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unitree-g1-usds

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Update g1_description/g1_tray_holder.xml

#4
by MarvinZhw - opened
base: refs/heads/main
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from: refs/pr/4
Discussion Files changed
+48
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Files changed (1) hide show
  1. g1_description/g1_tray_holder.xml +48 -6
g1_description/g1_tray_holder.xml CHANGED
@@ -1,7 +1,17 @@
1
  <mujoco model="g1_tray_holder">
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  <compiler angle="radian" meshdir="meshes/"/>
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  <default>
 
 
 
 
 
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  <default class="torso_motor">
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  <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
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  </default>
@@ -167,6 +177,10 @@
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  actuatorfrcrange="-50 50" class="torso_motor"/>
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  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link_rev_1_0"/>
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  <body name="torso_link">
 
 
 
 
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  <inertial pos="0.00203133 0.000339727 0.184597" quat="0.999802 -5.98967e-05 0.0198391 0.0013197" mass="7.817" diaginertia="0.121795 0.109773 0.0273733"/>
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  <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52"
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  actuatorfrcrange="-50 50" class="torso_motor"/>
@@ -219,7 +233,11 @@
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  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
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  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
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  <geom pos="0.0414958 -3.8e-06 -5e-07" quat="0.499951 -0.500077 0.499953 0.500019" type="mesh" contype="0" conaffinity="0" group="1" density="0" mesh="left_tray_holder_link_node__mesh_"/>
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- <geom pos="0.0414958 -3.8e-06 -5e-07" quat="0.499951 -0.500077 0.499953 0.500019" type="mesh" mesh="left_tray_holder_link_node__mesh_" margin="0.001"/>
 
 
 
 
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  </body>
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  </body>
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  </body>
@@ -270,7 +288,11 @@
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  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
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  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
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  <geom pos="0.0414958 3.8e-06 -5e-07" quat="0.500077 -0.499951 0.500019 0.499953" type="mesh" contype="0" conaffinity="0" group="1" density="0" mesh="right_tray_holder_link_node__mesh_"/>
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- <geom pos="0.0414958 3.8e-06 -5e-07" quat="0.500077 -0.499951 0.500019 0.499953" type="mesh" mesh="right_tray_holder_link_node__mesh_" margin="0.001"/>
 
 
 
 
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  </body>
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  </body>
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  </body>
@@ -441,10 +463,30 @@
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  </worldbody>
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  <worldbody>
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- <body name="box" pos="0.30225 0 0.934">
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- <geom type="box" size="0.117 0.166 0.005" rgba="1 0 0 1" mass="0.1"
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- margin="1e-9"/>
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- <freejoint/>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  </body>
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  </worldbody>
 
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  </mujoco>
 
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  <mujoco model="g1_tray_holder">
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  <compiler angle="radian" meshdir="meshes/"/>
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+ <option timestep="0.0005" iterations="100" integrator="RK4">
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+ <flag warmstart="enable"/>
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+ </option>
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+
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+
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  <default>
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+ <default class="contact">
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+ <geom contype="1" conaffinity="1" condim="3"
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+ solref="0.002 1" solimp="0.9 0.95 0.001"/>
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+ </default>
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+
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  <default class="torso_motor">
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  <joint damping="0.05" armature="0.01" frictionloss="0.2"/>
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  </default>
 
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  actuatorfrcrange="-50 50" class="torso_motor"/>
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  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link_rev_1_0"/>
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  <body name="torso_link">
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+ <site name="d435_camera_frame"
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+ pos="0.0576235 0.01753 0.42987"
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+ euler="0 0.8307767239493009 0"
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+ size="0.01" rgba="1 0 0 0.5"/>
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  <inertial pos="0.00203133 0.000339727 0.184597" quat="0.999802 -5.98967e-05 0.0198391 0.0013197" mass="7.817" diaginertia="0.121795 0.109773 0.0273733"/>
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  <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52"
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  actuatorfrcrange="-50 50" class="torso_motor"/>
 
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  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
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  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
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  <geom pos="0.0414958 -3.8e-06 -5e-07" quat="0.499951 -0.500077 0.499953 0.500019" type="mesh" contype="0" conaffinity="0" group="1" density="0" mesh="left_tray_holder_link_node__mesh_"/>
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+ <!-- <geom pos="0.0414958 -3.8e-06 -5e-07" quat="0.499951 -0.500077 0.499953 0.500019" type="mesh" mesh="left_tray_holder_link_node__mesh_"/> -->
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+ <geom type="box" pos="0.06 -3.8e-06 0.042" size="0.10 0.08 0.002" rgba="0 0 0 1" />
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+ <geom type="box" pos="0.06 0.038 0.06" size="0.1 0.0025 0.016" rgba="0 0 0 1" />
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+ <geom type="box" pos="0.06 0.02 0.068" size="0.1 0.02 0.0025" rgba="0 0 0 1" />
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+ <geom type="box" pos="-0.037 0.015 0.06" size="0.0025 0.02 0.016" rgba="0 0 0 1"/>
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  </body>
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  </body>
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  </body>
 
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  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
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  <geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
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  <geom pos="0.0414958 3.8e-06 -5e-07" quat="0.500077 -0.499951 0.500019 0.499953" type="mesh" contype="0" conaffinity="0" group="1" density="0" mesh="right_tray_holder_link_node__mesh_"/>
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+ <!-- <geom pos="0.0414958 3.8e-06 -5e-07" quat="0.500077 -0.499951 0.500019 0.499953" type="mesh" mesh="right_tray_holder_link_node__mesh_"/> -->
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+ <geom type="box" pos="0.06 -3.8e-06 0.042" size="0.10 0.08 0.002" rgba="0 0 0 1" />
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+ <geom type="box" pos="0.06 -0.038 0.06" size="0.1 0.0025 0.016" rgba="0 0 0 1" />
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+ <geom type="box" pos="0.06 -0.02 0.068" size="0.1 0.02 0.0025" rgba="0 0 0 1" />
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+ <geom type="box" pos="-0.037 -0.015 0.06" size="0.0025 0.02 0.016" rgba="0 0 0 1" />
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  </body>
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  </body>
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  </body>
 
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  </worldbody>
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  <worldbody>
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+ <!-- Plate -->
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+ <body name="plate" pos="0.30225 0.0 0.93400">
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+ <geom name="plate_geom" type="box" size="0.12 0.17 0.009" rgba="1 0 0 1" mass="0.5" class="contact"/>
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+ <freejoint/>
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+ </body>
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+
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+ <!-- Object -->
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+ <body name="object" pos="0.30225 0.0 0.993">
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+ <geom name="cup_wall" type="cylinder" size="0.025 0.05"
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+ rgba="0.8 0.8 0.8 1" mass="0.03"
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+ friction="0.6 0.005 0.0001"/>
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+
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+ <geom name="cup_bottom" type="cylinder" size="0.025 0.005"
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+ pos="0 0 -0.055" rgba="0.8 0.8 0.8 1" mass="0.015"/>
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+
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+ <geom name="liquid" type="cylinder" size="0.020 0.03"
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+ pos="0 0 -0.02" rgba="0.3 0.5 1 0.6" mass="0.055"
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+ contype="0" conaffinity="0"/>
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+
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+ <inertial pos="0 0 -0.015" mass="0.1"
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+ diaginertia="0.0003 0.0003 0.00008"/>
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+
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+ <freejoint/>
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  </body>
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  </worldbody>
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+
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  </mujoco>