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add lock waist urdf & mjcf for g1

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matheecs 2024-10-22 17:04:06 +08:00
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README.md
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Here are the ROS simulation packages for Unitree robots, You can load robots and joint controllers in Gazebo, so you can perform low-level control (control the torque, position and angular velocity) of the robot joints. Please be aware that the Gazebo simulation cannot do high-level control, namely walking. Aside from these simulation functions, you can also control your real robots in ROS with the [unitree_ros_to_real](https://github.com/unitreerobotics/unitree_ros_to_real) packages. For real robots, you can do high-level and low-level control using our ROS packages. Here are the ROS simulation packages for Unitree robots, You can load robots and joint controllers in Gazebo, so you can perform low-level control (control the torque, position and angular velocity) of the robot joints. Please be aware that the Gazebo simulation cannot do high-level control, namely walking. Aside from these simulation functions, you can also control your real robots in ROS with the [unitree_ros_to_real](https://github.com/unitreerobotics/unitree_ros_to_real) packages. For real robots, you can do high-level and low-level control using our ROS packages.
## Packages: ## Packages:
Robot description: `go1_description`, `a1_description`, `aliengo_description`, `laikago_description`, `z1_description` Robot description:
* `a1_description`
* `aliengo_description`
* `aliengoZ1_description`
* `b1_description`
* `b2_description`
* `b2w_description`
* `g1_description`
* `go1_description`
* `go2_description`
* `go2w_description`
* `h1_2_description`
* `h1_description`
* `laikago_description`
* `z1_description`
Robot and joints controller: `unitree_controller`, `z1_controller` Robot and joints controller:
* `unitree_controller`
* `z1_controller`
Simulation related: `unitree_gazebo`, `unitree_legged_control` Simulation related:
* `unitree_gazebo`
* `unitree_legged_control`
# Dependencies # Dependencies
* [ROS](https://www.ros.org/) Melodic or ROS Kinetic (has not been tested) * [ROS](https://www.ros.org/) Melodic or ROS Kinetic (has not been tested)

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robots/g1_description/README.md
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This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/). This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/).
<p align="center"> MJCF/URDF for the G1 robot:
<img src="images/g1_23dof.png" width="45%"/>
<img src="images/g1_29dof.png" width="45%"/>
<img src="images/g1_29dof_with_hand.png" width="45%"/>
<img src="images/g1_dual_arm.png" width="45%"/>
</p>
As shown, there are a total of 4 versions of MJCF/URDF for the G1 robot: | MJCF/URDF file name | `mode_machine` |
| ----------------------------------------------- | :------------: |
* `g1_23dof` | `g1_23dof` | 1 |
* `g1_29dof` | `g1_29dof`/`g1_29dof_with_hand` | 2 |
* `g1_29dof_with_hand` | `g1_29dof_lock_waist` | 3 |
* `g1_dual_arm` | `g1_23dof_rev_1_0` | 4 |
| `g1_29dof_rev_1_0`/`g1_29dof_with_hand_rev_1_0` | 5 |
| `g1_29dof_lock_waist_rev_1_0` | 6 |
| `g1_dual_arm` | 9 |
## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco) ## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)

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robots/g1_description/g1_29dof_lock_waist.urdf Normal file
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robots/g1_description/g1_29dof_lock_waist.xml Normal file
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<mujoco model="g1_29dof_lock_waist">
<compiler angle="radian" meshdir="meshes"/>
<asset>
<mesh name="pelvis" file="pelvis.STL"/>
<mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
<mesh name="left_knee_link" file="left_knee_link.STL"/>
<mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
<mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
<mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
<mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
<mesh name="right_knee_link" file="right_knee_link.STL"/>
<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
<mesh name="waist_yaw_link" file="waist_yaw_link.STL"/>
<mesh name="waist_roll_link" file="waist_roll_link.STL"/>
<mesh name="torso_link" file="torso_link.STL"/>
<mesh name="logo_link" file="logo_link.STL"/>
<mesh name="head_link" file="head_link.STL"/>
<mesh name="waist_support_link" file="waist_support_link.STL"/>
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
<mesh name="left_elbow_link" file="left_elbow_link.STL"/>
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
<mesh name="left_rubber_hand" file="left_rubber_hand.STL"/>
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
<mesh name="right_elbow_link" file="right_elbow_link.STL"/>
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
<mesh name="right_rubber_hand" file="right_rubber_hand.STL"/>
</asset>
<worldbody>
<body name="pelvis" pos="0 0 0.793">
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
<inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-88 88"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
<inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
<inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458"/>
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
<inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
<inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
<inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-88 88"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
<inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
<inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452"/>
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
<inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="waist_yaw_link">
<inertial pos="0.003964 0 0.018769" quat="-0.0178291 0.628464 0.0282471 0.777121" mass="0.244" diaginertia="0.000158561 0.000124229 9.67669e-05"/>
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
<body name="waist_roll_link" pos="-0.0039635 0 0.035">
<inertial pos="0 -0.000236 0.010111" quat="0.99979 0.020492 0 0" mass="0.047" diaginertia="7.515e-06 6.40206e-06 3.98394e-06"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
<body name="torso_link" pos="0 0 0.019">
<inertial pos="0.00331658 0.000261533 0.179856" quat="0.999831 0.000376204 0.0179895 -0.00377704" mass="9.598" diaginertia="0.12407 0.111951 0.0325382"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
<geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
<geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
<geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
<inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
<inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
<inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
<inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
<body name="left_wrist_pitch_link" pos="0.038 0 0">
<inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
<body name="left_wrist_yaw_link" pos="0.046 0 0">
<inertial pos="0.0708244 0.000191745 0.00161742" quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_rubber_hand"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
<inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
<geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
<inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
<inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
<inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
<inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
<body name="right_wrist_pitch_link" pos="0.038 0 0">
<inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
<body name="right_wrist_yaw_link" pos="0.046 0 0">
<inertial pos="0.0708244 -0.000191745 0.00161742" quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_rubber_hand"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
<motor name="left_knee_joint" joint="left_knee_joint"/>
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
<motor name="right_knee_joint" joint="right_knee_joint"/>
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
</actuator>
<sensor>
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
</sensor>
<!-- setup scene -->
<statistic center="1.0 0.7 1.0" extent="0.8"/>
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="-140" elevation="-20"/>
</visual>
<asset>
<texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
</asset>
<worldbody>
<light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
</worldbody>
</mujoco>

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robots/g1_description/g1_29dof_lock_waist_rev_1_0.urdf Normal file
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robots/g1_description/g1_29dof_lock_waist_rev_1_0.xml Normal file
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@ -0,0 +1,290 @@
<mujoco model="g1_29dof_lock_waist_rev_1_0">
<compiler angle="radian" meshdir="meshes"/>
<asset>
<mesh name="pelvis" file="pelvis.STL"/>
<mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
<mesh name="left_knee_link" file="left_knee_link.STL"/>
<mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
<mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
<mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
<mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
<mesh name="right_knee_link" file="right_knee_link.STL"/>
<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
<mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL"/>
<mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL"/>
<mesh name="torso_link" file="torso_link_rev_1_0.STL"/>
<mesh name="logo_link" file="logo_link.STL"/>
<mesh name="head_link" file="head_link.STL"/>
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
<mesh name="left_elbow_link" file="left_elbow_link.STL"/>
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
<mesh name="left_rubber_hand" file="left_rubber_hand.STL"/>
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
<mesh name="right_elbow_link" file="right_elbow_link.STL"/>
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
<mesh name="right_rubber_hand" file="right_rubber_hand.STL"/>
</asset>
<worldbody>
<body name="pelvis" pos="0 0 0.793">
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
<inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-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"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
<body name="torso_link">
<inertial pos="0.00203158 0.000339683 0.184568" quat="0.999803 -6.03319e-05 0.0198256 0.00131986" mass="7.818" diaginertia="0.121847 0.109825 0.0273735"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
<geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
<geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
<inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
<inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
<inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
<inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
<body name="left_wrist_pitch_link" pos="0.038 0 0">
<inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
<body name="left_wrist_yaw_link" pos="0.046 0 0">
<inertial pos="0.0708244 0.000191745 0.00161742" quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_rubber_hand"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
<inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
<geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
<inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
<inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
<inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
<inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
<body name="right_wrist_pitch_link" pos="0.038 0 0">
<inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
<body name="right_wrist_yaw_link" pos="0.046 0 0">
<inertial pos="0.0708244 -0.000191745 0.00161742" quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_rubber_hand"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
<motor name="left_knee_joint" joint="left_knee_joint"/>
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
<motor name="right_knee_joint" joint="right_knee_joint"/>
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
</actuator>
<sensor>
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
</sensor>
<!-- setup scene -->
<statistic center="1.0 0.7 1.0" extent="0.8"/>
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="-140" elevation="-20"/>
</visual>
<asset>
<texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
</asset>
<worldbody>
<light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
</worldbody>
</mujoco>