||||
<origin xyz="0 -0.035892 -0.011628" rpy="0 0 0"/>
|
||||
<mass value="0.718"/>
|
||||
<inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_pitch_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_shoulder_pitch_joint" type="revolute">
|
||||
<origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159"/>
|
||||
<parent link="torso_link"/>
|
||||
<child link="right_shoulder_pitch_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_shoulder_roll_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0"/>
|
||||
<mass value="0.643"/>
|
||||
<inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_roll_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.03" length="0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_shoulder_roll_joint" type="revolute">
|
||||
<origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0"/>
|
||||
<parent link="right_shoulder_pitch_link"/>
|
||||
<child link="right_shoulder_roll_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit lower="-2.2515" upper="1.5882" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_shoulder_yaw_link">
|
||||
<inertial>
|
||||
<origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0"/>
|
||||
<mass value="0.734"/>
|
||||
<inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_shoulder_yaw_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_shoulder_yaw_joint" type="revolute">
|
||||
<origin xyz="0 -0.00624 -0.1032" rpy="0 0 0"/>
|
||||
<parent link="right_shoulder_roll_link"/>
|
||||
<child link="right_shoulder_yaw_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<link name="right_elbow_link">
|
||||
<inertial>
|
||||
<origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0"/>
|
||||
<mass value="0.6"/>
|
||||
<inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_elbow_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_elbow_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_elbow_joint" type="revolute">
|
||||
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
||||
<parent link="right_shoulder_yaw_link"/>
|
||||
<child link="right_elbow_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
||||
</joint>
|
||||
<joint name="right_wrist_roll_joint" type="revolute">
|
||||
<origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="right_elbow_link"/>
|
||||
<child link="right_wrist_roll_rubber_hand"/>
|
||||
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
||||
</joint>
|
||||
<link name="right_wrist_roll_rubber_hand">
|
||||
<inertial>
|
||||
<origin xyz="0.10794656650 -0.00163511945 0.00202244863" rpy="0 0 0"/>
|
||||
<mass value="0.35692864"/>
|
||||
<inertia ixx="0.00019613494735" ixy="0.00000419816908" ixz="-0.00003950860580" iyy="0.00200280358206" iyz="-0.00000249774203" izz="0.00194181412808"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_wrist_roll_rubber_hand.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_wrist_roll_rubber_hand.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,241 @@
|
|||
<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="torso_link_23dof_rev_1_0" file="torso_link_23dof_rev_1_0.STL"/>
|
||||
<mesh name="logo_link" file="logo_link.STL"/>
|
||||
<mesh name="head_link" file="head_link.STL"/>
|
||||
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
|
||||
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
|
||||
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
|
||||
<mesh name="left_elbow_link" file="left_elbow_link.STL"/>
|
||||
<mesh name="left_wrist_roll_rubber_hand" file="left_wrist_roll_rubber_hand.STL"/>
|
||||
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
|
||||
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
|
||||
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
|
||||
<mesh name="right_elbow_link" file="right_elbow_link.STL"/>
|
||||
<mesh name="right_wrist_roll_rubber_hand" file="right_wrist_roll_rubber_hand.STL"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<body name="pelvis" pos="0 0 0.793">
|
||||
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
|
||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<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 0.044">
|
||||
<inertial pos="0.00203158 0.000339683 0.184568" quat="0.999803 -6.03319e-05 0.0198256 0.00131986" mass="7.818" diaginertia="0.121847 0.109825 0.0273735"/>
|
||||
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
|
||||
<geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link_23dof_rev_1_0"/>
|
||||
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link_23dof_rev_1_0"/>
|
||||
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<site name="imu" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
|
||||
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
||||
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
||||
<inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
||||
<inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<body name="left_wrist_roll_rubber_hand" pos="0.1 0.00188791 -0.01">
|
||||
<inertial pos="0.107947 0.00163512 0.00202245" quat="0.494051 0.504265 0.48416 0.516933" mass="0.356929" diaginertia="0.00200292 0.0019426 0.000195232"/>
|
||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_rubber_hand"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_rubber_hand"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
||||
<inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
||||
<inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
||||
<inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<body name="right_wrist_roll_rubber_hand" pos="0.1 -0.00188791 -0.01">
|
||||
<inertial pos="0.107947 -0.00163512 0.00202245" quat="0.516933 0.48416 0.504265 0.494051" mass="0.356929" diaginertia="0.00200292 0.0019426 0.000195232"/>
|
||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_rubber_hand"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_rubber_hand"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
||||
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
||||
</actuator>
|
||||
|
||||
<sensor>
|
||||
<gyro name="imu-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 +1,291 @@
|
|||
<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_rev_1_0.STL"/>
|
||||
<mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL"/>
|
||||
<mesh name="torso_link" file="torso_link_rev_1_0.STL"/>
|
||||
<mesh name="logo_link" file="logo_link.STL"/>
|
||||
<mesh name="head_link" file="head_link.STL"/>
|
||||
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
|
||||
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
|
||||
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
|
||||
<mesh name="left_elbow_link" file="left_elbow_link.STL"/>
|
||||
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
|
||||
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
|
||||
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
|
||||
<mesh name="left_rubber_hand" file="left_rubber_hand.STL"/>
|
||||
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
|
||||
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
|
||||
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
|
||||
<mesh name="right_elbow_link" file="right_elbow_link.STL"/>
|
||||
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
|
||||
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
|
||||
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
|
||||
<mesh name="right_rubber_hand" file="right_rubber_hand.STL"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<body name="pelvis" pos="0 0 0.793">
|
||||
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
|
||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
||||
<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="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821" mass="0.214" diaginertia="0.000163531 0.000107714 0.000102205"/>
|
||||
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
|
||||
<body name="waist_roll_link" pos="-0.0039635 0 0.044">
|
||||
<inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086" diaginertia="8.245e-06 7.079e-06 6.339e-06"/>
|
||||
<joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
|
||||
<body name="torso_link">
|
||||
<inertial pos="0.00203158 0.000339683 0.184568" quat="0.999803 -6.03319e-05 0.0198256 0.00131986" mass="7.818" diaginertia="0.121847 0.109825 0.0273735"/>
|
||||
<joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
||||
<site name="imu" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
|
||||
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
||||
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
||||
<inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
||||
<inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
||||
<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
||||
<inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
|
||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
||||
<body name="left_wrist_pitch_link" pos="0.038 0 0">
|
||||
<inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
|
||||
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
||||
<body name="left_wrist_yaw_link" pos="0.046 0 0">
|
||||
<inertial pos="0.0708244 0.000191745 0.00161742" quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
|
||||
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_rubber_hand"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
||||
<inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
||||
<inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
||||
<inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
||||
<inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
|
||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
||||
<body name="right_wrist_pitch_link" pos="0.038 0 0">
|
||||
<inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
|
||||
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<body name="right_wrist_yaw_link" pos="0.046 0 0">
|
||||
<inertial pos="0.0708244 -0.000191745 0.00161742" quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
|
||||
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_rubber_hand"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
||||
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
||||
<motor name="waist_roll_joint" joint="waist_roll_joint"/>
|
||||
<motor name="waist_pitch_joint" joint="waist_pitch_joint"/>
|
||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
||||
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
|
||||
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
|
||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
||||
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
|
||||
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
|
||||
</actuator>
|
||||
|
||||
<sensor>
|
||||
<gyro name="imu-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 +1,405 @@
|
|||
<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_rev_1_0.STL"/>
|
||||
<mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL"/>
|
||||
<mesh name="torso_link" file="torso_link_rev_1_0.STL"/>
|
||||
<mesh name="logo_link" file="logo_link.STL"/>
|
||||
<mesh name="head_link" file="head_link.STL"/>
|
||||
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
|
||||
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
|
||||
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
|
||||
<mesh name="left_elbow_link" file="left_elbow_link.STL"/>
|
||||
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
|
||||
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
|
||||
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
|
||||
<mesh name="left_hand_palm_link" file="left_hand_palm_link.STL"/>
|
||||
<mesh name="left_hand_thumb_0_link" file="left_hand_thumb_0_link.STL"/>
|
||||
<mesh name="left_hand_thumb_1_link" file="left_hand_thumb_1_link.STL"/>
|
||||
<mesh name="left_hand_thumb_2_link" file="left_hand_thumb_2_link.STL"/>
|
||||
<mesh name="left_hand_middle_0_link" file="left_hand_middle_0_link.STL"/>
|
||||
<mesh name="left_hand_middle_1_link" file="left_hand_middle_1_link.STL"/>
|
||||
<mesh name="left_hand_index_0_link" file="left_hand_index_0_link.STL"/>
|
||||
<mesh name="left_hand_index_1_link" file="left_hand_index_1_link.STL"/>
|
||||
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
|
||||
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
|
||||
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
|
||||
<mesh name="right_elbow_link" file="right_elbow_link.STL"/>
|
||||
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
|
||||
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
|
||||
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
|
||||
<mesh name="right_hand_palm_link" file="right_hand_palm_link.STL"/>
|
||||
<mesh name="right_hand_thumb_0_link" file="right_hand_thumb_0_link.STL"/>
|
||||
<mesh name="right_hand_thumb_1_link" file="right_hand_thumb_1_link.STL"/>
|
||||
<mesh name="right_hand_thumb_2_link" file="right_hand_thumb_2_link.STL"/>
|
||||
<mesh name="right_hand_middle_0_link" file="right_hand_middle_0_link.STL"/>
|
||||
<mesh name="right_hand_middle_1_link" file="right_hand_middle_1_link.STL"/>
|
||||
<mesh name="right_hand_index_0_link" file="right_hand_index_0_link.STL"/>
|
||||
<mesh name="right_hand_index_1_link" file="right_hand_index_1_link.STL"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<body name="pelvis" pos="0 0 0.793">
|
||||
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|
||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
||||
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|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
||||
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|
||||
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|
||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-88 88"/>
|
||||
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|
||||
<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">
|
||||
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|
||||
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|
||||
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|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
||||
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|
||||
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|
||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
||||
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|
||||
<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">
|
||||
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|
||||
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|
||||
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|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
||||
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|
||||
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|
||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<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">
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="waist_yaw_link">
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<body name="left_wrist_pitch_link" pos="0.038 0 0">
|
||||
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|
||||
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
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|
||||
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|
||||
<body name="left_wrist_yaw_link" pos="0.046 0 0">
|
||||
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|
||||
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_palm_link"/>
|
||||
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_palm_link"/>
|
||||
<body name="left_hand_thumb_0_link" pos="0.067 0.003 0">
|
||||
<inertial pos="-0.000884246 -0.00863407 0.000944293" quat="0.462991 0.643965 -0.460173 0.398986" mass="0.0862366" diaginertia="1.6546e-05 1.60058e-05 1.43741e-05"/>
|
||||
<joint name="left_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link"/>
|
||||
<body name="left_hand_thumb_1_link" pos="-0.0025 -0.0193 0">
|
||||
<inertial pos="-0.000827888 -0.0354744 -0.0003809" quat="0.685598 0.705471 -0.15207 0.0956069" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="left_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-0.724312 1.0472" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_1_link"/>
|
||||
<geom size="0.01 0.015 0.01" pos="-0.001 -0.032 0" type="box" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_hand_thumb_2_link" pos="0 -0.0458 0">
|
||||
<inertial pos="-0.00171735 -0.0262819 0.000107789" quat="0.703174 0.710977 -0.00017564 -0.00766553" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="left_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_hand_middle_0_link" pos="0.1192 0.0046 -0.0285">
|
||||
<inertial pos="0.0354744 0.000827888 0.0003809" quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="left_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link"/>
|
||||
<body name="left_hand_middle_1_link" pos="0.0458 0 0">
|
||||
<inertial pos="0.0262819 0.00171735 -0.000107789" quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="left_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_hand_index_0_link" pos="0.1192 0.0046 0.0285">
|
||||
<inertial pos="0.0354744 0.000827888 0.0003809" quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="left_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link"/>
|
||||
<body name="left_hand_index_1_link" pos="0.0458 0 0">
|
||||
<inertial pos="0.0262819 0.00171735 -0.000107789" quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="left_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
||||
<inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
||||
<geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
||||
<inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
||||
<inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
||||
<inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
||||
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
||||
<inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
|
||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
||||
<body name="right_wrist_pitch_link" pos="0.038 0 0">
|
||||
<inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
|
||||
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<body name="right_wrist_yaw_link" pos="0.046 0 0">
|
||||
<inertial pos="0.0885506 -0.00212216 -0.000374562" quat="0.505358 0.513241 0.493844 0.487149" mass="0.457415" diaginertia="0.00105989 0.000895419 0.000323842"/>
|
||||
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link"/>
|
||||
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link"/>
|
||||
<body name="right_hand_thumb_0_link" pos="0.067 -0.003 0">
|
||||
<inertial pos="-0.000884246 0.00863407 0.000944293" quat="0.643965 0.462991 -0.398986 0.460173" mass="0.0862366" diaginertia="1.6546e-05 1.60058e-05 1.43741e-05"/>
|
||||
<joint name="right_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link"/>
|
||||
<body name="right_hand_thumb_1_link" pos="-0.0025 0.0193 0">
|
||||
<inertial pos="-0.000827888 0.0354744 -0.0003809" quat="0.705471 0.685598 -0.0956069 0.15207" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="right_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-1.0472 0.724312" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_1_link"/>
|
||||
<geom size="0.01 0.015 0.01" pos="-0.001 0.032 0" type="box" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_hand_thumb_2_link" pos="0 0.0458 0">
|
||||
<inertial pos="-0.00171735 0.0262819 0.000107789" quat="0.710977 0.703174 0.00766553 0.00017564" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="right_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_2_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_2_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hand_middle_0_link" pos="0.1192 -0.0046 -0.0285">
|
||||
<inertial pos="0.0354744 -0.000827888 0.0003809" quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="right_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="0 1.5708" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link"/>
|
||||
<body name="right_hand_middle_1_link" pos="0.0458 0 0">
|
||||
<inertial pos="0.0262819 -0.00171735 -0.000107789" quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="right_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hand_index_0_link" pos="0.1192 -0.0046 0.0285">
|
||||
<inertial pos="0.0354744 -0.000827888 0.0003809" quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="right_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="0 1.5708" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
|
||||
<body name="right_hand_index_1_link" pos="0.0458 0 0">
|
||||
<inertial pos="0.0262819 -0.00171735 -0.000107789" quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="right_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
||||
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
||||
<motor name="waist_roll_joint" joint="waist_roll_joint"/>
|
||||
<motor name="waist_pitch_joint" joint="waist_pitch_joint"/>
|
||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
||||
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
|
||||
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
|
||||
<motor name="left_hand_thumb_0_joint" joint="left_hand_thumb_0_joint"/>
|
||||
<motor name="left_hand_thumb_1_joint" joint="left_hand_thumb_1_joint"/>
|
||||
<motor name="left_hand_thumb_2_joint" joint="left_hand_thumb_2_joint"/>
|
||||
<motor name="left_hand_middle_0_joint" joint="left_hand_middle_0_joint"/>
|
||||
<motor name="left_hand_middle_1_joint" joint="left_hand_middle_1_joint"/>
|
||||
<motor name="left_hand_index_0_joint" joint="left_hand_index_0_joint"/>
|
||||
<motor name="left_hand_index_1_joint" joint="left_hand_index_1_joint"/>
|
||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
||||
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
|
||||
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
|
||||
<motor name="right_hand_thumb_0_joint" joint="right_hand_thumb_0_joint"/>
|
||||
<motor name="right_hand_thumb_1_joint" joint="right_hand_thumb_1_joint"/>
|
||||
<motor name="right_hand_thumb_2_joint" joint="right_hand_thumb_2_joint"/>
|
||||
<motor name="right_hand_index_0_joint" joint="right_hand_index_0_joint"/>
|
||||
<motor name="right_hand_index_1_joint" joint="right_hand_index_1_joint"/>
|
||||
<motor name="right_hand_middle_0_joint" joint="right_hand_middle_0_joint"/>
|
||||
<motor name="right_hand_middle_1_joint" joint="right_hand_middle_1_joint"/>
|
||||
</actuator>
|
||||
|
||||
<sensor>
|
||||
<gyro name="imu-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>
|
||||
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Loading…
Reference in New Issue