Align canonical gloved boxing resources for v9
#2
by kaihui-hug123 - opened
- holoboxing/29dof/g1_29dof_mode_15_boxing_gloves_blue.xml +185 -183
- holoboxing/29dof/g1_29dof_mode_15_boxing_gloves_red.xml +222 -220
- holoboxing/README.md +16 -12
- holoboxing/README.zh-CN.md +13 -14
- holoboxing/arena/boxing.xml +25 -0
- holoboxing/arena/g1_dual_29dof.xml +0 -534
- holoboxing/manifest.json +18 -41
- holoboxing/meshes/left_rubber_hand.STL +0 -3
- holoboxing/meshes/left_wrist_pitch_link.STL +0 -0
- holoboxing/meshes/left_wrist_roll_link.STL +0 -3
- holoboxing/meshes/left_wrist_yaw_link.STL +0 -3
- holoboxing/meshes/logo_link.STL +0 -3
- holoboxing/meshes/pelvis.STL +0 -3
- holoboxing/meshes/pelvis_contour_link.STL +0 -3
- holoboxing/meshes/right_rubber_hand.STL +0 -3
- holoboxing/meshes/right_wrist_pitch_link.STL +0 -0
- holoboxing/meshes/right_wrist_roll_link.STL +0 -3
- holoboxing/meshes/right_wrist_yaw_link.STL +0 -3
- holoboxing/meshes/torso_link.STL +0 -3
- holoboxing/meshes/waist_roll_link.STL +0 -0
- holoboxing/meshes/waist_support_link.STL +0 -3
- holoboxing/meshes/waist_yaw_link.STL +0 -3
- holoboxing/resources.json +11 -85
holoboxing/29dof/g1_29dof_mode_15_boxing_gloves_blue.xml
CHANGED
|
@@ -1,7 +1,6 @@
|
|
| 1 |
-
<?xml version=
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| 2 |
<mujoco model="g1_29dof_mode_15_boxing_gloves_blue">
|
| 3 |
<compiler angle="radian" />
|
| 4 |
-
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| 5 |
<asset>
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| 6 |
<mesh name="pelvis_ver0529" file="../meshes/pelvis_ver0529.STL" />
|
| 7 |
<mesh name="pelvis_contour_collision" file="../mode15_boxing_meshes/pelvis_contour_collision.STL" />
|
|
@@ -41,160 +40,160 @@
|
|
| 41 |
<mesh name="right_boxing_glove" file="../mode15_boxing_meshes/right_boxing_glove.STL" />
|
| 42 |
<mesh name="right_boxing_glove_collision" file="../mode15_boxing_meshes/right_boxing_glove_collision.STL" />
|
| 43 |
</asset>
|
| 44 |
-
|
| 45 |
<worldbody>
|
| 46 |
-
<body name="pelvis">
|
| 47 |
-
<inertial pos="0 0 -0.
|
| 48 |
-
<
|
| 49 |
-
<geom
|
| 50 |
-
<
|
| 51 |
-
|
| 52 |
-
<
|
| 53 |
-
<
|
| 54 |
-
<geom type="mesh" rgba="0.
|
| 55 |
-
<
|
| 56 |
-
|
| 57 |
-
<
|
| 58 |
-
<
|
| 59 |
-
<geom type="mesh" rgba="0.
|
| 60 |
-
<
|
| 61 |
-
|
| 62 |
-
<
|
| 63 |
-
<
|
| 64 |
-
<geom type="mesh" rgba="0.
|
| 65 |
-
<
|
| 66 |
-
|
| 67 |
-
<
|
| 68 |
-
<
|
| 69 |
-
<geom type="mesh" rgba="0.
|
| 70 |
-
<
|
| 71 |
-
|
| 72 |
-
<
|
| 73 |
-
<
|
| 74 |
-
<geom type="mesh" rgba="0.
|
| 75 |
-
<
|
| 76 |
-
|
| 77 |
-
<
|
| 78 |
-
<
|
| 79 |
-
<geom
|
| 80 |
-
<geom size="0.01 0.
|
| 81 |
-
<geom size="0.01 0.
|
| 82 |
-
<geom size="0.01 0.
|
| 83 |
-
<geom size="0.01 0.
|
| 84 |
-
<geom size="0.01 0.
|
| 85 |
-
<geom size="0.01 0.
|
|
|
|
| 86 |
</body>
|
| 87 |
</body>
|
| 88 |
</body>
|
| 89 |
</body>
|
| 90 |
</body>
|
| 91 |
</body>
|
| 92 |
-
<body name="right_hip_pitch_link" pos="0 -0.
|
| 93 |
-
<inertial pos="0.
|
| 94 |
-
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.
|
| 95 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 96 |
-
<geom type="mesh" rgba="0.
|
| 97 |
-
<body name="right_hip_roll_link" pos="0 -0.
|
| 98 |
-
<inertial pos="0.
|
| 99 |
-
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.
|
| 100 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 101 |
-
<geom type="mesh" rgba="0.
|
| 102 |
-
<body name="right_hip_yaw_link" pos="0.
|
| 103 |
-
<inertial pos="-0.
|
| 104 |
-
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.
|
| 105 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 106 |
-
<geom type="mesh" rgba="0.
|
| 107 |
-
<body name="right_knee_link" pos="-0.
|
| 108 |
-
<inertial pos="0.005457 -0.
|
| 109 |
-
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.
|
| 110 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 111 |
-
<geom type="mesh" rgba="0.
|
| 112 |
-
<body name="right_ankle_pitch_link" pos="0 9.
|
| 113 |
-
<inertial pos="-0.
|
| 114 |
-
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.
|
| 115 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 116 |
-
<geom type="mesh" rgba="0.
|
| 117 |
-
<body name="right_ankle_roll_link" pos="0 0 -0.
|
| 118 |
-
<inertial pos="0.
|
| 119 |
-
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.
|
| 120 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 121 |
-
<geom size="0.01 0.
|
| 122 |
-
<geom size="0.
|
| 123 |
-
<geom size="0.01 0.
|
| 124 |
-
<geom size="0.01 0.
|
| 125 |
-
<geom size="0.01 0.
|
| 126 |
-
<geom size="0.
|
| 127 |
-
<geom size="0.01 0.
|
| 128 |
</body>
|
| 129 |
</body>
|
| 130 |
</body>
|
| 131 |
</body>
|
| 132 |
</body>
|
| 133 |
</body>
|
| 134 |
-
<body name="waist_yaw_link">
|
| 135 |
-
<inertial pos="0.
|
| 136 |
-
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.
|
| 137 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 138 |
-
<body name="waist_roll_link" pos="-0.0039635 0 0.
|
| 139 |
-
<inertial pos="0 2.3e-05 0" quat="0.
|
| 140 |
-
<joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.
|
| 141 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 142 |
-
<body name="torso_link">
|
| 143 |
-
<inertial pos="0.
|
| 144 |
-
<joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.
|
| 145 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 146 |
-
<geom type="mesh" rgba="0.
|
| 147 |
-
<body name="logo_link" pos="0.0039635 0 -0.
|
| 148 |
-
<inertial pos="0 0 0" mass="0.001" diaginertia="
|
| 149 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 150 |
</body>
|
| 151 |
-
<body name="head_link" pos="0.0039635 0 -0.
|
| 152 |
-
<inertial pos="0.005267 0.000299 0.
|
| 153 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 154 |
-
<geom type="mesh" rgba="0.
|
| 155 |
</body>
|
| 156 |
-
<body name="imu_in_torso" pos="-0.03959 -0.
|
| 157 |
-
<body name="d435_link" pos="0.
|
| 158 |
-
<body name="mid360_link" pos="0.
|
| 159 |
-
<body name="left_shoulder_pitch_link" pos="0.
|
| 160 |
-
<inertial pos="0 0.035892 -0.
|
| 161 |
-
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.
|
| 162 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 163 |
-
<geom size="0.
|
| 164 |
-
<body name="left_shoulder_roll_link" pos="0 0.
|
| 165 |
-
<inertial pos="-0.
|
| 166 |
-
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.
|
| 167 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 168 |
-
<geom size="0.
|
| 169 |
-
<body name="left_shoulder_yaw_link" pos="0 0.
|
| 170 |
-
<inertial pos="0.010773 -0.
|
| 171 |
-
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.
|
| 172 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 173 |
-
<geom type="mesh" rgba="0.
|
| 174 |
-
<body name="left_elbow_link" pos="0.
|
| 175 |
-
<inertial pos="0.064956 0.
|
| 176 |
-
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.
|
| 177 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 178 |
-
<geom type="mesh" rgba="0.
|
| 179 |
-
<body name="left_wrist_roll_link" pos="0.
|
| 180 |
-
<inertial pos="0.
|
| 181 |
-
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.
|
| 182 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 183 |
-
<geom type="mesh" rgba="0.
|
| 184 |
-
<body name="left_wrist_pitch_link" pos="0.
|
| 185 |
-
<inertial pos="0.
|
| 186 |
-
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.
|
| 187 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 188 |
-
<geom type="mesh" rgba="0.
|
| 189 |
-
<body name="left_wrist_yaw_link" pos="0.
|
| 190 |
-
<inertial pos="0.
|
| 191 |
-
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.
|
| 192 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 193 |
-
<geom type="mesh" rgba="0.
|
| 194 |
-
<body name="left_rubber_hand" pos="0.
|
| 195 |
-
<inertial pos="0.
|
| 196 |
-
<geom name="left_glove_visual" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 197 |
-
<geom name="left_glove_collision" type="mesh" rgba="0.
|
| 198 |
</body>
|
| 199 |
</body>
|
| 200 |
</body>
|
|
@@ -203,45 +202,45 @@
|
|
| 203 |
</body>
|
| 204 |
</body>
|
| 205 |
</body>
|
| 206 |
-
<body name="right_shoulder_pitch_link" pos="0.
|
| 207 |
-
<inertial pos="0 -0.035892 -0.
|
| 208 |
-
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.
|
| 209 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 210 |
-
<geom size="0.
|
| 211 |
-
<body name="right_shoulder_roll_link" pos="0 -0.
|
| 212 |
-
<inertial pos="-0.
|
| 213 |
-
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.
|
| 214 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 215 |
-
<geom size="0.
|
| 216 |
-
<body name="right_shoulder_yaw_link" pos="0 -0.
|
| 217 |
-
<inertial pos="0.010773 0.
|
| 218 |
-
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.
|
| 219 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 220 |
-
<geom type="mesh" rgba="0.
|
| 221 |
-
<body name="right_elbow_link" pos="0.
|
| 222 |
-
<inertial pos="0.064956 -0.
|
| 223 |
-
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.
|
| 224 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 225 |
-
<geom type="mesh" rgba="0.
|
| 226 |
-
<body name="right_wrist_roll_link" pos="0.
|
| 227 |
-
<inertial pos="0.
|
| 228 |
-
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.
|
| 229 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 230 |
-
<geom type="mesh" rgba="0.
|
| 231 |
-
<body name="right_wrist_pitch_link" pos="0.
|
| 232 |
-
<inertial pos="0.
|
| 233 |
-
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.
|
| 234 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 235 |
-
<geom type="mesh" rgba="0.
|
| 236 |
-
<body name="right_wrist_yaw_link" pos="0.
|
| 237 |
-
<inertial pos="0.
|
| 238 |
-
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.
|
| 239 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 240 |
-
<geom type="mesh" rgba="0.
|
| 241 |
-
<body name="right_rubber_hand" pos="0.
|
| 242 |
-
<inertial pos="0.
|
| 243 |
-
<geom name="right_glove_visual" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 244 |
-
<geom name="right_glove_collision" type="mesh" rgba="0.
|
| 245 |
</body>
|
| 246 |
</body>
|
| 247 |
</body>
|
|
@@ -253,7 +252,10 @@
|
|
| 253 |
</body>
|
| 254 |
</body>
|
| 255 |
</body>
|
| 256 |
-
<body name="imu_in_pelvis" pos="0.
|
| 257 |
-
<
|
| 258 |
</worldbody>
|
| 259 |
-
<
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
<mujoco model="g1_29dof_mode_15_boxing_gloves_blue">
|
| 3 |
<compiler angle="radian" />
|
|
|
|
| 4 |
<asset>
|
| 5 |
<mesh name="pelvis_ver0529" file="../meshes/pelvis_ver0529.STL" />
|
| 6 |
<mesh name="pelvis_contour_collision" file="../mode15_boxing_meshes/pelvis_contour_collision.STL" />
|
|
|
|
| 40 |
<mesh name="right_boxing_glove" file="../mode15_boxing_meshes/right_boxing_glove.STL" />
|
| 41 |
<mesh name="right_boxing_glove_collision" file="../mode15_boxing_meshes/right_boxing_glove_collision.STL" />
|
| 42 |
</asset>
|
|
|
|
| 43 |
<worldbody>
|
| 44 |
+
<body name="pelvis" pos="0 0 0" quat="1 0 0 0">
|
| 45 |
+
<inertial pos="0 0 -0.076050000000000006" quat="0.99999992034038054 0 -0.00039914813342649348 0" mass="3.8130000000000002" diaginertia="0.010549001676422559 0.0093088999999999967 0.0079183983235774375" />
|
| 46 |
+
<joint name="floating_base" type="free" pos="0 0 0" axis="0 0 1" range="0 0" actuatorfrcrange="0 0" />
|
| 47 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.15999999642372131 0.23999999463558197 0.34000000357627869 1" mesh="pelvis_ver0529" pos="0 0 0" quat="1 0 0 0" />
|
| 48 |
+
<geom name="pelvis_simple_collision" type="mesh" rgba="0.15999999642372131 0.23999999463558197 0.34000000357627869 1" mesh="pelvis_contour_collision" pos="0 0 0" quat="1 0 0 0" />
|
| 49 |
+
<body name="left_hip_pitch_link" pos="0 0.064451999999999995 -0.1027" quat="1 0 0 0">
|
| 50 |
+
<inertial pos="0.0027409999999999999 0.047791 -0.02606" quat="0.9548623707110766 0.29396447786790297 0.030255609148063307 0.030122032915346406" mass="1.3500000000000001" diaginertia="0.001815165120427254 0.0015342169280737805 0.0011621179514989645" />
|
| 51 |
+
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5306999999999999 2.8797999999999999" actuatorfrcrange="-139 139" />
|
| 52 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.15999999642372131 0.23999999463558197 0.34000000357627869 1" mesh="left_hip_pitch_link" pos="0 0 0" quat="1 0 0 0" />
|
| 53 |
+
<geom type="mesh" rgba="0.15999999642372131 0.23999999463558197 0.34000000357627869 1" mesh="left_hip_pitch_link" pos="0 0 0" quat="1 0 0 0" />
|
| 54 |
+
<body name="left_hip_roll_link" pos="0 0.051999999999999998 -0.030464999999999999" quat="0.99617868497449569 0 -0.087338580263732465 0">
|
| 55 |
+
<inertial pos="0.029812000000000002 -0.0010449999999999999 -0.087933999999999998" quat="0.97780782313321002 -1.9711943542453067e-05 0.20557571472198835 -0.040379278689398557" mass="1.52" diaginertia="0.0025498595878875913 0.002411691789435043 0.0014875486226773682" />
|
| 56 |
+
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52359999999999995 2.9670999999999998" actuatorfrcrange="-139 139" />
|
| 57 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="left_hip_roll_link" pos="0 0 0" quat="1 0 0 0" />
|
| 58 |
+
<geom type="mesh" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="left_hip_roll_link" pos="0 0 0" quat="1 0 0 0" />
|
| 59 |
+
<body name="left_hip_yaw_link" pos="0.025000999999999999 0 -0.12411999999999999" quat="1 0 0 0">
|
| 60 |
+
<inertial pos="-0.057709000000000003 -0.010980999999999999 -0.15078" quat="0.60059751919859805 0.15831997443306917 0.22348155177746054 0.75118133739007498" mass="1.702" diaginertia="0.0077616582265165488 0.0071757481701984066 0.0016013936032850504" />
|
| 61 |
+
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| 62 |
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| 63 |
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<geom type="mesh" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="left_hip_yaw_link" pos="0 0 0" quat="1 0 0 0" />
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| 64 |
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| 67 |
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| 68 |
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<geom type="mesh" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="left_knee_link" pos="0 0 0" quat="1 0 0 0" />
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| 72 |
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="left_ankle_pitch_link" pos="0 0 0" quat="1 0 0 0" />
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| 73 |
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<geom type="mesh" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="left_ankle_pitch_link" pos="0 0 0" quat="1 0 0 0" />
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| 77 |
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| 82 |
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| 83 |
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| 84 |
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<geom size="0.01 0.025000000000000001" pos="0.074999999999999997 0.025999999999999999 -0.025000000000000001" quat="0.70710678118654757 0 0.70710678118654746 0" type="cylinder" rgba="0.15999999642372131 0.23999999463558197 0.34000000357627869 1" />
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| 85 |
</body>
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| 86 |
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| 87 |
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|
| 88 |
</body>
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| 89 |
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|
| 90 |
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| 91 |
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| 92 |
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| 94 |
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| 99 |
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| 100 |
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| 104 |
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| 109 |
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| 110 |
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| 112 |
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| 114 |
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| 115 |
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| 119 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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|
| 128 |
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|
| 129 |
</body>
|
| 130 |
</body>
|
| 131 |
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|
| 132 |
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| 133 |
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| 134 |
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| 136 |
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| 140 |
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| 149 |
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| 150 |
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| 154 |
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| 166 |
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| 168 |
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<body name="left_shoulder_yaw_link" pos="0 0.0062399999999999999 -0.1032" quat="1 0 0 0">
|
| 169 |
+
<inertial pos="0.010773 -0.0029489999999999998 -0.072009000000000004" quat="0.71687857668891708 -0.096482907694997538 -0.067994212161634371 0.68713386026283929" mass="0.73399999999999999" diaginertia="0.0010618733024710244 0.0010321659314327732 0.00040066076609620221" />
|
| 170 |
+
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.6179999999999999 2.6179999999999999" actuatorfrcrange="-25 25" />
|
| 171 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="left_shoulder_yaw_link" pos="0 0 0" quat="1 0 0 0" />
|
| 172 |
+
<geom type="mesh" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="left_shoulder_yaw_link" pos="0 0 0" quat="1 0 0 0" />
|
| 173 |
+
<body name="left_elbow_link" pos="0.015782999999999998 0 -0.080518000000000006" quat="1 0 0 0">
|
| 174 |
+
<inertial pos="0.064956 0.0044539999999999996 -0.010062" quat="0.54176511644867997 0.636132437674919 0.38882075725942489 0.38812948749267051" mass="0.59999999999999998" diaginertia="0.00044303497406210634 0.00042161157213546906 0.00025935345380242363" />
|
| 175 |
+
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0471999999999999 2.0943999999999998" actuatorfrcrange="-25 25" />
|
| 176 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="left_elbow_link" pos="0 0 0" quat="1 0 0 0" />
|
| 177 |
+
<geom type="mesh" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="left_elbow_link" pos="0 0 0" quat="1 0 0 0" />
|
| 178 |
+
<body name="left_wrist_roll_link" pos="0.10000000000000001 0.00188791 -0.01" quat="1 0 0 0">
|
| 179 |
+
<inertial pos="0.017139447780000001 0.00053759094000000005 4.8864000000000001e-07" quat="0.5753381793560679 0.41166746998586812 -0.57490631906248113 0.41109439041746909" mass="0.085444980000000004" diaginertia="5.4821070729239837e-05 4.9664578582795455e-05 3.5779847257964644e-05" />
|
| 180 |
+
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.9722220539999999 1.9722220539999999" actuatorfrcrange="-25 25" />
|
| 181 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="left_wrist_roll_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 182 |
+
<geom type="mesh" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="left_wrist_roll_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 183 |
+
<body name="left_wrist_pitch_link" pos="0.037999999999999999 0 0" quat="1 0 0 0">
|
| 184 |
+
<inertial pos="0.025491504830000001 -0.00054042510999999997 -0.00054143853000000004" quat="0.48716023842257122 0.50286291639893099 0.48766122156958996 0.52152691434678899" mass="0.68400000000000005" diaginertia="0.00071649475877794133 0.00071607871058096742 0.00025566892393109029" />
|
| 185 |
+
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.6144295580000001 1.6144295580000001" actuatorfrcrange="-13.4 13.4" />
|
| 186 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="left_wrist_pitch_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 187 |
+
<geom type="mesh" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="left_wrist_pitch_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 188 |
+
<body name="left_wrist_yaw_link" pos="0.050999999999999997 0 0" quat="1 0 0 0">
|
| 189 |
+
<inertial pos="0.02200381568 0.00049485095999999998 0.00053861122999999999" quat="0.68276135250150338 -0.12133658081581854 -0.13511889097702243 0.70771269240235124" mass="0.084576470000000001" diaginertia="5.9756400841460761e-05 5.0980672176780819e-05 3.7568434861758368e-05" />
|
| 190 |
+
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.6144295580000001 1.6144295580000001" actuatorfrcrange="-13.4 13.4" />
|
| 191 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="left_wrist_yaw_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 192 |
+
<geom type="mesh" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="left_wrist_yaw_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 193 |
+
<body name="left_rubber_hand" pos="0.041500000000000002 0.0030000000000000001 0" quat="1 0 0 0">
|
| 194 |
+
<inertial pos="0.053613108079999999 -0.0029590523999999999 0.00215413091" quat="0.53812321010296327 0.55226431915136442 0.43540511626650974 0.46459651017814568" mass="0.17000000000000001" diaginertia="0.00028848608305086731 0.0002188241064904351 9.3991082657527634e-05" />
|
| 195 |
+
<geom name="left_glove_visual" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.039999999105930328 0.30000001192092896 0.92000001668930054 1" mesh="left_boxing_glove" pos="0 0 0" quat="1 0 0 0" />
|
| 196 |
+
<geom name="left_glove_collision" type="mesh" rgba="0.039999999105930328 0.30000001192092896 0.92000001668930054 1" mesh="left_boxing_glove_collision" pos="0 0 0" quat="1 0 0 0" />
|
| 197 |
</body>
|
| 198 |
</body>
|
| 199 |
</body>
|
|
|
|
| 202 |
</body>
|
| 203 |
</body>
|
| 204 |
</body>
|
| 205 |
+
<body name="right_shoulder_pitch_link" pos="0.0039563000000000003 -0.10020999999999999 0.24778" quat="0.99026407437221953 -0.13920148374281427 1.3872204401988457e-05 9.8686838424204368e-05">
|
| 206 |
+
<inertial pos="0 -0.035892 -0.011627999999999999" quat="0.68224983699070474 -0.32626674646624737 0.013045834275438317 0.65415210485371433" mass="0.71799999999999997" diaginertia="0.00046586367495465825 0.00043284241524135417 0.00040639390980398661" />
|
| 207 |
+
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0891999999999999 2.6703999999999999" actuatorfrcrange="-25 25" />
|
| 208 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="right_shoulder_pitch_link" pos="0 0 0" quat="1 0 0 0" />
|
| 209 |
+
<geom size="0.029999999999999999 0.025000000000000001" pos="0 -0.040000000000000001 -0.01" quat="0.70710678118654757 0 0.70710678118654746 0" type="cylinder" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" />
|
| 210 |
+
<body name="right_shoulder_roll_link" pos="0 -0.037999999999999999 -0.013831" quat="0.99026825525484086 0.13917177384273469 0 0">
|
| 211 |
+
<inertial pos="-0.00022699999999999999 -0.0072700000000000004 -0.063242999999999994" quat="0.7126035910263443 -0.007103165371358887 -0.01962234219982769 0.70125646577030565" mass="0.64300000000000002" diaginertia="0.00069131115364121835 0.00061801138809184036 0.00038897745826694077" />
|
| 212 |
+
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515000000000001 1.5882000000000001" actuatorfrcrange="-25 25" />
|
| 213 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="right_shoulder_roll_link" pos="0 0 0" quat="1 0 0 0" />
|
| 214 |
+
<geom size="0.029999999999999999 0.014999999999999999" pos="-0.0040000000000000001 -0.0060000000000000001 -0.052999999999999999" type="cylinder" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" quat="1 0 0 0" />
|
| 215 |
+
<body name="right_shoulder_yaw_link" pos="0 -0.0062399999999999999 -0.1032" quat="1 0 0 0">
|
| 216 |
+
<inertial pos="0.010773 0.0029489999999999998 -0.072009000000000004" quat="0.68713386026283929 -0.067994212161634371 -0.096482907694997538 0.71687857668891708" mass="0.73399999999999999" diaginertia="0.0010618733024710244 0.0010321659314327732 0.00040066076609620221" />
|
| 217 |
+
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.6179999999999999 2.6179999999999999" actuatorfrcrange="-25 25" />
|
| 218 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="right_shoulder_yaw_link" pos="0 0 0" quat="1 0 0 0" />
|
| 219 |
+
<geom type="mesh" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="right_shoulder_yaw_link" pos="0 0 0" quat="1 0 0 0" />
|
| 220 |
+
<body name="right_elbow_link" pos="0.015782999999999998 0 -0.080518000000000006" quat="1 0 0 0">
|
| 221 |
+
<inertial pos="0.064956 -0.0044539999999999996 -0.010062" quat="0.38812948749267051 0.38882075725942489 0.636132437674919 0.54176511644867997" mass="0.59999999999999998" diaginertia="0.00044303497406210634 0.00042161157213546906 0.00025935345380242363" />
|
| 222 |
+
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0471999999999999 2.0943999999999998" actuatorfrcrange="-25 25" />
|
| 223 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="right_elbow_link" pos="0 0 0" quat="1 0 0 0" />
|
| 224 |
+
<geom type="mesh" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="right_elbow_link" pos="0 0 0" quat="1 0 0 0" />
|
| 225 |
+
<body name="right_wrist_roll_link" pos="0.10000000000000001 -0.00188791 -0.01" quat="1 0 0 0">
|
| 226 |
+
<inertial pos="0.017139447780000001 -0.00053759094000000005 4.8864000000000001e-07" quat="0.41166746998586812 0.5753381793560679 -0.41109439041746909 0.57490631906248113" mass="0.085444980000000004" diaginertia="5.4821070729239837e-05 4.9664578582795455e-05 3.5779847257964644e-05" />
|
| 227 |
+
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.9722220539999999 1.9722220539999999" actuatorfrcrange="-25 25" />
|
| 228 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="right_wrist_roll_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 229 |
+
<geom type="mesh" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="right_wrist_roll_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 230 |
+
<body name="right_wrist_pitch_link" pos="0.037999999999999999 0 0" quat="1 0 0 0">
|
| 231 |
+
<inertial pos="0.025491504830000001 0.00054042510999999997 -0.00054143853000000004" quat="0.48766122156958996 0.52152691434678899 0.48716023842257122 0.50286291639893099" mass="0.68400000000000005" diaginertia="0.00071649475877794133 0.00071607871058096742 0.00025566892393109029" />
|
| 232 |
+
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.6144295580000001 1.6144295580000001" actuatorfrcrange="-13.4 13.4" />
|
| 233 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="right_wrist_pitch_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 234 |
+
<geom type="mesh" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="right_wrist_pitch_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 235 |
+
<body name="right_wrist_yaw_link" pos="0.050999999999999997 0 0" quat="1 0 0 0">
|
| 236 |
+
<inertial pos="0.02200381568 -0.00049485095999999998 0.00053861122999999999" quat="0.70771269240235124 -0.13511889097702243 -0.12133658081581854 0.68276135250150338" mass="0.084576470000000001" diaginertia="5.9756400841460761e-05 5.0980672176780819e-05 3.7568434861758368e-05" />
|
| 237 |
+
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.6144295580000001 1.6144295580000001" actuatorfrcrange="-13.4 13.4" />
|
| 238 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="right_wrist_yaw_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 239 |
+
<geom type="mesh" rgba="0.68000000715255737 0.8399999737739563 0.98000001907348633 1" mesh="right_wrist_yaw_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 240 |
+
<body name="right_rubber_hand" pos="0.041500000000000002 -0.0030000000000000001 0" quat="1 0 0 0">
|
| 241 |
+
<inertial pos="0.053613108079999999 0.0029590523999999999 0.00215413091" quat="0.46459651017814568 0.43540511626650974 0.55226431915136442 0.53812321010296327" mass="0.17000000000000001" diaginertia="0.00028848608305086731 0.0002188241064904351 9.3991082657527634e-05" />
|
| 242 |
+
<geom name="right_glove_visual" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.039999999105930328 0.30000001192092896 0.92000001668930054 1" mesh="right_boxing_glove" pos="0 0 0" quat="1 0 0 0" />
|
| 243 |
+
<geom name="right_glove_collision" type="mesh" rgba="0.039999999105930328 0.30000001192092896 0.92000001668930054 1" mesh="right_boxing_glove_collision" pos="0 0 0" quat="1 0 0 0" />
|
| 244 |
</body>
|
| 245 |
</body>
|
| 246 |
</body>
|
|
|
|
| 252 |
</body>
|
| 253 |
</body>
|
| 254 |
</body>
|
| 255 |
+
<body name="imu_in_pelvis" pos="0.045249999999999999 0 -0.083390000000000006" quat="1 0 0 0" />
|
| 256 |
+
</body>
|
| 257 |
</worldbody>
|
| 258 |
+
<custom>
|
| 259 |
+
<text name="source_urdf_sha256" data="b84ba9477a3cd4729b0fae40e6016fd5ef00c718afb9f8dfd5fdde65f24804b7" />
|
| 260 |
+
</custom>
|
| 261 |
+
</mujoco>
|
holoboxing/29dof/g1_29dof_mode_15_boxing_gloves_red.xml
CHANGED
|
@@ -1,200 +1,199 @@
|
|
| 1 |
-
<?xml version=
|
| 2 |
<mujoco model="g1_29dof_mode_15_boxing_gloves_red">
|
| 3 |
<compiler angle="radian" />
|
| 4 |
-
|
| 5 |
<asset>
|
| 6 |
-
<mesh name="pelvis_ver0529"
|
| 7 |
-
<mesh name="pelvis_contour_collision"
|
| 8 |
-
<mesh name="left_hip_pitch_link"
|
| 9 |
-
<mesh name="left_hip_roll_link"
|
| 10 |
-
<mesh name="left_hip_yaw_link"
|
| 11 |
-
<mesh name="left_knee_link"
|
| 12 |
-
<mesh name="left_ankle_pitch_link"
|
| 13 |
-
<mesh name="left_ankle_roll_link"
|
| 14 |
-
<mesh name="right_hip_pitch_link"
|
| 15 |
-
<mesh name="right_hip_roll_link"
|
| 16 |
-
<mesh name="right_hip_yaw_link"
|
| 17 |
-
<mesh name="right_knee_link"
|
| 18 |
-
<mesh name="right_ankle_pitch_link"
|
| 19 |
-
<mesh name="right_ankle_roll_link"
|
| 20 |
-
<mesh name="waist_yaw_link_rev_1_0"
|
| 21 |
-
<mesh name="waist_roll_link_rev_1_0"
|
| 22 |
-
<mesh name="torso_link_rev_1_0"
|
| 23 |
-
<mesh name="logo_holomotion"
|
| 24 |
-
<mesh name="head_link"
|
| 25 |
-
<mesh name="left_shoulder_pitch_link"
|
| 26 |
-
<mesh name="left_shoulder_roll_link"
|
| 27 |
-
<mesh name="left_shoulder_yaw_link"
|
| 28 |
-
<mesh name="left_elbow_link"
|
| 29 |
-
<mesh name="left_wrist_roll_link_5010"
|
| 30 |
-
<mesh name="left_wrist_pitch_link_5010"
|
| 31 |
-
<mesh name="left_wrist_yaw_link_5010"
|
| 32 |
-
<mesh name="left_boxing_glove"
|
| 33 |
-
<mesh name="left_boxing_glove_collision"
|
| 34 |
-
<mesh name="right_shoulder_pitch_link"
|
| 35 |
-
<mesh name="right_shoulder_roll_link"
|
| 36 |
-
<mesh name="right_shoulder_yaw_link"
|
| 37 |
-
<mesh name="right_elbow_link"
|
| 38 |
-
<mesh name="right_wrist_roll_link_5010"
|
| 39 |
-
<mesh name="right_wrist_pitch_link_5010"
|
| 40 |
-
<mesh name="right_wrist_yaw_link_5010"
|
| 41 |
-
<mesh name="right_boxing_glove"
|
| 42 |
-
<mesh name="right_boxing_glove_collision"
|
| 43 |
</asset>
|
| 44 |
-
|
| 45 |
<worldbody>
|
| 46 |
-
<body name="pelvis">
|
| 47 |
-
<inertial pos="0 0 -0.
|
| 48 |
-
<
|
| 49 |
-
<geom
|
| 50 |
-
<
|
| 51 |
-
|
| 52 |
-
<
|
| 53 |
-
<
|
| 54 |
-
<geom type="mesh" rgba="0.
|
| 55 |
-
<
|
| 56 |
-
|
| 57 |
-
<
|
| 58 |
-
<
|
| 59 |
-
<geom type="mesh" rgba="0.
|
| 60 |
-
<
|
| 61 |
-
|
| 62 |
-
<
|
| 63 |
-
<
|
| 64 |
-
<geom type="mesh" rgba="0.
|
| 65 |
-
<
|
| 66 |
-
|
| 67 |
-
<
|
| 68 |
-
<
|
| 69 |
-
<geom type="mesh" rgba="0.
|
| 70 |
-
<
|
| 71 |
-
|
| 72 |
-
<
|
| 73 |
-
<
|
| 74 |
-
<geom type="mesh" rgba="0.
|
| 75 |
-
<
|
| 76 |
-
|
| 77 |
-
<
|
| 78 |
-
<
|
| 79 |
-
<geom
|
| 80 |
-
<geom size="0.01 0.
|
| 81 |
-
<geom size="0.01 0.
|
| 82 |
-
<geom size="0.01 0.
|
| 83 |
-
<geom size="0.01 0.
|
| 84 |
-
<geom size="0.01 0.
|
| 85 |
-
<geom size="0.01 0.
|
|
|
|
| 86 |
</body>
|
| 87 |
</body>
|
| 88 |
</body>
|
| 89 |
</body>
|
| 90 |
</body>
|
| 91 |
</body>
|
| 92 |
-
<body name="right_hip_pitch_link" pos="0 -0.
|
| 93 |
-
<inertial pos="0.
|
| 94 |
-
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.
|
| 95 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 96 |
-
<geom type="mesh" rgba="0.
|
| 97 |
-
<body name="right_hip_roll_link" pos="0 -0.
|
| 98 |
-
<inertial pos="0.
|
| 99 |
-
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.
|
| 100 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 101 |
-
<geom type="mesh" rgba="0.
|
| 102 |
-
<body name="right_hip_yaw_link" pos="0.
|
| 103 |
-
<inertial pos="-0.
|
| 104 |
-
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.
|
| 105 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 106 |
-
<geom type="mesh" rgba="0.
|
| 107 |
-
<body name="right_knee_link" pos="-0.
|
| 108 |
-
<inertial pos="0.005457 -0.
|
| 109 |
-
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.
|
| 110 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 111 |
-
<geom type="mesh" rgba="0.
|
| 112 |
-
<body name="right_ankle_pitch_link" pos="0 9.
|
| 113 |
-
<inertial pos="-0.
|
| 114 |
-
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.
|
| 115 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 116 |
-
<geom type="mesh" rgba="0.
|
| 117 |
-
<body name="right_ankle_roll_link" pos="0 0 -0.
|
| 118 |
-
<inertial pos="0.
|
| 119 |
-
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.
|
| 120 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 121 |
-
<geom size="0.01 0.
|
| 122 |
-
<geom size="0.
|
| 123 |
-
<geom size="0.01 0.
|
| 124 |
-
<geom size="0.01 0.
|
| 125 |
-
<geom size="0.01 0.
|
| 126 |
-
<geom size="0.
|
| 127 |
-
<geom size="0.01 0.
|
| 128 |
</body>
|
| 129 |
</body>
|
| 130 |
</body>
|
| 131 |
</body>
|
| 132 |
</body>
|
| 133 |
</body>
|
| 134 |
-
<body name="waist_yaw_link">
|
| 135 |
-
<inertial pos="0.
|
| 136 |
-
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.
|
| 137 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 138 |
-
<body name="waist_roll_link" pos="-0.0039635 0 0.
|
| 139 |
-
<inertial pos="0 2.3e-05 0" quat="0.
|
| 140 |
-
<joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.
|
| 141 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 142 |
-
<body name="torso_link">
|
| 143 |
-
<inertial pos="0.
|
| 144 |
-
<joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.
|
| 145 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 146 |
-
<geom type="mesh" rgba="0.
|
| 147 |
-
<body name="logo_link" pos="0.0039635 0 -0.
|
| 148 |
-
<inertial pos="0 0 0" mass="0.001" diaginertia="
|
| 149 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 150 |
</body>
|
| 151 |
-
<body name="head_link" pos="0.0039635 0 -0.
|
| 152 |
-
<inertial pos="0.005267 0.000299 0.
|
| 153 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 154 |
-
<geom type="mesh" rgba="0.
|
| 155 |
</body>
|
| 156 |
-
<body name="imu_in_torso" pos="-0.03959 -0.
|
| 157 |
-
<body name="d435_link" pos="0.
|
| 158 |
-
<body name="mid360_link" pos="0.
|
| 159 |
-
<body name="left_shoulder_pitch_link" pos="0.
|
| 160 |
-
<inertial pos="0 0.035892 -0.
|
| 161 |
-
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.
|
| 162 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 163 |
-
<geom size="0.
|
| 164 |
-
<body name="left_shoulder_roll_link" pos="0 0.
|
| 165 |
-
<inertial pos="-0.
|
| 166 |
-
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.
|
| 167 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 168 |
-
<geom size="0.
|
| 169 |
-
<body name="left_shoulder_yaw_link" pos="0 0.
|
| 170 |
-
<inertial pos="0.010773 -0.
|
| 171 |
-
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.
|
| 172 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 173 |
-
<geom type="mesh" rgba="0.
|
| 174 |
-
<body name="left_elbow_link" pos="0.
|
| 175 |
-
<inertial pos="0.064956 0.
|
| 176 |
-
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.
|
| 177 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 178 |
-
<geom type="mesh" rgba="0.
|
| 179 |
-
<body name="left_wrist_roll_link" pos="0.
|
| 180 |
-
<inertial pos="0.
|
| 181 |
-
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.
|
| 182 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 183 |
-
<geom type="mesh" rgba="0.
|
| 184 |
-
<body name="left_wrist_pitch_link" pos="0.
|
| 185 |
-
<inertial pos="0.
|
| 186 |
-
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.
|
| 187 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 188 |
-
<geom type="mesh" rgba="0.
|
| 189 |
-
<body name="left_wrist_yaw_link" pos="0.
|
| 190 |
-
<inertial pos="0.
|
| 191 |
-
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.
|
| 192 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 193 |
-
<geom type="mesh" rgba="0.
|
| 194 |
-
<body name="left_rubber_hand" pos="0.
|
| 195 |
-
<inertial pos="0.
|
| 196 |
-
<geom name="left_glove_visual" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 197 |
-
<geom name="left_glove_collision" type="mesh" rgba="0.
|
| 198 |
</body>
|
| 199 |
</body>
|
| 200 |
</body>
|
|
@@ -203,45 +202,45 @@
|
|
| 203 |
</body>
|
| 204 |
</body>
|
| 205 |
</body>
|
| 206 |
-
<body name="right_shoulder_pitch_link" pos="0.
|
| 207 |
-
<inertial pos="0 -0.035892 -0.
|
| 208 |
-
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.
|
| 209 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 210 |
-
<geom size="0.
|
| 211 |
-
<body name="right_shoulder_roll_link" pos="0 -0.
|
| 212 |
-
<inertial pos="-0.
|
| 213 |
-
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.
|
| 214 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 215 |
-
<geom size="0.
|
| 216 |
-
<body name="right_shoulder_yaw_link" pos="0 -0.
|
| 217 |
-
<inertial pos="0.010773 0.
|
| 218 |
-
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.
|
| 219 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 220 |
-
<geom type="mesh" rgba="0.
|
| 221 |
-
<body name="right_elbow_link" pos="0.
|
| 222 |
-
<inertial pos="0.064956 -0.
|
| 223 |
-
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.
|
| 224 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 225 |
-
<geom type="mesh" rgba="0.
|
| 226 |
-
<body name="right_wrist_roll_link" pos="0.
|
| 227 |
-
<inertial pos="0.
|
| 228 |
-
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.
|
| 229 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 230 |
-
<geom type="mesh" rgba="0.
|
| 231 |
-
<body name="right_wrist_pitch_link" pos="0.
|
| 232 |
-
<inertial pos="0.
|
| 233 |
-
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.
|
| 234 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 235 |
-
<geom type="mesh" rgba="0.
|
| 236 |
-
<body name="right_wrist_yaw_link" pos="0.
|
| 237 |
-
<inertial pos="0.
|
| 238 |
-
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.
|
| 239 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 240 |
-
<geom type="mesh" rgba="0.
|
| 241 |
-
<body name="right_rubber_hand" pos="0.
|
| 242 |
-
<inertial pos="0.
|
| 243 |
-
<geom name="right_glove_visual" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 244 |
-
<geom name="right_glove_collision" type="mesh" rgba="0.
|
| 245 |
</body>
|
| 246 |
</body>
|
| 247 |
</body>
|
|
@@ -253,7 +252,10 @@
|
|
| 253 |
</body>
|
| 254 |
</body>
|
| 255 |
</body>
|
| 256 |
-
<body name="imu_in_pelvis" pos="0.
|
| 257 |
-
<
|
| 258 |
</worldbody>
|
| 259 |
-
<
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
<mujoco model="g1_29dof_mode_15_boxing_gloves_red">
|
| 3 |
<compiler angle="radian" />
|
|
|
|
| 4 |
<asset>
|
| 5 |
+
<mesh name="pelvis_ver0529" file="../meshes/pelvis_ver0529.STL" />
|
| 6 |
+
<mesh name="pelvis_contour_collision" file="../mode15_boxing_meshes/pelvis_contour_collision.STL" />
|
| 7 |
+
<mesh name="left_hip_pitch_link" file="../meshes/left_hip_pitch_link.STL" />
|
| 8 |
+
<mesh name="left_hip_roll_link" file="../meshes/left_hip_roll_link.STL" />
|
| 9 |
+
<mesh name="left_hip_yaw_link" file="../meshes/left_hip_yaw_link.STL" />
|
| 10 |
+
<mesh name="left_knee_link" file="../meshes/left_knee_link.STL" />
|
| 11 |
+
<mesh name="left_ankle_pitch_link" file="../meshes/left_ankle_pitch_link.STL" />
|
| 12 |
+
<mesh name="left_ankle_roll_link" file="../meshes/left_ankle_roll_link.STL" />
|
| 13 |
+
<mesh name="right_hip_pitch_link" file="../meshes/right_hip_pitch_link.STL" />
|
| 14 |
+
<mesh name="right_hip_roll_link" file="../meshes/right_hip_roll_link.STL" />
|
| 15 |
+
<mesh name="right_hip_yaw_link" file="../meshes/right_hip_yaw_link.STL" />
|
| 16 |
+
<mesh name="right_knee_link" file="../meshes/right_knee_link.STL" />
|
| 17 |
+
<mesh name="right_ankle_pitch_link" file="../meshes/right_ankle_pitch_link.STL" />
|
| 18 |
+
<mesh name="right_ankle_roll_link" file="../meshes/right_ankle_roll_link.STL" />
|
| 19 |
+
<mesh name="waist_yaw_link_rev_1_0" file="../meshes/waist_yaw_link_rev_1_0.STL" />
|
| 20 |
+
<mesh name="waist_roll_link_rev_1_0" file="../meshes/waist_roll_link_rev_1_0.STL" />
|
| 21 |
+
<mesh name="torso_link_rev_1_0" file="../meshes/torso_link_rev_1_0.STL" />
|
| 22 |
+
<mesh name="logo_holomotion" file="../mode15_boxing_meshes/logo_holomotion.STL" />
|
| 23 |
+
<mesh name="head_link" file="../meshes/head_link.STL" />
|
| 24 |
+
<mesh name="left_shoulder_pitch_link" file="../meshes/left_shoulder_pitch_link.STL" />
|
| 25 |
+
<mesh name="left_shoulder_roll_link" file="../meshes/left_shoulder_roll_link.STL" />
|
| 26 |
+
<mesh name="left_shoulder_yaw_link" file="../meshes/left_shoulder_yaw_link.STL" />
|
| 27 |
+
<mesh name="left_elbow_link" file="../meshes/left_elbow_link.STL" />
|
| 28 |
+
<mesh name="left_wrist_roll_link_5010" file="../meshes/left_wrist_roll_link_5010.STL" />
|
| 29 |
+
<mesh name="left_wrist_pitch_link_5010" file="../meshes/left_wrist_pitch_link_5010.STL" />
|
| 30 |
+
<mesh name="left_wrist_yaw_link_5010" file="../meshes/left_wrist_yaw_link_5010.STL" />
|
| 31 |
+
<mesh name="left_boxing_glove" file="../mode15_boxing_meshes/left_boxing_glove.STL" />
|
| 32 |
+
<mesh name="left_boxing_glove_collision" file="../mode15_boxing_meshes/left_boxing_glove_collision.STL" />
|
| 33 |
+
<mesh name="right_shoulder_pitch_link" file="../meshes/right_shoulder_pitch_link.STL" />
|
| 34 |
+
<mesh name="right_shoulder_roll_link" file="../meshes/right_shoulder_roll_link.STL" />
|
| 35 |
+
<mesh name="right_shoulder_yaw_link" file="../meshes/right_shoulder_yaw_link.STL" />
|
| 36 |
+
<mesh name="right_elbow_link" file="../meshes/right_elbow_link.STL" />
|
| 37 |
+
<mesh name="right_wrist_roll_link_5010" file="../meshes/right_wrist_roll_link_5010.STL" />
|
| 38 |
+
<mesh name="right_wrist_pitch_link_5010" file="../meshes/right_wrist_pitch_link_5010.STL" />
|
| 39 |
+
<mesh name="right_wrist_yaw_link_5010" file="../meshes/right_wrist_yaw_link_5010.STL" />
|
| 40 |
+
<mesh name="right_boxing_glove" file="../mode15_boxing_meshes/right_boxing_glove.STL" />
|
| 41 |
+
<mesh name="right_boxing_glove_collision" file="../mode15_boxing_meshes/right_boxing_glove_collision.STL" />
|
| 42 |
</asset>
|
|
|
|
| 43 |
<worldbody>
|
| 44 |
+
<body name="pelvis" pos="0 0 0" quat="1 0 0 0">
|
| 45 |
+
<inertial pos="0 0 -0.076050000000000006" quat="0.99999992034038054 0 -0.00039914813342649348 0" mass="3.8130000000000002" diaginertia="0.010549001676422559 0.0093088999999999967 0.0079183983235774375" />
|
| 46 |
+
<joint name="floating_base" type="free" pos="0 0 0" axis="0 0 1" range="0 0" actuatorfrcrange="0 0" />
|
| 47 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.34000000357627869 0.18000000715255737 0.20000000298023224 1" mesh="pelvis_ver0529" pos="0 0 0" quat="1 0 0 0" />
|
| 48 |
+
<geom name="pelvis_simple_collision" type="mesh" rgba="0.34000000357627869 0.18000000715255737 0.20000000298023224 1" mesh="pelvis_contour_collision" pos="0 0 0" quat="1 0 0 0" />
|
| 49 |
+
<body name="left_hip_pitch_link" pos="0 0.064451999999999995 -0.1027" quat="1 0 0 0">
|
| 50 |
+
<inertial pos="0.0027409999999999999 0.047791 -0.02606" quat="0.9548623707110766 0.29396447786790297 0.030255609148063307 0.030122032915346406" mass="1.3500000000000001" diaginertia="0.001815165120427254 0.0015342169280737805 0.0011621179514989645" />
|
| 51 |
+
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5306999999999999 2.8797999999999999" actuatorfrcrange="-139 139" />
|
| 52 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.34000000357627869 0.18000000715255737 0.20000000298023224 1" mesh="left_hip_pitch_link" pos="0 0 0" quat="1 0 0 0" />
|
| 53 |
+
<geom type="mesh" rgba="0.34000000357627869 0.18000000715255737 0.20000000298023224 1" mesh="left_hip_pitch_link" pos="0 0 0" quat="1 0 0 0" />
|
| 54 |
+
<body name="left_hip_roll_link" pos="0 0.051999999999999998 -0.030464999999999999" quat="0.99617868497449569 0 -0.087338580263732465 0">
|
| 55 |
+
<inertial pos="0.029812000000000002 -0.0010449999999999999 -0.087933999999999998" quat="0.97780782313321002 -1.9711943542453067e-05 0.20557571472198835 -0.040379278689398557" mass="1.52" diaginertia="0.0025498595878875913 0.002411691789435043 0.0014875486226773682" />
|
| 56 |
+
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52359999999999995 2.9670999999999998" actuatorfrcrange="-139 139" />
|
| 57 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="left_hip_roll_link" pos="0 0 0" quat="1 0 0 0" />
|
| 58 |
+
<geom type="mesh" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="left_hip_roll_link" pos="0 0 0" quat="1 0 0 0" />
|
| 59 |
+
<body name="left_hip_yaw_link" pos="0.025000999999999999 0 -0.12411999999999999" quat="1 0 0 0">
|
| 60 |
+
<inertial pos="-0.057709000000000003 -0.010980999999999999 -0.15078" quat="0.60059751919859805 0.15831997443306917 0.22348155177746054 0.75118133739007498" mass="1.702" diaginertia="0.0077616582265165488 0.0071757481701984066 0.0016013936032850504" />
|
| 61 |
+
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576000000000001 2.7576000000000001" actuatorfrcrange="-88 88" />
|
| 62 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="left_hip_yaw_link" pos="0 0 0" quat="1 0 0 0" />
|
| 63 |
+
<geom type="mesh" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="left_hip_yaw_link" pos="0 0 0" quat="1 0 0 0" />
|
| 64 |
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| 67 |
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 166 |
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| 171 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="left_shoulder_yaw_link" pos="0 0 0" quat="1 0 0 0" />
|
| 172 |
+
<geom type="mesh" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="left_shoulder_yaw_link" pos="0 0 0" quat="1 0 0 0" />
|
| 173 |
+
<body name="left_elbow_link" pos="0.015782999999999998 0 -0.080518000000000006" quat="1 0 0 0">
|
| 174 |
+
<inertial pos="0.064956 0.0044539999999999996 -0.010062" quat="0.54176511644867997 0.636132437674919 0.38882075725942489 0.38812948749267051" mass="0.59999999999999998" diaginertia="0.00044303497406210634 0.00042161157213546906 0.00025935345380242363" />
|
| 175 |
+
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0471999999999999 2.0943999999999998" actuatorfrcrange="-25 25" />
|
| 176 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="left_elbow_link" pos="0 0 0" quat="1 0 0 0" />
|
| 177 |
+
<geom type="mesh" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="left_elbow_link" pos="0 0 0" quat="1 0 0 0" />
|
| 178 |
+
<body name="left_wrist_roll_link" pos="0.10000000000000001 0.00188791 -0.01" quat="1 0 0 0">
|
| 179 |
+
<inertial pos="0.017139447780000001 0.00053759094000000005 4.8864000000000001e-07" quat="0.5753381793560679 0.41166746998586812 -0.57490631906248113 0.41109439041746909" mass="0.085444980000000004" diaginertia="5.4821070729239837e-05 4.9664578582795455e-05 3.5779847257964644e-05" />
|
| 180 |
+
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.9722220539999999 1.9722220539999999" actuatorfrcrange="-25 25" />
|
| 181 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="left_wrist_roll_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 182 |
+
<geom type="mesh" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="left_wrist_roll_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 183 |
+
<body name="left_wrist_pitch_link" pos="0.037999999999999999 0 0" quat="1 0 0 0">
|
| 184 |
+
<inertial pos="0.025491504830000001 -0.00054042510999999997 -0.00054143853000000004" quat="0.48716023842257122 0.50286291639893099 0.48766122156958996 0.52152691434678899" mass="0.68400000000000005" diaginertia="0.00071649475877794133 0.00071607871058096742 0.00025566892393109029" />
|
| 185 |
+
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.6144295580000001 1.6144295580000001" actuatorfrcrange="-13.4 13.4" />
|
| 186 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="left_wrist_pitch_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 187 |
+
<geom type="mesh" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="left_wrist_pitch_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 188 |
+
<body name="left_wrist_yaw_link" pos="0.050999999999999997 0 0" quat="1 0 0 0">
|
| 189 |
+
<inertial pos="0.02200381568 0.00049485095999999998 0.00053861122999999999" quat="0.68276135250150338 -0.12133658081581854 -0.13511889097702243 0.70771269240235124" mass="0.084576470000000001" diaginertia="5.9756400841460761e-05 5.0980672176780819e-05 3.7568434861758368e-05" />
|
| 190 |
+
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.6144295580000001 1.6144295580000001" actuatorfrcrange="-13.4 13.4" />
|
| 191 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="left_wrist_yaw_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 192 |
+
<geom type="mesh" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="left_wrist_yaw_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 193 |
+
<body name="left_rubber_hand" pos="0.041500000000000002 0.0030000000000000001 0" quat="1 0 0 0">
|
| 194 |
+
<inertial pos="0.053613108079999999 -0.0029590523999999999 0.00215413091" quat="0.53812321010296327 0.55226431915136442 0.43540511626650974 0.46459651017814568" mass="0.17000000000000001" diaginertia="0.00028848608305086731 0.0002188241064904351 9.3991082657527634e-05" />
|
| 195 |
+
<geom name="left_glove_visual" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89999997615814209 0.059999998658895493 0.079999998211860657 1" mesh="left_boxing_glove" pos="0 0 0" quat="1 0 0 0" />
|
| 196 |
+
<geom name="left_glove_collision" type="mesh" rgba="0.89999997615814209 0.059999998658895493 0.079999998211860657 1" mesh="left_boxing_glove_collision" pos="0 0 0" quat="1 0 0 0" />
|
| 197 |
</body>
|
| 198 |
</body>
|
| 199 |
</body>
|
|
|
|
| 202 |
</body>
|
| 203 |
</body>
|
| 204 |
</body>
|
| 205 |
+
<body name="right_shoulder_pitch_link" pos="0.0039563000000000003 -0.10020999999999999 0.24778" quat="0.99026407437221953 -0.13920148374281427 1.3872204401988457e-05 9.8686838424204368e-05">
|
| 206 |
+
<inertial pos="0 -0.035892 -0.011627999999999999" quat="0.68224983699070474 -0.32626674646624737 0.013045834275438317 0.65415210485371433" mass="0.71799999999999997" diaginertia="0.00046586367495465825 0.00043284241524135417 0.00040639390980398661" />
|
| 207 |
+
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0891999999999999 2.6703999999999999" actuatorfrcrange="-25 25" />
|
| 208 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="right_shoulder_pitch_link" pos="0 0 0" quat="1 0 0 0" />
|
| 209 |
+
<geom size="0.029999999999999999 0.025000000000000001" pos="0 -0.040000000000000001 -0.01" quat="0.70710678118654757 0 0.70710678118654746 0" type="cylinder" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" />
|
| 210 |
+
<body name="right_shoulder_roll_link" pos="0 -0.037999999999999999 -0.013831" quat="0.99026825525484086 0.13917177384273469 0 0">
|
| 211 |
+
<inertial pos="-0.00022699999999999999 -0.0072700000000000004 -0.063242999999999994" quat="0.7126035910263443 -0.007103165371358887 -0.01962234219982769 0.70125646577030565" mass="0.64300000000000002" diaginertia="0.00069131115364121835 0.00061801138809184036 0.00038897745826694077" />
|
| 212 |
+
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515000000000001 1.5882000000000001" actuatorfrcrange="-25 25" />
|
| 213 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="right_shoulder_roll_link" pos="0 0 0" quat="1 0 0 0" />
|
| 214 |
+
<geom size="0.029999999999999999 0.014999999999999999" pos="-0.0040000000000000001 -0.0060000000000000001 -0.052999999999999999" type="cylinder" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" quat="1 0 0 0" />
|
| 215 |
+
<body name="right_shoulder_yaw_link" pos="0 -0.0062399999999999999 -0.1032" quat="1 0 0 0">
|
| 216 |
+
<inertial pos="0.010773 0.0029489999999999998 -0.072009000000000004" quat="0.68713386026283929 -0.067994212161634371 -0.096482907694997538 0.71687857668891708" mass="0.73399999999999999" diaginertia="0.0010618733024710244 0.0010321659314327732 0.00040066076609620221" />
|
| 217 |
+
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.6179999999999999 2.6179999999999999" actuatorfrcrange="-25 25" />
|
| 218 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="right_shoulder_yaw_link" pos="0 0 0" quat="1 0 0 0" />
|
| 219 |
+
<geom type="mesh" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="right_shoulder_yaw_link" pos="0 0 0" quat="1 0 0 0" />
|
| 220 |
+
<body name="right_elbow_link" pos="0.015782999999999998 0 -0.080518000000000006" quat="1 0 0 0">
|
| 221 |
+
<inertial pos="0.064956 -0.0044539999999999996 -0.010062" quat="0.38812948749267051 0.38882075725942489 0.636132437674919 0.54176511644867997" mass="0.59999999999999998" diaginertia="0.00044303497406210634 0.00042161157213546906 0.00025935345380242363" />
|
| 222 |
+
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0471999999999999 2.0943999999999998" actuatorfrcrange="-25 25" />
|
| 223 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="right_elbow_link" pos="0 0 0" quat="1 0 0 0" />
|
| 224 |
+
<geom type="mesh" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="right_elbow_link" pos="0 0 0" quat="1 0 0 0" />
|
| 225 |
+
<body name="right_wrist_roll_link" pos="0.10000000000000001 -0.00188791 -0.01" quat="1 0 0 0">
|
| 226 |
+
<inertial pos="0.017139447780000001 -0.00053759094000000005 4.8864000000000001e-07" quat="0.41166746998586812 0.5753381793560679 -0.41109439041746909 0.57490631906248113" mass="0.085444980000000004" diaginertia="5.4821070729239837e-05 4.9664578582795455e-05 3.5779847257964644e-05" />
|
| 227 |
+
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.9722220539999999 1.9722220539999999" actuatorfrcrange="-25 25" />
|
| 228 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="right_wrist_roll_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 229 |
+
<geom type="mesh" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="right_wrist_roll_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 230 |
+
<body name="right_wrist_pitch_link" pos="0.037999999999999999 0 0" quat="1 0 0 0">
|
| 231 |
+
<inertial pos="0.025491504830000001 0.00054042510999999997 -0.00054143853000000004" quat="0.48766122156958996 0.52152691434678899 0.48716023842257122 0.50286291639893099" mass="0.68400000000000005" diaginertia="0.00071649475877794133 0.00071607871058096742 0.00025566892393109029" />
|
| 232 |
+
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.6144295580000001 1.6144295580000001" actuatorfrcrange="-13.4 13.4" />
|
| 233 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="right_wrist_pitch_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 234 |
+
<geom type="mesh" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="right_wrist_pitch_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 235 |
+
<body name="right_wrist_yaw_link" pos="0.050999999999999997 0 0" quat="1 0 0 0">
|
| 236 |
+
<inertial pos="0.02200381568 -0.00049485095999999998 0.00053861122999999999" quat="0.70771269240235124 -0.13511889097702243 -0.12133658081581854 0.68276135250150338" mass="0.084576470000000001" diaginertia="5.9756400841460761e-05 5.0980672176780819e-05 3.7568434861758368e-05" />
|
| 237 |
+
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.6144295580000001 1.6144295580000001" actuatorfrcrange="-13.4 13.4" />
|
| 238 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="right_wrist_yaw_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 239 |
+
<geom type="mesh" rgba="0.98000001907348633 0.74000000953674316 0.74000000953674316 1" mesh="right_wrist_yaw_link_5010" pos="0 0 0" quat="1 0 0 0" />
|
| 240 |
+
<body name="right_rubber_hand" pos="0.041500000000000002 -0.0030000000000000001 0" quat="1 0 0 0">
|
| 241 |
+
<inertial pos="0.053613108079999999 0.0029590523999999999 0.00215413091" quat="0.46459651017814568 0.43540511626650974 0.55226431915136442 0.53812321010296327" mass="0.17000000000000001" diaginertia="0.00028848608305086731 0.0002188241064904351 9.3991082657527634e-05" />
|
| 242 |
+
<geom name="right_glove_visual" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.89999997615814209 0.059999998658895493 0.079999998211860657 1" mesh="right_boxing_glove" pos="0 0 0" quat="1 0 0 0" />
|
| 243 |
+
<geom name="right_glove_collision" type="mesh" rgba="0.89999997615814209 0.059999998658895493 0.079999998211860657 1" mesh="right_boxing_glove_collision" pos="0 0 0" quat="1 0 0 0" />
|
| 244 |
</body>
|
| 245 |
</body>
|
| 246 |
</body>
|
|
|
|
| 252 |
</body>
|
| 253 |
</body>
|
| 254 |
</body>
|
| 255 |
+
<body name="imu_in_pelvis" pos="0.045249999999999999 0 -0.083390000000000006" quat="1 0 0 0" />
|
| 256 |
+
</body>
|
| 257 |
</worldbody>
|
| 258 |
+
<custom>
|
| 259 |
+
<text name="source_urdf_sha256" data="b9d1c59f62243fad1b97fee2d33eb51d48063172b023a30c49974ca026c8feb5" />
|
| 260 |
+
</custom>
|
| 261 |
+
</mujoco>
|
holoboxing/README.md
CHANGED
|
@@ -10,20 +10,23 @@ The frozen HoloMotion controller and competitor policies are separate model file
|
|
| 10 |
|
| 11 |
| Group | Purpose | Source and license |
|
| 12 |
| --- | --- | --- |
|
| 13 |
-
| `29dof/` |
|
| 14 |
| `meshes/` | Complete robot mesh dependencies, including simulator mesh names | Existing G1 resource files; exact bytes are recorded in `resources.json` |
|
| 15 |
| `mode15_boxing_meshes/` | Boxing-glove and collision mesh variants | Existing boxing modifications; redistribution authorization is not established |
|
| 16 |
-
| `arena/
|
| 17 |
| `smpl-ring-v2/` | Adapted SMPLOlympics ring, corner collision description, source credit and upstream license | See [source and attribution](smpl-ring-v2/SOURCE.md) |
|
| 18 |
| `dark-arena/` | Current floor texture, including the Horizon Robotics and HoloMotion branding | Existing texture; authorization requires review |
|
| 19 |
| `initial-state.json` | Existing boxing reset pose and named joint order; not a replayed motion reference | Only the initial frame is retained |
|
| 20 |
| `resources.json` | Versioned inventory, byte sizes, SHA256 and entry points | Authoritative local integrity manifest |
|
| 21 |
| `manifest.json` | Robot and file entries consumed by the existing replay player | Generated from the same resource tree |
|
| 22 |
|
| 23 |
-
The resource version is `boxing-
|
| 24 |
Every payload file has its actual byte size and SHA256 in `resources.json`.
|
| 25 |
Robot URDF/XML and physics-scene relative references must resolve inside this root.
|
| 26 |
-
The
|
|
|
|
|
|
|
|
|
|
| 27 |
The legacy `smpl-ring/` directory and old `arena/arena.xml`, `arena/scene.json`,
|
| 28 |
and `arena/canvas_texture.png` were removed. The unused unsuffixed
|
| 29 |
`29dof/g1_29dof_mode_15_boxing_gloves.urdf` was also removed.
|
|
@@ -63,9 +66,9 @@ node build.mjs
|
|
| 63 |
```
|
| 64 |
|
| 65 |
Previously built v8 images bundle `boxing-v4-resources` and the frozen V2 controller.
|
| 66 |
-
This
|
| 67 |
-
|
| 68 |
-
|
| 69 |
By default, only competitor policies and an output directory need mounts.
|
| 70 |
Resource and controller mounts are optional replacements and must remain read-only.
|
| 71 |
The example below uses a local image tag; load or build that image first.
|
|
@@ -74,7 +77,7 @@ The example below uses a local image tag; load or build that image first.
|
|
| 74 |
docker run --rm --gpus '"device=0"' \
|
| 75 |
-v /absolute/policies:/policies:ro \
|
| 76 |
-v /absolute/results:/results \
|
| 77 |
-
holoboxing-eval:local-
|
| 78 |
--output-dir /results
|
| 79 |
```
|
| 80 |
|
|
@@ -88,10 +91,11 @@ MP4 availability depends on the browser's MediaRecorder codec support.
|
|
| 88 |
|
| 89 |
## Distribution and provenance
|
| 90 |
|
| 91 |
-
|
| 92 |
-
Metadata, notices and attribution
|
| 93 |
-
|
| 94 |
-
|
|
|
|
| 95 |
Record the actual Hugging Face repository revision after uploading.
|
| 96 |
|
| 97 |
Images may also be transferred using `docker save` and `docker load`.
|
|
|
|
| 10 |
|
| 11 |
| Group | Purpose | Source and license |
|
| 12 |
| --- | --- | --- |
|
| 13 |
+
| `29dof/` | Canonical red/blue gloved URDFs and full-precision XML exports shared by evaluation and replay | Existing G1 boxing variants; base Unitree notice in `UNITREE_LICENSE`; modifications require review |
|
| 14 |
| `meshes/` | Complete robot mesh dependencies, including simulator mesh names | Existing G1 resource files; exact bytes are recorded in `resources.json` |
|
| 15 |
| `mode15_boxing_meshes/` | Boxing-glove and collision mesh variants | Existing boxing modifications; redistribution authorization is not established |
|
| 16 |
+
| `arena/boxing.xml` | Shared two-robot physics scene | Attaches the same saved gloved XMLs used by replay; ring collisions follow `smpl-ring-v2/scene.json` |
|
| 17 |
| `smpl-ring-v2/` | Adapted SMPLOlympics ring, corner collision description, source credit and upstream license | See [source and attribution](smpl-ring-v2/SOURCE.md) |
|
| 18 |
| `dark-arena/` | Current floor texture, including the Horizon Robotics and HoloMotion branding | Existing texture; authorization requires review |
|
| 19 |
| `initial-state.json` | Existing boxing reset pose and named joint order; not a replayed motion reference | Only the initial frame is retained |
|
| 20 |
| `resources.json` | Versioned inventory, byte sizes, SHA256 and entry points | Authoritative local integrity manifest |
|
| 21 |
| `manifest.json` | Robot and file entries consumed by the existing replay player | Generated from the same resource tree |
|
| 22 |
|
| 23 |
+
The resource version is `boxing-v6-resources`.
|
| 24 |
Every payload file has its actual byte size and SHA256 in `resources.json`.
|
| 25 |
Robot URDF/XML and physics-scene relative references must resolve inside this root.
|
| 26 |
+
The physics scene is `arena/boxing.xml`. It attaches the existing red/blue XMLs directly.
|
| 27 |
+
The separate bare-hand scene and all 15 obsolete robot meshes have been removed.
|
| 28 |
+
Each XML records the SHA256 of its canonical gloved URDF.
|
| 29 |
+
The evaluator verifies both inventories and rejects old robot descriptions or bare-hand meshes.
|
| 30 |
The legacy `smpl-ring/` directory and old `arena/arena.xml`, `arena/scene.json`,
|
| 31 |
and `arena/canvas_texture.png` were removed. The unused unsuffixed
|
| 32 |
`29dof/g1_29dof_mode_15_boxing_gloves.urdf` was also removed.
|
|
|
|
| 66 |
```
|
| 67 |
|
| 68 |
Previously built v8 images bundle `boxing-v4-resources` and the frozen V2 controller.
|
| 69 |
+
This directory is now `boxing-v6-resources`; local changes do not modify an existing image.
|
| 70 |
+
Rebuild the current evaluator to include the shared gloved models and float64 collision-plane projection fix.
|
| 71 |
+
Results from older images do not validate this changed physical model.
|
| 72 |
By default, only competitor policies and an output directory need mounts.
|
| 73 |
Resource and controller mounts are optional replacements and must remain read-only.
|
| 74 |
The example below uses a local image tag; load or build that image first.
|
|
|
|
| 77 |
docker run --rm --gpus '"device=0"' \
|
| 78 |
-v /absolute/policies:/policies:ro \
|
| 79 |
-v /absolute/results:/results \
|
| 80 |
+
holoboxing-eval:local-v9 match /policies/my_policy.onnx /policies/opponent_policy.onnx \
|
| 81 |
--output-dir /results
|
| 82 |
```
|
| 83 |
|
|
|
|
| 91 |
|
| 92 |
## Distribution and provenance
|
| 93 |
|
| 94 |
+
Payloads use the asset repository's existing Git and Git LFS tracking.
|
| 95 |
+
Metadata, notices and attribution remain alongside them.
|
| 96 |
+
When updating the HoloMotion_assets repository, preserve the `holoboxing/` prefix.
|
| 97 |
+
Upload new and modified files, and delete obsolete files in the same update.
|
| 98 |
+
For a standalone resource repository, place this directory's contents at its root.
|
| 99 |
Record the actual Hugging Face repository revision after uploading.
|
| 100 |
|
| 101 |
Images may also be transferred using `docker save` and `docker load`.
|
holoboxing/README.zh-CN.md
CHANGED
|
@@ -10,20 +10,21 @@
|
|
| 10 |
|
| 11 |
| 文件或目录 | 用途 | 来源与许可 |
|
| 12 |
| --- | --- | --- |
|
| 13 |
-
| `29dof/` | 红蓝
|
| 14 |
| `meshes/` | 机器人依赖的完整网格模型，保留仿真器使用的文件名 | 现有 G1 资源；文件内容的校验值记录在 `resources.json` 中 |
|
| 15 |
| `mode15_boxing_meshes/` | 拳套及碰撞网格的变体 | 现有拳击修改资源；尚未确认再分发授权 |
|
| 16 |
-
| `arena/
|
| 17 |
| `smpl-ring-v2/` | 改编自 SMPLOlympics 的擂台、角柱碰撞描述、来源说明及上游许可 | 见[来源与署名](smpl-ring-v2/SOURCE.md) |
|
| 18 |
| `dark-arena/` | 当前地面纹理，含 Horizon Robotics 和 HoloMotion 标识 | 现有纹理；授权仍需核实 |
|
| 19 |
| `initial-state.json` | 拳击场景的初始姿态和具名关节顺序，不是用于回放的参考动作 | 仅保留初始帧 |
|
| 20 |
| `resources.json` | 资源版本清单、字节数、SHA256 校验值和入口路径 | 本地完整性校验的依据 |
|
| 21 |
| `manifest.json` | 现有回放播放器使用的机器人和文件条目 | 从同一资源目录生成 |
|
| 22 |
|
| 23 |
-
当前资源版本为 `boxing-
|
| 24 |
`resources.json` 记录了每个资源文件的实际字节数和 SHA256 校验值。
|
| 25 |
机器人 URDF/XML 和物理场景中的相对引用均须位于本目录内。
|
| 26 |
-
物理场景入口
|
|
|
|
| 27 |
|
| 28 |
旧版 `smpl-ring/` 已删除。
|
| 29 |
旧文件 `arena/arena.xml`、`arena/scene.json` 和 `arena/canvas_texture.png` 也已删除。
|
|
@@ -66,10 +67,9 @@ node build.mjs
|
|
| 66 |
```
|
| 67 |
|
| 68 |
先前构建的 v8 镜像内置 `boxing-v4-resources` 和冻结的 V2 控制器。
|
| 69 |
-
当前本地目录已更新为 `boxing-
|
| 70 |
删除本地文件不会改变已有镜像。
|
| 71 |
-
|
| 72 |
-
本次整理只删除旧资源，并补充来源署名。
|
| 73 |
|
| 74 |
默认只需挂载参赛策略和输出目录。
|
| 75 |
资源和控制器挂载用于替换镜像内置内容，均须保持只读。
|
|
@@ -79,7 +79,7 @@ node build.mjs
|
|
| 79 |
docker run --rm --gpus '"device=0"' \
|
| 80 |
-v /absolute/policies:/policies:ro \
|
| 81 |
-v /absolute/results:/results \
|
| 82 |
-
holoboxing-eval:local-
|
| 83 |
--output-dir /results
|
| 84 |
```
|
| 85 |
|
|
@@ -92,12 +92,11 @@ docker run --rm --gpus '"device=0"' \
|
|
| 92 |
|
| 93 |
## 分发与来源记录
|
| 94 |
|
| 95 |
-
资源文件
|
| 96 |
-
元数据、许可声明和来源署名
|
| 97 |
-
|
| 98 |
-
|
| 99 |
-
|
| 100 |
-
这样可在仓库根目录直接访问 `resources.json`。
|
| 101 |
上传后记录实际的 Hugging Face 仓库版本。
|
| 102 |
|
| 103 |
镜像也可通过 `docker save` 和 `docker load` 转移。
|
|
|
|
| 10 |
|
| 11 |
| 文件或目录 | 用途 | 来源与许可 |
|
| 12 |
| --- | --- | --- |
|
| 13 |
+
| `29dof/` | 红蓝拳套 URDF 是参数源，XML 由其导出；评测与回放共用 XML | 基于现有 G1 拳击版本；宇树原始许可声明见 `UNITREE_LICENSE`，修改部分仍需核实授权 |
|
| 14 |
| `meshes/` | 机器人依赖的完整网格模型，保留仿真器使用的文件名 | 现有 G1 资源；文件内容的校验值记录在 `resources.json` 中 |
|
| 15 |
| `mode15_boxing_meshes/` | 拳套及碰撞网格的变体 | 现有拳击修改资源；尚未确认再分发授权 |
|
| 16 |
+
| `arena/boxing.xml` | 双机器人共用的物理场景 | 直接引用现有红蓝拳套 XML，擂台碰撞体与播放器配置一致 |
|
| 17 |
| `smpl-ring-v2/` | 改编自 SMPLOlympics 的擂台、角柱碰撞描述、来源说明及上游许可 | 见[来源与署名](smpl-ring-v2/SOURCE.md) |
|
| 18 |
| `dark-arena/` | 当前地面纹理，含 Horizon Robotics 和 HoloMotion 标识 | 现有纹理；授权仍需核实 |
|
| 19 |
| `initial-state.json` | 拳击场景的初始姿态和具名关节顺序，不是用于回放的参考动作 | 仅保留初始帧 |
|
| 20 |
| `resources.json` | 资源版本清单、字节数、SHA256 校验值和入口路径 | 本地完整性校验的依据 |
|
| 21 |
| `manifest.json` | 现有回放播放器使用的机器人和文件条目 | 从同一资源目录生成 |
|
| 22 |
|
| 23 |
+
当前资源版本为 `boxing-v6-resources`。
|
| 24 |
`resources.json` 记录了每个资源文件的实际字节数和 SHA256 校验值。
|
| 25 |
机器人 URDF/XML 和物理场景中的相对引用均须位于本目录内。
|
| 26 |
+
物理场景入口为 `arena/boxing.xml`。它直接引用现有红蓝拳套 XML。旧裸手场景及 15 个旧网格已删除。
|
| 27 |
+
每份 XML 记录其 URDF 的校验值。资源校验会拒绝裸手网格和旧机器人描述。
|
| 28 |
|
| 29 |
旧版 `smpl-ring/` 已删除。
|
| 30 |
旧文件 `arena/arena.xml`、`arena/scene.json` 和 `arena/canvas_texture.png` 也已删除。
|
|
|
|
| 67 |
```
|
| 68 |
|
| 69 |
先前构建的 v8 镜像内置 `boxing-v4-resources` 和冻结的 V2 控制器。
|
| 70 |
+
当前本地目录已更新为 `boxing-v6-resources`。
|
| 71 |
删除本地文件不会改变已有镜像。
|
| 72 |
+
请重新构建评测镜像，以包含拳套与碰撞精度修复。旧镜像的结果不能替代新物理模型的验收。
|
|
|
|
| 73 |
|
| 74 |
默认只需挂载参赛策略和输出目录。
|
| 75 |
资源和控制器挂载用于替换镜像内置内容，均须保持只读。
|
|
|
|
| 79 |
docker run --rm --gpus '"device=0"' \
|
| 80 |
-v /absolute/policies:/policies:ro \
|
| 81 |
-v /absolute/results:/results \
|
| 82 |
+
holoboxing-eval:local-v9 match /policies/my_policy.onnx /policies/opponent_policy.onnx \
|
| 83 |
--output-dir /results
|
| 84 |
```
|
| 85 |
|
|
|
|
| 92 |
|
| 93 |
## 分发与来源记录
|
| 94 |
|
| 95 |
+
资源文件沿用本仓库的 Git 与 Git LFS 管理。
|
| 96 |
+
元数据、许可声明和来源署名一并保留。
|
| 97 |
+
更新本仓库时，须保留 `holoboxing/` 前缀。
|
| 98 |
+
只需上传新增和修改的文件，并删除旧文件。
|
| 99 |
+
独立资源仓库可将本目录内容放在根目录。
|
|
|
|
| 100 |
上传后记录实际的 Hugging Face 仓库版本。
|
| 101 |
|
| 102 |
镜像也可通过 `docker save` 和 `docker load` 转移。
|
holoboxing/arena/boxing.xml
ADDED
|
@@ -0,0 +1,25 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="holoboxing_gloved_arena">
|
| 3 |
+
<compiler angle="radian" />
|
| 4 |
+
<asset>
|
| 5 |
+
<model name="red" file="../29dof/g1_29dof_mode_15_boxing_gloves_red.xml" />
|
| 6 |
+
<model name="blue" file="../29dof/g1_29dof_mode_15_boxing_gloves_blue.xml" />
|
| 7 |
+
<mesh name="smpl_ring_corner_003" vertex="-2.46695692 2.457151295 0.004980568051 -2.42787622 2.277935647 -0.02001829809 -2.1933924 2.496232035 0.004980320795 -2.46695697 2.45716152 1.622752198 -2.43932269 2.21123121 1.622753754 -2.19339248 2.49624227 1.622751951 -2.42787628 2.496231955 0.004980320796 -2.42787627 2.457151157 -0.02001943195 -2.43932265 2.211220965 0.004982124002 -2.46695685 2.222667415 0.004982051583 -2.18194594 2.468597845 0.004980495631 -2.24866078 2.457151207 -0.02001943195 -2.42787632 2.457161698 1.647752218 -2.42787633 2.49624218 1.622751951 -2.42787626 2.277946208 1.647753352 -2.46695689 2.22267765 1.622753682 -2.24866084 2.457161758 1.647752218 -2.18194601 2.46860808 1.622752126 -2.44958775 2.491889655 0.004980348269 -2.46261463 2.478862775 0.004980430687 -2.42787628 2.478861784 -0.01724178931 -2.42787628 2.491888727 -0.008908541726 -2.46261462 2.457151207 -0.008908321948 -2.44958774 2.457151164 -0.01724165195 -2.43805083 2.218633647 -0.008906812897 -2.43423535 2.240871854 -0.01724028359 -2.46388637 2.204026425 0.00498216952 -2.45467497 2.200210935 0.00498219366 -2.44958768 2.247230994 -0.01724032383 -2.46261455 2.228808257 -0.008906877269 -2.17093592 2.483950165 0.0049803985 -2.1747514 2.493161565 0.004980340222 -2.21147855 2.458423064 -0.01724166 -2.18924027 2.462238617 -0.008908354135 -2.20672789 2.491889637 -0.008908541731 -2.22515068 2.478862704 -0.01724178931 -2.44958779 2.457161671 1.644974288 -2.46261467 2.457161608 1.636641078 -2.42787633 2.491899978 1.636640858 -2.42787633 2.478873151 1.644974151 -2.46261468 2.478873 1.622752061 -2.4495878 2.49189988 1.622751978 -2.42914808 2.245969711 1.644975624 -2.43296357 2.223731368 1.636642555 -2.4626146 2.228818678 1.636649693 -2.44958773 2.247241521 1.644982976 -2.45467502 2.20022117 1.622753824 -2.46388641 2.20403666 1.622753799 -2.22515075 2.478873221 1.644974151 -2.20672794 2.491900048 1.636640858 -2.18935877 2.467336338 1.636648184 -2.21159704 2.463520901 1.644981608 -2.17475147 2.4931718 1.62275197 -2.17093598 2.4839604 1.622752028 -2.44958775 2.488028937 -0.007365307305 -2.46261463 2.476449816 -0.002735604047 -2.44958775 2.47644944 -0.01477264404 -2.46261463 2.469212607 -0.007365188258 -2.45169733 2.208846947 -0.008906750978 -2.44276441 2.234755184 -0.01724024489 -2.45988525 2.212238497 -0.008906772436 -2.44788186 2.236874894 -0.01724025831 -2.17427062 2.481123807 -0.007365263618 -2.17565466 2.492454946 -0.002735705308 -2.19226297 2.47942799 -0.01477266289 -2.18623425 2.492030977 -0.007365332626 -2.44958779 2.476460735 1.642505126 -2.46261467 2.469223538 1.635097882 -2.4495878 2.488040148 1.635097763 -2.46261467 2.476460659 1.630468076 -2.44844715 2.222673615 1.642513902 -2.44502548 2.210670178 1.635104168 -2.46002661 2.208695938 1.63510631 -2.45226265 2.202833449 1.630474457 -2.19503143 2.481699495 1.642512073 -2.18896324 2.492606618 1.635102184 -2.17695985 2.483395228 1.635104572 -2.17830441 2.493030529 1.630472431" />
|
| 8 |
+
<mesh name="smpl_ring_corner_004" vertex="-2.46695383 -2.426938945 0.005011728689 -2.42787328 -2.247723583 -0.01998946517 -2.19338929 -2.466019505 0.005011555943 -2.46695142 -2.4269287 1.622783349 -2.4393173 -2.18099837 1.622781753 -2.19338691 -2.46600927 1.622783186 -2.42787317 -2.466019575 0.005011915944 -2.42787322 -2.426939093 -0.01998833131 -2.43931972 -2.181008595 0.005010122738 -2.4669539 -2.192455065 0.005010245157 -2.18194284 -2.438385305 0.005011361107 -2.24865773 -2.426939033 -0.01998860131 -2.42787074 -2.426928532 1.647783319 -2.42787076 -2.46600933 1.622783536 -2.42787079 -2.247713042 1.647782185 -2.4669515 -2.19244483 1.622781865 -2.24865526 -2.426928482 1.647783049 -2.18194046 -2.43837507 1.622782991 -2.44958464 -2.461677285 0.005011918471 -2.46261153 -2.448650415 0.005011856053 -2.42787321 -2.448649686 -0.01721041395 -2.42787319 -2.461676523 -0.008877001534 -2.46261155 -2.426939033 -0.008877171311 -2.44958468 -2.426939076 -0.01721052131 -2.43804791 -2.188421443 -0.008878720363 -2.43423243 -2.210659766 -0.01721190967 -2.46388344 -2.173814065 0.005010117219 -2.45467204 -2.169998575 0.005010083079 -2.44958476 -2.217018916 -0.01721184943 -2.46261163 -2.198596073 -0.00887861599 -2.17093281 -2.453737625 0.005011448238 -2.17474829 -2.462949025 0.005011506517 -2.2114755 -2.428210826 -0.01721087327 -2.1892372 -2.432026263 -0.008877559125 -2.2067248 -2.461677303 -0.008877341529 -2.22514761 -2.448650476 -0.01721072395 -2.44958221 -2.426928549 1.645005419 -2.4626091 -2.426928612 1.636672229 -2.42787074 -2.461666952 1.636672398 -2.42787073 -2.448640019 1.645005526 -2.46260912 -2.44864017 1.622783486 -2.44958223 -2.46166704 1.622783548 -2.42914263 -2.215736579 1.645004052 -2.43295815 -2.193498342 1.636670702 -2.46260917 -2.198585672 1.636677954 -2.44958228 -2.217008409 1.645011451 -2.45466963 -2.16998834 1.622781703 -2.46388103 -2.17380383 1.622781747 -2.22514515 -2.448639959 1.645005216 -2.20672236 -2.461666892 1.636672058 -2.18935319 -2.437103162 1.636679043 -2.21159146 -2.433287629 1.645012459 -2.1747459 -2.46293879 1.622783136 -2.17093042 -2.45372739 1.622783068 -2.44958466 -2.457816733 -0.007333785954 -2.46261154 -2.446237554 -0.002704209213 -2.44958467 -2.44623732 -0.01474126922 -2.46261155 -2.439000413 -0.007333885001 -2.45169442 -2.178634763 -0.008878752281 -2.4427615 -2.204543086 -0.01721193836 -2.45988233 -2.182026313 -0.008878720824 -2.44787894 -2.206662806 -0.01721191495 -2.17426754 -2.450911423 -0.007334249643 -2.17565156 -2.462242504 -0.002704547953 -2.1922599 -2.44921571 -0.01474164037 -2.18623116 -2.461818603 -0.007334160635 -2.44958221 -2.446227655 1.642536511 -2.4626091 -2.438990562 1.635129175 -2.44958221 -2.457807152 1.635129284 -2.46260911 -2.446227731 1.630499471 -2.44844173 -2.192440525 1.642542065 -2.44502007 -2.180437192 1.635132169 -2.4600212 -2.178462952 1.635134307 -2.45225725 -2.172600511 1.63050237 -2.19502584 -2.451466245 1.642543124 -2.18895765 -2.462373462 1.635133373 -2.17695427 -2.453162062 1.635135615 -2.17829883 -2.462797421 1.630503596" />
|
| 9 |
+
<mesh name="smpl_ring_corner_005" vertex="2.49440327 -2.426938955 0.005011468689 2.45532262 -2.247723603 -0.01998966517 2.22083874 -2.466019595 0.005011715944 2.49440331 -2.42692871 1.622783099 2.46676912 -2.18099839 1.622781543 2.22083881 -2.46600936 1.622783346 2.45532262 -2.466019605 0.005011715944 2.45532262 -2.426939113 -0.01998853131 2.46676908 -2.181008615 0.005009912738 2.49440327 -2.192455075 0.005009985157 2.20939228 -2.438385405 0.005011541108 2.27610712 -2.426939113 -0.01998853131 2.45532267 -2.426928552 1.647783119 2.45532267 -2.46600936 1.622783346 2.45532267 -2.247713062 1.647781985 2.49440332 -2.19244484 1.622781615 2.27610719 -2.426928562 1.647783119 2.20939236 -2.43837517 1.622783171 2.47703409 -2.461677305 0.005011688471 2.49006097 -2.448650435 0.005011606053 2.45532262 -2.448649706 -0.01721061395 2.45532262 -2.461676553 -0.008877201534 2.49006097 -2.426939043 -0.008877421311 2.47703409 -2.426939096 -0.01721075131 2.46549726 -2.188421463 -0.008878930363 2.46168177 -2.210659786 -0.01721211967 2.4913328 -2.173814085 0.005009867219 2.4821214 -2.169998595 0.00500984308 2.4770341 -2.217018926 -0.01721207943 2.49006097 -2.198596093 -0.00887886599 2.19838226 -2.453737735 0.005011638239 2.20219773 -2.462949125 0.005011696518 2.2389249 -2.428210916 -0.01721074326 2.21668662 -2.432026363 -0.008877389125 2.23417422 -2.461677393 -0.008877201529 2.25259702 -2.448650556 -0.01721061395 2.47703413 -2.426928569 1.645005189 2.49006102 -2.426928622 1.636671979 2.45532267 -2.461666972 1.636672198 2.45532267 -2.448640049 1.645005326 2.49006102 -2.44864019 1.622783236 2.47703413 -2.46166706 1.622783318 2.45659449 -2.215736599 1.645003852 2.46040999 -2.193498372 1.636670502 2.49006102 -2.198585692 1.636677704 2.47703415 -2.217008419 1.645011221 2.48212145 -2.16998836 1.622781473 2.49133284 -2.17380385 1.622781497 2.25259709 -2.448640039 1.645005326 2.23417428 -2.461666982 1.636672198 2.21680511 -2.437103262 1.636679213 2.23904339 -2.433287719 1.645012589 2.2021978 -2.46293889 1.622783326 2.19838232 -2.4537275 1.622783268 2.47703409 -2.457816743 -0.007334015954 2.49006097 -2.446237564 -0.002704459213 2.47703409 -2.44623734 -0.01474149921 2.49006097 -2.439000423 -0.007334135001 2.47914376 -2.178634773 -0.008878992281 2.47021083 -2.204543106 -0.01721215836 2.48733168 -2.182026333 -0.008878970824 2.47532828 -2.206662826 -0.01721214495 2.20171696 -2.450911523 -0.007334059642 2.20310099 -2.462242604 -0.002704357953 2.21970931 -2.44921581 -0.01474148037 2.21368059 -2.461818693 -0.007333990635 2.47703413 -2.446227675 1.642536271 2.49006102 -2.438990572 1.635128935 2.47703413 -2.457807172 1.635129054 2.49006102 -2.446227751 1.630499221 2.47589358 -2.192440545 1.642541835 2.47247191 -2.180437212 1.635131949 2.48747304 -2.178462972 1.635134067 2.47970908 -2.172600531 1.63050214 2.22247777 -2.451466345 1.642543284 2.21640957 -2.462373562 1.635133533 2.20440619 -2.453162162 1.635135805 2.20575074 -2.462797521 1.630503786" />
|
| 10 |
+
<mesh name="smpl_ring_corner_006" vertex="2.49440025 2.457151435 0.00498086805 2.45531964 2.277935777 -0.02001805809 2.22083573 2.496232085 0.004980200795 2.49439785 2.45716166 1.622752498 2.46676364 2.21123134 1.622754004 2.22083335 2.49624232 1.622751831 2.45531961 2.496232085 0.004980560795 2.45531964 2.457151277 -0.02001919195 2.46676606 2.211221095 0.004982384001 2.49440025 2.222667555 0.004982351582 2.20938927 2.468597895 0.004980355631 2.27610415 2.457151277 -0.02001946195 2.45531716 2.457161818 1.647752458 2.4553172 2.49624231 1.622752191 2.45531716 2.277946338 1.647753592 2.49439784 2.22267779 1.622753982 2.27610168 2.457161828 1.647752188 2.20938689 2.46860813 1.622751986 2.47703107 2.491889785 0.004980618268 2.49005796 2.478862915 0.004980720686 2.45531964 2.478861914 -0.01724154931 2.45531963 2.491888857 -0.008908301726 2.49005798 2.457151347 -0.008908031949 2.47703111 2.457151294 -0.01724138195 2.46549426 2.218633777 -0.008906552898 2.46167878 2.240871984 -0.01724003359 2.49132978 2.204026565 0.00498246952 2.48211838 2.200211075 0.004982473659 2.47703111 2.247231134 -0.01724005383 2.49005797 2.228808397 -0.00890658727 2.19837924 2.483950215 0.0049802485 2.20219472 2.493161615 0.004980190221 2.23892192 2.458423124 -0.01724175 2.21668362 2.462238677 -0.008908474136 2.23417123 2.491889697 -0.008908641732 2.25259404 2.478862764 -0.01724185931 2.47702863 2.457161801 1.644974558 2.49005553 2.457161748 1.636641368 2.45531718 2.491900098 1.636641098 2.45531717 2.478873281 1.644974391 2.49005555 2.47887314 1.622752351 2.47702867 2.49190001 1.622752248 2.45658899 2.245969831 1.644975864 2.4604045 2.223731498 1.636642795 2.49005552 2.228818818 1.636649983 2.47702864 2.247241661 1.644983256 2.48211597 2.20022131 1.622754104 2.49132737 2.2040368 1.622754089 2.25259158 2.478873281 1.644974081 2.23416879 2.491900108 1.636640758 2.21679962 2.467336398 1.636648054 2.23903788 2.463520961 1.644981518 2.20219233 2.49317185 1.62275182 2.19837685 2.48396045 1.622751878 2.47703109 2.488029077 -0.007365037306 2.49005797 2.476449956 -0.002735314048 2.4770311 2.47644957 -0.01477236405 2.49005798 2.469212747 -0.007364898259 2.47914076 2.208847087 -0.008906470979 2.47020785 2.234755314 -0.0172399849 2.48732868 2.212238637 -0.008906482437 2.47532529 2.236875024 -0.01723998831 2.20171397 2.481123857 -0.007365413618 2.20309799 2.492454996 -0.002735855308 2.21970633 2.47942804 -0.01477278289 2.2136776 2.492031027 -0.007365462626 2.47702864 2.476460875 1.642505406 2.49005553 2.469223678 1.635098172 2.47702865 2.488040278 1.635098033 2.49005554 2.476460799 1.630468366 2.47588807 2.222673745 1.642514182 2.47246642 2.210670318 1.635104428 2.48746755 2.208696078 1.6351066 2.47970359 2.202833579 1.630474737 2.22247227 2.481699545 1.642511963 2.21640409 2.492606678 1.635102064 2.2044007 2.483395278 1.635104432 2.20574526 2.493030579 1.630472291" />
|
| 11 |
+
</asset>
|
| 12 |
+
<worldbody>
|
| 13 |
+
<geom name="smpl_ring_baseLink" type="box" pos="0.0 0.0 -0.52" size="2.5 2.5 0.5" contype="1" conaffinity="1" condim="3" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
|
| 14 |
+
<geom name="smpl_ring_wall1" type="box" pos="2.5 0.0 0.6299999999999999" size="0.025 2.5 0.7" contype="1" conaffinity="1" condim="3" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
|
| 15 |
+
<geom name="smpl_ring_wall2" type="box" pos="-2.5 0.0 0.6299999999999999" size="0.025 2.5 0.7" contype="1" conaffinity="1" condim="3" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
|
| 16 |
+
<geom name="smpl_ring_wall3" type="box" pos="0.0 -2.5 0.6299999999999999" size="2.5 0.025 0.7" contype="1" conaffinity="1" condim="3" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
|
| 17 |
+
<geom name="smpl_ring_wall4" type="box" pos="0.0 2.5 0.6299999999999999" size="2.5 0.025 0.7" contype="1" conaffinity="1" condim="3" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
|
| 18 |
+
<geom name="smpl_ring_corner_003" type="mesh" mesh="smpl_ring_corner_003" contype="1" conaffinity="1" condim="3" margin="0.004" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
|
| 19 |
+
<geom name="smpl_ring_corner_004" type="mesh" mesh="smpl_ring_corner_004" contype="1" conaffinity="1" condim="3" margin="0.004" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
|
| 20 |
+
<geom name="smpl_ring_corner_005" type="mesh" mesh="smpl_ring_corner_005" contype="1" conaffinity="1" condim="3" margin="0.004" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
|
| 21 |
+
<geom name="smpl_ring_corner_006" type="mesh" mesh="smpl_ring_corner_006" contype="1" conaffinity="1" condim="3" margin="0.004" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
|
| 22 |
+
<attach model="red" body="pelvis" prefix="p1_" />
|
| 23 |
+
<attach model="blue" body="pelvis" prefix="p2_" />
|
| 24 |
+
</worldbody>
|
| 25 |
+
</mujoco>
|
holoboxing/arena/g1_dual_29dof.xml
DELETED
|
@@ -1,534 +0,0 @@
|
|
| 1 |
-
<mujoco model="g1_dual_29dof">
|
| 2 |
-
<compiler angle="radian" meshdir="../meshes" />
|
| 3 |
-
<default>
|
| 4 |
-
<default class="torso_motor">
|
| 5 |
-
<joint damping="0.05" armature="0.01" frictionloss="0.2" />
|
| 6 |
-
</default>
|
| 7 |
-
<default class="leg_motor">
|
| 8 |
-
<joint damping="0.05" armature="0.01" frictionloss="0.2" />
|
| 9 |
-
</default>
|
| 10 |
-
<default class="ankle_motor">
|
| 11 |
-
<joint damping="0.05" armature="0.01" frictionloss="0.2" />
|
| 12 |
-
</default>
|
| 13 |
-
<default class="arm_motor">
|
| 14 |
-
<joint damping="0.05" armature="0.01" frictionloss="0.2" />
|
| 15 |
-
</default>
|
| 16 |
-
<default class="wrist_motor">
|
| 17 |
-
<joint damping="0.05" armature="0.01" frictionloss="0.1" />
|
| 18 |
-
</default>
|
| 19 |
-
</default>
|
| 20 |
-
<asset>
|
| 21 |
-
<mesh name="pelvis" file="pelvis.STL" />
|
| 22 |
-
<mesh name="pelvis_contour_link" file="pelvis_contour_link.STL" />
|
| 23 |
-
<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL" />
|
| 24 |
-
<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL" />
|
| 25 |
-
<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL" />
|
| 26 |
-
<mesh name="left_knee_link" file="left_knee_link.STL" />
|
| 27 |
-
<mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL" />
|
| 28 |
-
<mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL" />
|
| 29 |
-
<mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL" />
|
| 30 |
-
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL" />
|
| 31 |
-
<mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL" />
|
| 32 |
-
<mesh name="right_knee_link" file="right_knee_link.STL" />
|
| 33 |
-
<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL" />
|
| 34 |
-
<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL" />
|
| 35 |
-
<mesh name="waist_yaw_link" file="waist_yaw_link.STL" />
|
| 36 |
-
<mesh name="waist_roll_link" file="waist_roll_link.STL" />
|
| 37 |
-
<mesh name="torso_link" file="torso_link.STL" />
|
| 38 |
-
<mesh name="logo_link" file="logo_link.STL" />
|
| 39 |
-
<mesh name="head_link" file="head_link.STL" />
|
| 40 |
-
<mesh name="waist_support_link" file="waist_support_link.STL" />
|
| 41 |
-
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL" />
|
| 42 |
-
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL" />
|
| 43 |
-
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL" />
|
| 44 |
-
<mesh name="left_elbow_link" file="left_elbow_link.STL" />
|
| 45 |
-
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL" />
|
| 46 |
-
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL" />
|
| 47 |
-
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL" />
|
| 48 |
-
<mesh name="left_rubber_hand" file="left_rubber_hand.STL" />
|
| 49 |
-
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL" />
|
| 50 |
-
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL" />
|
| 51 |
-
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL" />
|
| 52 |
-
<mesh name="right_elbow_link" file="right_elbow_link.STL" />
|
| 53 |
-
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL" />
|
| 54 |
-
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL" />
|
| 55 |
-
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL" />
|
| 56 |
-
<mesh name="right_rubber_hand" file="right_rubber_hand.STL" />
|
| 57 |
-
<material name="ring_canvas" rgba="0.72 0.74 0.76 1" />
|
| 58 |
-
<material name="ring_apron" rgba="0.035 0.045 0.06 1" />
|
| 59 |
-
<material name="ring_frame" rgba="0.12 0.13 0.15 1" />
|
| 60 |
-
<material name="ring_white" rgba="0.93 0.94 0.95 1" />
|
| 61 |
-
<material name="ring_red" rgba="0.82 0.08 0.10 1" />
|
| 62 |
-
<material name="ring_blue" rgba="0.04 0.28 0.72 1" />
|
| 63 |
-
<mesh name="smpl_ring_corner_003" vertex="-2.46695692 2.457151295 0.004980568051 -2.42787622 2.277935647 -0.02001829809 -2.1933924 2.496232035 0.004980320795 -2.46695697 2.45716152 1.622752198 -2.43932269 2.21123121 1.622753754 -2.19339248 2.49624227 1.622751951 -2.42787628 2.496231955 0.004980320796 -2.42787627 2.457151157 -0.02001943195 -2.43932265 2.211220965 0.004982124002 -2.46695685 2.222667415 0.004982051583 -2.18194594 2.468597845 0.004980495631 -2.24866078 2.457151207 -0.02001943195 -2.42787632 2.457161698 1.647752218 -2.42787633 2.49624218 1.622751951 -2.42787626 2.277946208 1.647753352 -2.46695689 2.22267765 1.622753682 -2.24866084 2.457161758 1.647752218 -2.18194601 2.46860808 1.622752126 -2.44958775 2.491889655 0.004980348269 -2.46261463 2.478862775 0.004980430687 -2.42787628 2.478861784 -0.01724178931 -2.42787628 2.491888727 -0.008908541726 -2.46261462 2.457151207 -0.008908321948 -2.44958774 2.457151164 -0.01724165195 -2.43805083 2.218633647 -0.008906812897 -2.43423535 2.240871854 -0.01724028359 -2.46388637 2.204026425 0.00498216952 -2.45467497 2.200210935 0.00498219366 -2.44958768 2.247230994 -0.01724032383 -2.46261455 2.228808257 -0.008906877269 -2.17093592 2.483950165 0.0049803985 -2.1747514 2.493161565 0.004980340222 -2.21147855 2.458423064 -0.01724166 -2.18924027 2.462238617 -0.008908354135 -2.20672789 2.491889637 -0.008908541731 -2.22515068 2.478862704 -0.01724178931 -2.44958779 2.457161671 1.644974288 -2.46261467 2.457161608 1.636641078 -2.42787633 2.491899978 1.636640858 -2.42787633 2.478873151 1.644974151 -2.46261468 2.478873 1.622752061 -2.4495878 2.49189988 1.622751978 -2.42914808 2.245969711 1.644975624 -2.43296357 2.223731368 1.636642555 -2.4626146 2.228818678 1.636649693 -2.44958773 2.247241521 1.644982976 -2.45467502 2.20022117 1.622753824 -2.46388641 2.20403666 1.622753799 -2.22515075 2.478873221 1.644974151 -2.20672794 2.491900048 1.636640858 -2.18935877 2.467336338 1.636648184 -2.21159704 2.463520901 1.644981608 -2.17475147 2.4931718 1.62275197 -2.17093598 2.4839604 1.622752028 -2.44958775 2.488028937 -0.007365307305 -2.46261463 2.476449816 -0.002735604047 -2.44958775 2.47644944 -0.01477264404 -2.46261463 2.469212607 -0.007365188258 -2.45169733 2.208846947 -0.008906750978 -2.44276441 2.234755184 -0.01724024489 -2.45988525 2.212238497 -0.008906772436 -2.44788186 2.236874894 -0.01724025831 -2.17427062 2.481123807 -0.007365263618 -2.17565466 2.492454946 -0.002735705308 -2.19226297 2.47942799 -0.01477266289 -2.18623425 2.492030977 -0.007365332626 -2.44958779 2.476460735 1.642505126 -2.46261467 2.469223538 1.635097882 -2.4495878 2.488040148 1.635097763 -2.46261467 2.476460659 1.630468076 -2.44844715 2.222673615 1.642513902 -2.44502548 2.210670178 1.635104168 -2.46002661 2.208695938 1.63510631 -2.45226265 2.202833449 1.630474457 -2.19503143 2.481699495 1.642512073 -2.18896324 2.492606618 1.635102184 -2.17695985 2.483395228 1.635104572 -2.17830441 2.493030529 1.630472431" />
|
| 64 |
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| 134 |
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<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" />
|
| 135 |
-
<joint name="p1_right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139" class="leg_motor" />
|
| 136 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
|
| 137 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
|
| 138 |
-
<body name="p1_right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
| 139 |
-
<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" />
|
| 140 |
-
<joint name="p1_right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50" class="ankle_motor" />
|
| 141 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
|
| 142 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
|
| 143 |
-
<body name="p1_right_ankle_roll_link" pos="0 0 -0.017558">
|
| 144 |
-
<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" />
|
| 145 |
-
<joint name="p1_right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor" />
|
| 146 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link" />
|
| 147 |
-
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1" />
|
| 148 |
-
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1" />
|
| 149 |
-
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1" />
|
| 150 |
-
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1" />
|
| 151 |
-
</body>
|
| 152 |
-
</body>
|
| 153 |
-
</body>
|
| 154 |
-
</body>
|
| 155 |
-
</body>
|
| 156 |
-
</body>
|
| 157 |
-
<body name="p1_waist_yaw_link">
|
| 158 |
-
<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" />
|
| 159 |
-
<joint name="p1_waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88" class="torso_motor" />
|
| 160 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link" />
|
| 161 |
-
<body name="p1_waist_roll_link" pos="-0.0039635 0 0.044">
|
| 162 |
-
<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" />
|
| 163 |
-
<joint name="p1_waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50" class="torso_motor" />
|
| 164 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link" />
|
| 165 |
-
<body name="p1_torso_link" pos="0 0 0">
|
| 166 |
-
<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" />
|
| 167 |
-
<joint name="p1_waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50" class="torso_motor" />
|
| 168 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link" />
|
| 169 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link" />
|
| 170 |
-
<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" />
|
| 171 |
-
<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" />
|
| 172 |
-
<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" />
|
| 173 |
-
<geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link" />
|
| 174 |
-
<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" />
|
| 175 |
-
<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" />
|
| 176 |
-
<body name="p1_left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
| 177 |
-
<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" />
|
| 178 |
-
<joint name="p1_left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 179 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link" />
|
| 180 |
-
<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" />
|
| 181 |
-
<body name="p1_left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
| 182 |
-
<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" />
|
| 183 |
-
<joint name="p1_left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 184 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link" />
|
| 185 |
-
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1" />
|
| 186 |
-
<body name="p1_left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
| 187 |
-
<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" />
|
| 188 |
-
<joint name="p1_left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 189 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
|
| 190 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
|
| 191 |
-
<body name="p1_left_elbow_link" pos="0.015783 0 -0.080518">
|
| 192 |
-
<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" />
|
| 193 |
-
<joint name="p1_left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 194 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
|
| 195 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
|
| 196 |
-
<body name="p1_left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
| 197 |
-
<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" />
|
| 198 |
-
<joint name="p1_left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 199 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link" />
|
| 200 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link" />
|
| 201 |
-
<body name="p1_left_wrist_pitch_link" pos="0.038 0 0">
|
| 202 |
-
<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" />
|
| 203 |
-
<joint name="p1_left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
|
| 204 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
|
| 205 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
|
| 206 |
-
<body name="p1_left_wrist_yaw_link" pos="0.046 0 0">
|
| 207 |
-
<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" />
|
| 208 |
-
<joint name="p1_left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
|
| 209 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link" />
|
| 210 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link" />
|
| 211 |
-
<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" />
|
| 212 |
-
<geom name="p1_left_boxing_hand_collision" type="mesh" mesh="left_rubber_hand" pos="0.0415 0.003 0" contype="1" conaffinity="1" density="0" rgba="0 0 0 0" />
|
| 213 |
-
</body>
|
| 214 |
-
</body>
|
| 215 |
-
</body>
|
| 216 |
-
</body>
|
| 217 |
-
</body>
|
| 218 |
-
</body>
|
| 219 |
-
</body>
|
| 220 |
-
<body name="p1_right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
| 221 |
-
<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" />
|
| 222 |
-
<joint name="p1_right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 223 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link" />
|
| 224 |
-
<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" />
|
| 225 |
-
<body name="p1_right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
| 226 |
-
<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" />
|
| 227 |
-
<joint name="p1_right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 228 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link" />
|
| 229 |
-
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1" />
|
| 230 |
-
<body name="p1_right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
| 231 |
-
<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" />
|
| 232 |
-
<joint name="p1_right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 233 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
|
| 234 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
|
| 235 |
-
<body name="p1_right_elbow_link" pos="0.015783 0 -0.080518">
|
| 236 |
-
<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" />
|
| 237 |
-
<joint name="p1_right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 238 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
|
| 239 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
|
| 240 |
-
<body name="p1_right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
| 241 |
-
<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" />
|
| 242 |
-
<joint name="p1_right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 243 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
|
| 244 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
|
| 245 |
-
<body name="p1_right_wrist_pitch_link" pos="0.038 0 0">
|
| 246 |
-
<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" />
|
| 247 |
-
<joint name="p1_right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
|
| 248 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
|
| 249 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
|
| 250 |
-
<body name="p1_right_wrist_yaw_link" pos="0.046 0 0">
|
| 251 |
-
<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" />
|
| 252 |
-
<joint name="p1_right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
|
| 253 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
|
| 254 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
|
| 255 |
-
<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" />
|
| 256 |
-
<geom name="p1_right_boxing_hand_collision" type="mesh" mesh="right_rubber_hand" pos="0.0415 -0.003 0" contype="1" conaffinity="1" density="0" rgba="0 0 0 0" />
|
| 257 |
-
</body>
|
| 258 |
-
</body>
|
| 259 |
-
</body>
|
| 260 |
-
</body>
|
| 261 |
-
</body>
|
| 262 |
-
</body>
|
| 263 |
-
</body>
|
| 264 |
-
</body>
|
| 265 |
-
</body>
|
| 266 |
-
</body>
|
| 267 |
-
</body>
|
| 268 |
-
<body name="p2_pelvis" pos="0 0 0.793">
|
| 269 |
-
<site name="p2_imu" size="0.01" pos="0.0 0.0 0.0" />
|
| 270 |
-
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184" />
|
| 271 |
-
<joint name="p2_floating_base_joint" type="free" limited="false" actuatorfrclimited="false" />
|
| 272 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis" />
|
| 273 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link" />
|
| 274 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link" />
|
| 275 |
-
<body name="p2_left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
| 276 |
-
<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" />
|
| 277 |
-
<joint name="p2_left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88" class="leg_motor" />
|
| 278 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link" />
|
| 279 |
-
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link" />
|
| 280 |
-
<body name="p2_left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
| 281 |
-
<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" />
|
| 282 |
-
<joint name="p2_left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-88 88" class="leg_motor" />
|
| 283 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link" />
|
| 284 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link" />
|
| 285 |
-
<body name="p2_left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
| 286 |
-
<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" />
|
| 287 |
-
<joint name="p2_left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88" class="leg_motor" />
|
| 288 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link" />
|
| 289 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link" />
|
| 290 |
-
<body name="p2_left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
| 291 |
-
<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" />
|
| 292 |
-
<joint name="p2_left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139" class="leg_motor" />
|
| 293 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
|
| 294 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link" />
|
| 295 |
-
<body name="p2_left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
| 296 |
-
<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" />
|
| 297 |
-
<joint name="p2_left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50" class="ankle_motor" />
|
| 298 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
|
| 299 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link" />
|
| 300 |
-
<body name="p2_left_ankle_roll_link" pos="0 0 -0.017558">
|
| 301 |
-
<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" />
|
| 302 |
-
<joint name="p2_left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor" />
|
| 303 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link" />
|
| 304 |
-
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1" />
|
| 305 |
-
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1" />
|
| 306 |
-
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1" />
|
| 307 |
-
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1" />
|
| 308 |
-
</body>
|
| 309 |
-
</body>
|
| 310 |
-
</body>
|
| 311 |
-
</body>
|
| 312 |
-
</body>
|
| 313 |
-
</body>
|
| 314 |
-
<body name="p2_right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
| 315 |
-
<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" />
|
| 316 |
-
<joint name="p2_right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88" class="leg_motor" />
|
| 317 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link" />
|
| 318 |
-
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link" />
|
| 319 |
-
<body name="p2_right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
| 320 |
-
<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" />
|
| 321 |
-
<joint name="p2_right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-88 88" class="leg_motor" />
|
| 322 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link" />
|
| 323 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link" />
|
| 324 |
-
<body name="p2_right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
| 325 |
-
<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" />
|
| 326 |
-
<joint name="p2_right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88" class="leg_motor" />
|
| 327 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link" />
|
| 328 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link" />
|
| 329 |
-
<body name="p2_right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
| 330 |
-
<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" />
|
| 331 |
-
<joint name="p2_right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139" class="leg_motor" />
|
| 332 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
|
| 333 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link" />
|
| 334 |
-
<body name="p2_right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
| 335 |
-
<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" />
|
| 336 |
-
<joint name="p2_right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50" class="ankle_motor" />
|
| 337 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
|
| 338 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link" />
|
| 339 |
-
<body name="p2_right_ankle_roll_link" pos="0 0 -0.017558">
|
| 340 |
-
<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" />
|
| 341 |
-
<joint name="p2_right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor" />
|
| 342 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link" />
|
| 343 |
-
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1" />
|
| 344 |
-
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1" />
|
| 345 |
-
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1" />
|
| 346 |
-
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1" />
|
| 347 |
-
</body>
|
| 348 |
-
</body>
|
| 349 |
-
</body>
|
| 350 |
-
</body>
|
| 351 |
-
</body>
|
| 352 |
-
</body>
|
| 353 |
-
<body name="p2_waist_yaw_link">
|
| 354 |
-
<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" />
|
| 355 |
-
<joint name="p2_waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88" class="torso_motor" />
|
| 356 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link" />
|
| 357 |
-
<body name="p2_waist_roll_link" pos="-0.0039635 0 0.044">
|
| 358 |
-
<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" />
|
| 359 |
-
<joint name="p2_waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50" class="torso_motor" />
|
| 360 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link" />
|
| 361 |
-
<body name="p2_torso_link" pos="0 0 0">
|
| 362 |
-
<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" />
|
| 363 |
-
<joint name="p2_waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50" class="torso_motor" />
|
| 364 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link" />
|
| 365 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link" />
|
| 366 |
-
<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" />
|
| 367 |
-
<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" />
|
| 368 |
-
<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" />
|
| 369 |
-
<geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link" />
|
| 370 |
-
<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" />
|
| 371 |
-
<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" />
|
| 372 |
-
<body name="p2_left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
| 373 |
-
<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" />
|
| 374 |
-
<joint name="p2_left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 375 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link" />
|
| 376 |
-
<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" />
|
| 377 |
-
<body name="p2_left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
| 378 |
-
<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" />
|
| 379 |
-
<joint name="p2_left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 380 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link" />
|
| 381 |
-
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1" />
|
| 382 |
-
<body name="p2_left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
| 383 |
-
<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" />
|
| 384 |
-
<joint name="p2_left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 385 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
|
| 386 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link" />
|
| 387 |
-
<body name="p2_left_elbow_link" pos="0.015783 0 -0.080518">
|
| 388 |
-
<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" />
|
| 389 |
-
<joint name="p2_left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 390 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
|
| 391 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link" />
|
| 392 |
-
<body name="p2_left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
| 393 |
-
<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" />
|
| 394 |
-
<joint name="p2_left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 395 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link" />
|
| 396 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link" />
|
| 397 |
-
<body name="p2_left_wrist_pitch_link" pos="0.038 0 0">
|
| 398 |
-
<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" />
|
| 399 |
-
<joint name="p2_left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
|
| 400 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
|
| 401 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link" />
|
| 402 |
-
<body name="p2_left_wrist_yaw_link" pos="0.046 0 0">
|
| 403 |
-
<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" />
|
| 404 |
-
<joint name="p2_left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
|
| 405 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link" />
|
| 406 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link" />
|
| 407 |
-
<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" />
|
| 408 |
-
<geom name="p2_left_boxing_hand_collision" type="mesh" mesh="left_rubber_hand" pos="0.0415 0.003 0" contype="1" conaffinity="1" density="0" rgba="0 0 0 0" />
|
| 409 |
-
</body>
|
| 410 |
-
</body>
|
| 411 |
-
</body>
|
| 412 |
-
</body>
|
| 413 |
-
</body>
|
| 414 |
-
</body>
|
| 415 |
-
</body>
|
| 416 |
-
<body name="p2_right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
| 417 |
-
<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" />
|
| 418 |
-
<joint name="p2_right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 419 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link" />
|
| 420 |
-
<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" />
|
| 421 |
-
<body name="p2_right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
| 422 |
-
<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" />
|
| 423 |
-
<joint name="p2_right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 424 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link" />
|
| 425 |
-
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1" />
|
| 426 |
-
<body name="p2_right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
| 427 |
-
<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" />
|
| 428 |
-
<joint name="p2_right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 429 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
|
| 430 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link" />
|
| 431 |
-
<body name="p2_right_elbow_link" pos="0.015783 0 -0.080518">
|
| 432 |
-
<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" />
|
| 433 |
-
<joint name="p2_right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 434 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
|
| 435 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link" />
|
| 436 |
-
<body name="p2_right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
| 437 |
-
<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" />
|
| 438 |
-
<joint name="p2_right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
|
| 439 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
|
| 440 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link" />
|
| 441 |
-
<body name="p2_right_wrist_pitch_link" pos="0.038 0 0">
|
| 442 |
-
<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" />
|
| 443 |
-
<joint name="p2_right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
|
| 444 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
|
| 445 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link" />
|
| 446 |
-
<body name="p2_right_wrist_yaw_link" pos="0.046 0 0">
|
| 447 |
-
<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" />
|
| 448 |
-
<joint name="p2_right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
|
| 449 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
|
| 450 |
-
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link" />
|
| 451 |
-
<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" />
|
| 452 |
-
<geom name="p2_right_boxing_hand_collision" type="mesh" mesh="right_rubber_hand" pos="0.0415 -0.003 0" contype="1" conaffinity="1" density="0" rgba="0 0 0 0" />
|
| 453 |
-
</body>
|
| 454 |
-
</body>
|
| 455 |
-
</body>
|
| 456 |
-
</body>
|
| 457 |
-
</body>
|
| 458 |
-
</body>
|
| 459 |
-
</body>
|
| 460 |
-
</body>
|
| 461 |
-
</body>
|
| 462 |
-
</body>
|
| 463 |
-
</body>
|
| 464 |
-
<geom name="smpl_ring_baseLink" type="box" pos="0.0 0.0 -0.52" size="2.5 2.5 0.5" contype="1" conaffinity="1" condim="3" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
|
| 465 |
-
<geom name="smpl_ring_wall1" type="box" pos="2.5 0.0 0.6299999999999999" size="0.025 2.5 0.7" contype="1" conaffinity="1" condim="3" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
|
| 466 |
-
<geom name="smpl_ring_wall2" type="box" pos="-2.5 0.0 0.6299999999999999" size="0.025 2.5 0.7" contype="1" conaffinity="1" condim="3" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
|
| 467 |
-
<geom name="smpl_ring_wall3" type="box" pos="0.0 -2.5 0.6299999999999999" size="2.5 0.025 0.7" contype="1" conaffinity="1" condim="3" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
|
| 468 |
-
<geom name="smpl_ring_wall4" type="box" pos="0.0 2.5 0.6299999999999999" size="2.5 0.025 0.7" contype="1" conaffinity="1" condim="3" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
|
| 469 |
-
<geom name="smpl_ring_corner_003" type="mesh" mesh="smpl_ring_corner_003" contype="1" conaffinity="1" condim="3" margin="0.004" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
|
| 470 |
-
<geom name="smpl_ring_corner_004" type="mesh" mesh="smpl_ring_corner_004" contype="1" conaffinity="1" condim="3" margin="0.004" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
|
| 471 |
-
<geom name="smpl_ring_corner_005" type="mesh" mesh="smpl_ring_corner_005" contype="1" conaffinity="1" condim="3" margin="0.004" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
|
| 472 |
-
<geom name="smpl_ring_corner_006" type="mesh" mesh="smpl_ring_corner_006" contype="1" conaffinity="1" condim="3" margin="0.004" rgba="0.85 0.91 1 1" friction="1 0.005 0.0001" />
|
| 473 |
-
</worldbody>
|
| 474 |
-
<actuator>
|
| 475 |
-
<motor name="p1_left_hip_pitch" joint="p1_left_hip_pitch_joint" ctrlrange="-88 88" />
|
| 476 |
-
<motor name="p1_left_hip_roll" joint="p1_left_hip_roll_joint" ctrlrange="-88 88" />
|
| 477 |
-
<motor name="p1_left_hip_yaw" joint="p1_left_hip_yaw_joint" ctrlrange="-88 88" />
|
| 478 |
-
<motor name="p1_left_knee" joint="p1_left_knee_joint" ctrlrange="-139 139" />
|
| 479 |
-
<motor name="p1_left_ankle_pitch" joint="p1_left_ankle_pitch_joint" ctrlrange="-50 50" />
|
| 480 |
-
<motor name="p1_left_ankle_roll" joint="p1_left_ankle_roll_joint" ctrlrange="-50 50" />
|
| 481 |
-
<motor name="p1_right_hip_pitch" joint="p1_right_hip_pitch_joint" ctrlrange="-88 88" />
|
| 482 |
-
<motor name="p1_right_hip_roll" joint="p1_right_hip_roll_joint" ctrlrange="-88 88" />
|
| 483 |
-
<motor name="p1_right_hip_yaw" joint="p1_right_hip_yaw_joint" ctrlrange="-88 88" />
|
| 484 |
-
<motor name="p1_right_knee" joint="p1_right_knee_joint" ctrlrange="-139 139" />
|
| 485 |
-
<motor name="p1_right_ankle_pitch" joint="p1_right_ankle_pitch_joint" ctrlrange="-50 50" />
|
| 486 |
-
<motor name="p1_right_ankle_roll" joint="p1_right_ankle_roll_joint" ctrlrange="-50 50" />
|
| 487 |
-
<motor name="p1_waist_yaw" joint="p1_waist_yaw_joint" ctrlrange="-88 88" />
|
| 488 |
-
<motor name="p1_waist_roll" joint="p1_waist_roll_joint" ctrlrange="-50 50" />
|
| 489 |
-
<motor name="p1_waist_pitch" joint="p1_waist_pitch_joint" ctrlrange="-50 50" />
|
| 490 |
-
<motor name="p1_left_shoulder_pitch" joint="p1_left_shoulder_pitch_joint" ctrlrange="-25 25" />
|
| 491 |
-
<motor name="p1_left_shoulder_roll" joint="p1_left_shoulder_roll_joint" ctrlrange="-25 25" />
|
| 492 |
-
<motor name="p1_left_shoulder_yaw" joint="p1_left_shoulder_yaw_joint" ctrlrange="-25 25" />
|
| 493 |
-
<motor name="p1_left_elbow" joint="p1_left_elbow_joint" ctrlrange="-25 25" />
|
| 494 |
-
<motor name="p1_left_wrist_roll" joint="p1_left_wrist_roll_joint" ctrlrange="-25 25" />
|
| 495 |
-
<motor name="p1_left_wrist_pitch" joint="p1_left_wrist_pitch_joint" ctrlrange="-5 5" />
|
| 496 |
-
<motor name="p1_left_wrist_yaw" joint="p1_left_wrist_yaw_joint" ctrlrange="-5 5" />
|
| 497 |
-
<motor name="p1_right_shoulder_pitch" joint="p1_right_shoulder_pitch_joint" ctrlrange="-25 25" />
|
| 498 |
-
<motor name="p1_right_shoulder_roll" joint="p1_right_shoulder_roll_joint" ctrlrange="-25 25" />
|
| 499 |
-
<motor name="p1_right_shoulder_yaw" joint="p1_right_shoulder_yaw_joint" ctrlrange="-25 25" />
|
| 500 |
-
<motor name="p1_right_elbow" joint="p1_right_elbow_joint" ctrlrange="-25 25" />
|
| 501 |
-
<motor name="p1_right_wrist_roll" joint="p1_right_wrist_roll_joint" ctrlrange="-25 25" />
|
| 502 |
-
<motor name="p1_right_wrist_pitch" joint="p1_right_wrist_pitch_joint" ctrlrange="-5 5" />
|
| 503 |
-
<motor name="p1_right_wrist_yaw" joint="p1_right_wrist_yaw_joint" ctrlrange="-5 5" />
|
| 504 |
-
<motor name="p2_left_hip_pitch" joint="p2_left_hip_pitch_joint" ctrlrange="-88 88" />
|
| 505 |
-
<motor name="p2_left_hip_roll" joint="p2_left_hip_roll_joint" ctrlrange="-88 88" />
|
| 506 |
-
<motor name="p2_left_hip_yaw" joint="p2_left_hip_yaw_joint" ctrlrange="-88 88" />
|
| 507 |
-
<motor name="p2_left_knee" joint="p2_left_knee_joint" ctrlrange="-139 139" />
|
| 508 |
-
<motor name="p2_left_ankle_pitch" joint="p2_left_ankle_pitch_joint" ctrlrange="-50 50" />
|
| 509 |
-
<motor name="p2_left_ankle_roll" joint="p2_left_ankle_roll_joint" ctrlrange="-50 50" />
|
| 510 |
-
<motor name="p2_right_hip_pitch" joint="p2_right_hip_pitch_joint" ctrlrange="-88 88" />
|
| 511 |
-
<motor name="p2_right_hip_roll" joint="p2_right_hip_roll_joint" ctrlrange="-88 88" />
|
| 512 |
-
<motor name="p2_right_hip_yaw" joint="p2_right_hip_yaw_joint" ctrlrange="-88 88" />
|
| 513 |
-
<motor name="p2_right_knee" joint="p2_right_knee_joint" ctrlrange="-139 139" />
|
| 514 |
-
<motor name="p2_right_ankle_pitch" joint="p2_right_ankle_pitch_joint" ctrlrange="-50 50" />
|
| 515 |
-
<motor name="p2_right_ankle_roll" joint="p2_right_ankle_roll_joint" ctrlrange="-50 50" />
|
| 516 |
-
<motor name="p2_waist_yaw" joint="p2_waist_yaw_joint" ctrlrange="-88 88" />
|
| 517 |
-
<motor name="p2_waist_roll" joint="p2_waist_roll_joint" ctrlrange="-50 50" />
|
| 518 |
-
<motor name="p2_waist_pitch" joint="p2_waist_pitch_joint" ctrlrange="-50 50" />
|
| 519 |
-
<motor name="p2_left_shoulder_pitch" joint="p2_left_shoulder_pitch_joint" ctrlrange="-25 25" />
|
| 520 |
-
<motor name="p2_left_shoulder_roll" joint="p2_left_shoulder_roll_joint" ctrlrange="-25 25" />
|
| 521 |
-
<motor name="p2_left_shoulder_yaw" joint="p2_left_shoulder_yaw_joint" ctrlrange="-25 25" />
|
| 522 |
-
<motor name="p2_left_elbow" joint="p2_left_elbow_joint" ctrlrange="-25 25" />
|
| 523 |
-
<motor name="p2_left_wrist_roll" joint="p2_left_wrist_roll_joint" ctrlrange="-25 25" />
|
| 524 |
-
<motor name="p2_left_wrist_pitch" joint="p2_left_wrist_pitch_joint" ctrlrange="-5 5" />
|
| 525 |
-
<motor name="p2_left_wrist_yaw" joint="p2_left_wrist_yaw_joint" ctrlrange="-5 5" />
|
| 526 |
-
<motor name="p2_right_shoulder_pitch" joint="p2_right_shoulder_pitch_joint" ctrlrange="-25 25" />
|
| 527 |
-
<motor name="p2_right_shoulder_roll" joint="p2_right_shoulder_roll_joint" ctrlrange="-25 25" />
|
| 528 |
-
<motor name="p2_right_shoulder_yaw" joint="p2_right_shoulder_yaw_joint" ctrlrange="-25 25" />
|
| 529 |
-
<motor name="p2_right_elbow" joint="p2_right_elbow_joint" ctrlrange="-25 25" />
|
| 530 |
-
<motor name="p2_right_wrist_roll" joint="p2_right_wrist_roll_joint" ctrlrange="-25 25" />
|
| 531 |
-
<motor name="p2_right_wrist_pitch" joint="p2_right_wrist_pitch_joint" ctrlrange="-5 5" />
|
| 532 |
-
<motor name="p2_right_wrist_yaw" joint="p2_right_wrist_yaw_joint" ctrlrange="-5 5" />
|
| 533 |
-
</actuator>
|
| 534 |
-
</mujoco>
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
holoboxing/manifest.json
CHANGED
|
@@ -9,8 +9,10 @@
|
|
| 9 |
"29dof/g1_29dof_mode_15_boxing_gloves_blue.xml",
|
| 10 |
"29dof/g1_29dof_mode_15_boxing_gloves_red.urdf",
|
| 11 |
"29dof/g1_29dof_mode_15_boxing_gloves_red.xml",
|
| 12 |
-
"
|
|
|
|
| 13 |
"dark-arena/floor-v1.webp",
|
|
|
|
| 14 |
"meshes/head_link.STL",
|
| 15 |
"meshes/left_ankle_pitch_link.STL",
|
| 16 |
"meshes/left_ankle_roll_link.STL",
|
|
@@ -19,19 +21,12 @@
|
|
| 19 |
"meshes/left_hip_roll_link.STL",
|
| 20 |
"meshes/left_hip_yaw_link.STL",
|
| 21 |
"meshes/left_knee_link.STL",
|
| 22 |
-
"meshes/left_rubber_hand.STL",
|
| 23 |
"meshes/left_shoulder_pitch_link.STL",
|
| 24 |
"meshes/left_shoulder_roll_link.STL",
|
| 25 |
"meshes/left_shoulder_yaw_link.STL",
|
| 26 |
-
"meshes/left_wrist_pitch_link.STL",
|
| 27 |
"meshes/left_wrist_pitch_link_5010.STL",
|
| 28 |
-
"meshes/left_wrist_roll_link.STL",
|
| 29 |
"meshes/left_wrist_roll_link_5010.STL",
|
| 30 |
-
"meshes/left_wrist_yaw_link.STL",
|
| 31 |
"meshes/left_wrist_yaw_link_5010.STL",
|
| 32 |
-
"meshes/logo_link.STL",
|
| 33 |
-
"meshes/pelvis.STL",
|
| 34 |
-
"meshes/pelvis_contour_link.STL",
|
| 35 |
"meshes/pelvis_ver0529.STL",
|
| 36 |
"meshes/right_ankle_pitch_link.STL",
|
| 37 |
"meshes/right_ankle_roll_link.STL",
|
|
@@ -40,22 +35,14 @@
|
|
| 40 |
"meshes/right_hip_roll_link.STL",
|
| 41 |
"meshes/right_hip_yaw_link.STL",
|
| 42 |
"meshes/right_knee_link.STL",
|
| 43 |
-
"meshes/right_rubber_hand.STL",
|
| 44 |
"meshes/right_shoulder_pitch_link.STL",
|
| 45 |
"meshes/right_shoulder_roll_link.STL",
|
| 46 |
"meshes/right_shoulder_yaw_link.STL",
|
| 47 |
-
"meshes/right_wrist_pitch_link.STL",
|
| 48 |
"meshes/right_wrist_pitch_link_5010.STL",
|
| 49 |
-
"meshes/right_wrist_roll_link.STL",
|
| 50 |
"meshes/right_wrist_roll_link_5010.STL",
|
| 51 |
-
"meshes/right_wrist_yaw_link.STL",
|
| 52 |
"meshes/right_wrist_yaw_link_5010.STL",
|
| 53 |
-
"meshes/torso_link.STL",
|
| 54 |
"meshes/torso_link_rev_1_0.STL",
|
| 55 |
-
"meshes/waist_roll_link.STL",
|
| 56 |
"meshes/waist_roll_link_rev_1_0.STL",
|
| 57 |
-
"meshes/waist_support_link.STL",
|
| 58 |
-
"meshes/waist_yaw_link.STL",
|
| 59 |
"meshes/waist_yaw_link_rev_1_0.STL",
|
| 60 |
"mode15_boxing_meshes/left_boxing_glove.STL",
|
| 61 |
"mode15_boxing_meshes/left_boxing_glove_collision.STL",
|
|
@@ -63,18 +50,20 @@
|
|
| 63 |
"mode15_boxing_meshes/pelvis_contour_collision.STL",
|
| 64 |
"mode15_boxing_meshes/right_boxing_glove.STL",
|
| 65 |
"mode15_boxing_meshes/right_boxing_glove_collision.STL",
|
| 66 |
-
"smpl-ring-v2/
|
| 67 |
-
"smpl-ring-v2/scene.json",
|
| 68 |
"smpl-ring-v2/SOURCE.md",
|
| 69 |
-
"smpl-ring-v2/
|
|
|
|
| 70 |
],
|
| 71 |
"sha256": {
|
| 72 |
"29dof/g1_29dof_mode_15_boxing_gloves_blue.urdf": "b84ba9477a3cd4729b0fae40e6016fd5ef00c718afb9f8dfd5fdde65f24804b7",
|
| 73 |
-
"29dof/g1_29dof_mode_15_boxing_gloves_blue.xml": "
|
| 74 |
"29dof/g1_29dof_mode_15_boxing_gloves_red.urdf": "b9d1c59f62243fad1b97fee2d33eb51d48063172b023a30c49974ca026c8feb5",
|
| 75 |
-
"29dof/g1_29dof_mode_15_boxing_gloves_red.xml": "
|
| 76 |
-
"
|
|
|
|
| 77 |
"dark-arena/floor-v1.webp": "8d34c115f3932a6f0fb9921897d986971e613e9f658a7510085dfa13b5b0b23b",
|
|
|
|
| 78 |
"meshes/head_link.STL": "005fb67fbd3eff94aa8bf4a6e83238174e9f91b6721f7111594322f223724411",
|
| 79 |
"meshes/left_ankle_pitch_link.STL": "d49e3abc6f5b12e532062cd575b87b5ef40cd2a3fc18f54a1ca5bba4f773d51d",
|
| 80 |
"meshes/left_ankle_roll_link.STL": "c4092af943141d4d9f74232f3cfa345afc6565f46a077793b8ae0e68b39dc33f",
|
|
@@ -83,19 +72,12 @@
|
|
| 83 |
"meshes/left_hip_roll_link.STL": "91f25922ee8a7c3152790051bebad17b4d9cd243569c38fe340285ff93a97acf",
|
| 84 |
"meshes/left_hip_yaw_link.STL": "a16d88aa6ddac8083aa7ad55ed317bea44b1fa003d314fba88965b7ed0f3b55b",
|
| 85 |
"meshes/left_knee_link.STL": "8d92b9e3d3a636761150bb8025e32514c4602b91c7028d523ee42b3e632de477",
|
| 86 |
-
"meshes/left_rubber_hand.STL": "cff2221a690fa69303f61fce68f2d155c1517b52efb6ca9262dd56e0bc6e70fe",
|
| 87 |
"meshes/left_shoulder_pitch_link.STL": "f0d1cfd02fcf0d42f95e678eeca33da3afbcc366ffba5c052847773ec4f31d52",
|
| 88 |
"meshes/left_shoulder_roll_link.STL": "fb9df21687773522598dc384f1a2945c7519f11cbc8bd372a49170316d6eee88",
|
| 89 |
"meshes/left_shoulder_yaw_link.STL": "1aa97e9748e924336567992181f78c7cd0652fd52a4afcca3df6b2ef6f9e712e",
|
| 90 |
-
"meshes/left_wrist_pitch_link.STL": "b251d8e05047f695d0f536cd78c11973cfa4e78d08cfe82759336cc3471de3a9",
|
| 91 |
"meshes/left_wrist_pitch_link_5010.STL": "65c91c4681228f28ccb73d9fc7e853bc1c857da199352321e834e15f2cd7a7d4",
|
| 92 |
-
"meshes/left_wrist_roll_link.STL": "edc387c9a0ba8c2237e9b296d32531426fabeb6f53e58df45c76106bca74148c",
|
| 93 |
"meshes/left_wrist_roll_link_5010.STL": "b5be0d8d17b6db9f74323049ce6a0b8a7d95b2434a34805650cc22050f4992dd",
|
| 94 |
-
"meshes/left_wrist_yaw_link.STL": "83f8fb3a726bf9613d65dd14f0f447cb918c3c95b3938042a0c9c09749267d3b",
|
| 95 |
"meshes/left_wrist_yaw_link_5010.STL": "d020b9ef67b0899c98b77029d8de80a820c16dba0b7611d0cd7f85033d9241f1",
|
| 96 |
-
"meshes/logo_link.STL": "8571a0a19bc4916fa55f91449f51d5fdefd751000054865a842449429d5f155b",
|
| 97 |
-
"meshes/pelvis.STL": "5ba6bbc888e630550140d3c26763f10206da8c8bd30ed886b8ede41c61f57a31",
|
| 98 |
-
"meshes/pelvis_contour_link.STL": "5cc5c2c7a312329e3feeb2b03d3fc09fc29705bd01864f6767e51be959662420",
|
| 99 |
"meshes/pelvis_ver0529.STL": "9a249feb95d632aa648cd07757b2ccce6da36723875e7630fa75d66a4ae8f036",
|
| 100 |
"meshes/right_ankle_pitch_link.STL": "15be426539ec1be70246d4d82a168806db64a41301af8b35c197a33348c787a9",
|
| 101 |
"meshes/right_ankle_roll_link.STL": "4b66222ea56653e627711b56d0a8949b4920da5df091da0ceb343f54e884e3a5",
|
|
@@ -104,22 +86,14 @@
|
|
| 104 |
"meshes/right_hip_roll_link.STL": "4c254ef66a356f492947f360dd931965477b631e3fcc841f91ccc46d945d54f6",
|
| 105 |
"meshes/right_hip_yaw_link.STL": "e479c2936ca2057e9eb2f7dff6c189b7419d7b8484dea0b298cbb36a2a6aa668",
|
| 106 |
"meshes/right_knee_link.STL": "63c4008449c9bbe701a6e2b557b7a252e90cf3a5abcf54cee46862b9a69f8ec8",
|
| 107 |
-
"meshes/right_rubber_hand.STL": "99533b778bca6246144fa511bb9d4e555e075c641f2a0251e04372869cd99d67",
|
| 108 |
"meshes/right_shoulder_pitch_link.STL": "24cdb387e0128dfe602770a81c56cdce3a0181d34d039a11d1aaf8819b7b8c02",
|
| 109 |
"meshes/right_shoulder_roll_link.STL": "962b97c48f9ce9e8399f45dd9522e0865d19aa9fd299406b2d475a8fc4a53e81",
|
| 110 |
"meshes/right_shoulder_yaw_link.STL": "a0b76489271da0c72461a344c9ffb0f0c6e64f019ea5014c1624886c442a2fe5",
|
| 111 |
-
"meshes/right_wrist_pitch_link.STL": "d22f8f3b3127f15a63e5be1ee273cd5075786c3142f1c3d9f76cbf43d2a26477",
|
| 112 |
"meshes/right_wrist_pitch_link_5010.STL": "ac1110adfd93a10396bd32bba7b71ded5ccd757405b9e6d3d0b4ff53dea09582",
|
| 113 |
-
"meshes/right_wrist_roll_link.STL": "a7ee9212ff5b94d6cb7f52bb1bbf3f352194d5b598acff74f4c77d340c5b344f",
|
| 114 |
"meshes/right_wrist_roll_link_5010.STL": "458d62c3fcb63f526cd258397c7ac88350d50fd444f35646054cb0e2015a2042",
|
| 115 |
-
"meshes/right_wrist_yaw_link.STL": "bc9dece2d12509707e0057ba2e48df8f3d56db0c79410212963a25e8a50f61a6",
|
| 116 |
"meshes/right_wrist_yaw_link_5010.STL": "fe36d6fe3f09fb0bb27bf3027b4c388110505d3f46678b80afe2e198a5ea7922",
|
| 117 |
-
"meshes/torso_link.STL": "e96d023f0368a4e3450b86ca5d4f10227d8141156a373e7da8cb3c93266523e0",
|
| 118 |
"meshes/torso_link_rev_1_0.STL": "11ddb46f2098efbbd8816b1d65893632d8e78be936376c7cdcd6771899ccc723",
|
| 119 |
-
"meshes/waist_roll_link.STL": "34f0aa73f41131230be4d25876c944fdf6c24d62553f199ff8b980c15e8913df",
|
| 120 |
"meshes/waist_roll_link_rev_1_0.STL": "b67c347a05abc3e8ddae600d98a082bee273bb39f8e651647708b0a7140a8a97",
|
| 121 |
-
"meshes/waist_support_link.STL": "1fae9e1bb609848a1667d32eed8d6083ae443538a306843056a2a660f1b2926a",
|
| 122 |
-
"meshes/waist_yaw_link.STL": "2883f20e03f09b669b5b4ce10677ee6b5191c0934b584d7cbaef2d0662856ffb",
|
| 123 |
"meshes/waist_yaw_link_rev_1_0.STL": "ec6db442b11f25eed898b5add07940c85d804f300de24dcbd264ccd8be7d554c",
|
| 124 |
"mode15_boxing_meshes/left_boxing_glove.STL": "4dc4904dd59115b05bf83aa595ad383c1db6408cd9188c6847ecc308d799199e",
|
| 125 |
"mode15_boxing_meshes/left_boxing_glove_collision.STL": "987a6675f8a1294d46376d45a55117c3d47181b2ea30e2ea275efb2b2f5e4933",
|
|
@@ -127,13 +101,16 @@
|
|
| 127 |
"mode15_boxing_meshes/pelvis_contour_collision.STL": "be43c4003e369b9e444d1e515972443cfcca88c5d6d001dd110849167a3556f2",
|
| 128 |
"mode15_boxing_meshes/right_boxing_glove.STL": "9c280e1fa5c8304a700b18c36f67d2d52956f03a7f3eb75afe625383f5b94d63",
|
| 129 |
"mode15_boxing_meshes/right_boxing_glove_collision.STL": "ada6ff95ade3a365e9731a227ea0d1a988d064796d55f128d40b35c903d93c14",
|
| 130 |
-
"smpl-ring-v2/
|
| 131 |
-
"smpl-ring-v2/scene.json": "ff6a730ff66db40305ed89a8e2ccbdb8c5d3b3db1dd89025adf767f364d5de58",
|
| 132 |
"smpl-ring-v2/SOURCE.md": "3a2884bd2fc341025c215b747b36a47aacb0cc264f333e72a84f7f0e173c5625",
|
| 133 |
-
"smpl-ring-v2/
|
|
|
|
| 134 |
},
|
| 135 |
"render_theme": {
|
| 136 |
"version": "holomotion-dark-v1",
|
| 137 |
"floor_texture": "dark-arena/floor-v1.webp"
|
| 138 |
-
}
|
|
|
|
|
|
|
|
|
|
| 139 |
}
|
|
|
|
| 9 |
"29dof/g1_29dof_mode_15_boxing_gloves_blue.xml",
|
| 10 |
"29dof/g1_29dof_mode_15_boxing_gloves_red.urdf",
|
| 11 |
"29dof/g1_29dof_mode_15_boxing_gloves_red.xml",
|
| 12 |
+
"UNITREE_LICENSE",
|
| 13 |
+
"arena/boxing.xml",
|
| 14 |
"dark-arena/floor-v1.webp",
|
| 15 |
+
"initial-state.json",
|
| 16 |
"meshes/head_link.STL",
|
| 17 |
"meshes/left_ankle_pitch_link.STL",
|
| 18 |
"meshes/left_ankle_roll_link.STL",
|
|
|
|
| 21 |
"meshes/left_hip_roll_link.STL",
|
| 22 |
"meshes/left_hip_yaw_link.STL",
|
| 23 |
"meshes/left_knee_link.STL",
|
|
|
|
| 24 |
"meshes/left_shoulder_pitch_link.STL",
|
| 25 |
"meshes/left_shoulder_roll_link.STL",
|
| 26 |
"meshes/left_shoulder_yaw_link.STL",
|
|
|
|
| 27 |
"meshes/left_wrist_pitch_link_5010.STL",
|
|
|
|
| 28 |
"meshes/left_wrist_roll_link_5010.STL",
|
|
|
|
| 29 |
"meshes/left_wrist_yaw_link_5010.STL",
|
|
|
|
|
|
|
|
|
|
| 30 |
"meshes/pelvis_ver0529.STL",
|
| 31 |
"meshes/right_ankle_pitch_link.STL",
|
| 32 |
"meshes/right_ankle_roll_link.STL",
|
|
|
|
| 35 |
"meshes/right_hip_roll_link.STL",
|
| 36 |
"meshes/right_hip_yaw_link.STL",
|
| 37 |
"meshes/right_knee_link.STL",
|
|
|
|
| 38 |
"meshes/right_shoulder_pitch_link.STL",
|
| 39 |
"meshes/right_shoulder_roll_link.STL",
|
| 40 |
"meshes/right_shoulder_yaw_link.STL",
|
|
|
|
| 41 |
"meshes/right_wrist_pitch_link_5010.STL",
|
|
|
|
| 42 |
"meshes/right_wrist_roll_link_5010.STL",
|
|
|
|
| 43 |
"meshes/right_wrist_yaw_link_5010.STL",
|
|
|
|
| 44 |
"meshes/torso_link_rev_1_0.STL",
|
|
|
|
| 45 |
"meshes/waist_roll_link_rev_1_0.STL",
|
|
|
|
|
|
|
| 46 |
"meshes/waist_yaw_link_rev_1_0.STL",
|
| 47 |
"mode15_boxing_meshes/left_boxing_glove.STL",
|
| 48 |
"mode15_boxing_meshes/left_boxing_glove_collision.STL",
|
|
|
|
| 50 |
"mode15_boxing_meshes/pelvis_contour_collision.STL",
|
| 51 |
"mode15_boxing_meshes/right_boxing_glove.STL",
|
| 52 |
"mode15_boxing_meshes/right_boxing_glove_collision.STL",
|
| 53 |
+
"smpl-ring-v2/SMPLOlympics-LICENSE.txt",
|
|
|
|
| 54 |
"smpl-ring-v2/SOURCE.md",
|
| 55 |
+
"smpl-ring-v2/boxing_ring.obj",
|
| 56 |
+
"smpl-ring-v2/scene.json"
|
| 57 |
],
|
| 58 |
"sha256": {
|
| 59 |
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"floor_texture": "dark-arena/floor-v1.webp"
|
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| 113 |
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"resource_version": "boxing-v6-resources",
|
| 114 |
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|
| 115 |
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| 116 |
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DELETED
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| 16 |
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@@ -26,8 +26,8 @@
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| 26 |
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"sha256": "b5be0d8d17b6db9f74323049ce6a0b8a7d95b2434a34805650cc22050f4992dd"
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"path": "meshes/left_wrist_yaw_link_5010.STL",
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"bytes": 852284,
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"sha256": "63c4008449c9bbe701a6e2b557b7a252e90cf3a5abcf54cee46862b9a69f8ec8"
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"path": "meshes/right_wrist_pitch_link_5010.STL",
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"path": "meshes/right_wrist_roll_link_5010.STL",
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"sha256": "fe36d6fe3f09fb0bb27bf3027b4c388110505d3f46678b80afe2e198a5ea7922"
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{
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"path": "meshes/torso_link_rev_1_0.STL",
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"sha256": "11ddb46f2098efbbd8816b1d65893632d8e78be936376c7cdcd6771899ccc723"
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"path": "meshes/waist_roll_link_rev_1_0.STL",
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"bytes": 85884,
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"boxing_glove_arena_texture": "Redistribution authorization has not been established; do not upload without review.",
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"smplolympics_repository": "smpl-ring-v2/SMPLOlympics-LICENSE.txt"
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"initial_state": "initial-state.json"
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{
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"version": "boxing-v6-resources",
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"distribution_status": "LOCAL_HANDOFF_NOT_PUBLISHED",
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"entry": "29dof/g1_29dof_mode_15_boxing_gloves_red.xml",
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"entries": {
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"red": "29dof/g1_29dof_mode_15_boxing_gloves_red.xml",
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"blue": "29dof/g1_29dof_mode_15_boxing_gloves_blue.xml"
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},
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"simulation_entry": "arena/boxing.xml",
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"files": [
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"path": "29dof/g1_29dof_mode_15_boxing_gloves_blue.urdf",
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"sha256": "5c5b9ed0e790ac3fb2c997cb05d66784bfa23baeeee694d1fcec8f0cd273bb66"
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{
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"path": "29dof/g1_29dof_mode_15_boxing_gloves_red.urdf",
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"bytes": 38537,
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"sha256": "3e1019d13881fe390b228c66d4f4e2be4d821cfaa9df0246952ec43588272ca0"
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},
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{
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"path": "UNITREE_LICENSE",
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"sha256": "a5d73fc4aca9074e3e6fe0b1a0ba763cf9514b2249b7390ed20fe8d53630bf25"
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{
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"path": "arena/boxing.xml",
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"bytes": 13933,
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"sha256": "a7c109e176f9c64c7fde027017f6037ce0bbe869f8dfe5da5ce917b653d28564"
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{
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"path": "dark-arena/floor-v1.webp",
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"bytes": 854884,
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"bytes": 249184,
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"bytes": 91784,
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"sha256": "65c91c4681228f28ccb73d9fc7e853bc1c857da199352321e834e15f2cd7a7d4"
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"path": "meshes/left_wrist_roll_link_5010.STL",
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"bytes": 682184,
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"bytes": 852284,
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"bytes": 249984,
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"bytes": 91784,
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"path": "meshes/right_wrist_roll_link_5010.STL",
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"bytes": 899184,
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"sha256": "458d62c3fcb63f526cd258397c7ac88350d50fd444f35646054cb0e2015a2042"
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"path": "meshes/right_wrist_yaw_link_5010.STL",
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"bytes": 682184,
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"sha256": "fe36d6fe3f09fb0bb27bf3027b4c388110505d3f46678b80afe2e198a5ea7922"
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{
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"path": "meshes/torso_link_rev_1_0.STL",
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"bytes": 2570584,
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"sha256": "11ddb46f2098efbbd8816b1d65893632d8e78be936376c7cdcd6771899ccc723"
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{
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"path": "meshes/waist_roll_link_rev_1_0.STL",
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"bytes": 85884,
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"sha256": "b67c347a05abc3e8ddae600d98a082bee273bb39f8e651647708b0a7140a8a97"
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{
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"path": "meshes/waist_yaw_link_rev_1_0.STL",
|
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"bytes": 619984,
|
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| 273 |
"boxing_glove_arena_texture": "Redistribution authorization has not been established; do not upload without review.",
|
| 274 |
"smplolympics_repository": "smpl-ring-v2/SMPLOlympics-LICENSE.txt"
|
| 275 |
},
|
| 276 |
+
"initial_state": "initial-state.json",
|
| 277 |
+
"arena_entry": "smpl-ring-v2/scene.json"
|
| 278 |
}
|