File size: 13,504 Bytes
e617818 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 | <mujoco model="h1">
<compiler angle="radian" meshdir="../meshes" autolimits="true"/>
<default>
<default class="h1">
<geom type="mesh"/>
<joint damping="1" armature="0.1"/>
<default class="visual">
<geom contype="0" conaffinity="0" group="2" material="black"/>
</default>
<default class="collision">
<geom group="3" mass="0" density="0"/>
</default>
<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
</default>
</default>
<asset>
<material name="black" rgba="0.1 0.1 0.1 1"/>
<material name="white" rgba="1 1 1 1"/>
<mesh file="pelvis.STL"/>
<mesh file="left_hip_yaw_link.STL"/>
<mesh file="left_hip_roll_link.STL"/>
<mesh file="left_hip_pitch_link.STL"/>
<mesh file="left_knee_link.STL"/>
<mesh file="left_ankle_link.STL"/>
<mesh file="right_hip_yaw_link.STL"/>
<mesh file="right_hip_roll_link.STL"/>
<mesh file="right_hip_pitch_link.STL"/>
<mesh file="right_knee_link.STL"/>
<mesh file="right_ankle_link.STL"/>
<mesh file="torso_link.STL"/>
<mesh file="left_shoulder_pitch_link.STL"/>
<mesh file="left_shoulder_roll_link.STL"/>
<mesh file="left_shoulder_yaw_link.STL"/>
<mesh file="left_elbow_link.STL"/>
<mesh file="right_shoulder_pitch_link.STL"/>
<mesh file="right_shoulder_roll_link.STL"/>
<mesh file="right_shoulder_yaw_link.STL"/>
<mesh file="right_elbow_link.STL"/>
<mesh file="logo_link.STL"/>
</asset>
<worldbody>
<body name="pelvis" pos="0 0 1.1" childclass="h1">
<inertial pos="-0.0002 4e-05 -0.04522" quat="0.498303 0.499454 -0.500496 0.501741" mass="5.39"
diaginertia="0.0490211 0.0445821 0.00824619"/>
<freejoint/>
<geom class="visual" mesh="pelvis"/>
<geom class="collision" mesh="pelvis"/>
<body name="left_hip_yaw_link" pos="0 0.0875 -0.1742">
<inertial pos="-0.04923 0.0001 0.0072" quat="0.69699 0.219193 0.233287 0.641667" mass="2.244"
diaginertia="0.00304494 0.00296885 0.00189201"/>
<joint name="left_hip_yaw_joint" axis="0 0 1" range="-0.43 0.43"/>
<geom class="visual" mesh="left_hip_yaw_link"/>
<geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/>
<body name="left_hip_roll_link" pos="0.039468 0 0">
<inertial pos="-0.0058 -0.00319 -9e-05" quat="0.0438242 0.70721 -0.0729075 0.701867" mass="2.232"
diaginertia="0.00243264 0.00225325 0.00205492"/>
<joint name="left_hip_roll_joint" axis="1 0 0" range="-0.43 0.43"/>
<geom class="visual" mesh="left_hip_roll_link"/>
<geom class="collision" mesh="left_hip_roll_link"/>
<body name="left_hip_pitch_link" pos="0 0.11536 0">
<inertial pos="0.00746 -0.02346 -0.08193" quat="0.979828 0.0513522 -0.0169854 -0.192382" mass="4.152"
diaginertia="0.0829503 0.0821457 0.00510909"/>
<joint name="left_hip_pitch_joint" axis="0 1 0" range="-3.14 2.53"/>
<geom class="visual" mesh="left_hip_pitch_link"/>
<geom class="collision" mesh="left_hip_pitch_link"/>
<body name="left_knee_link" pos="0 0 -0.4">
<inertial pos="-0.00136 -0.00512 -0.1384" quat="0.626132 -0.034227 -0.0416277 0.777852" mass="1.721"
diaginertia="0.0125237 0.0123104 0.0019428"/>
<joint name="left_knee_joint" axis="0 1 0" range="-0.26 2.05"/>
<geom class="visual" mesh="left_knee_link"/>
<geom class="collision" mesh="left_knee_link"/>
<body name="left_ankle_link" pos="0 0 -0.4">
<inertial pos="0.048568 0 -0.045609" quat="0.489385 0.510394 0.510394 0.489385" mass="0.552448"
diaginertia="0.00362 0.00355701 0.000149987"/>
<joint name="left_ankle_joint" axis="0 1 0" range="-0.87 0.52"/>
<geom class="visual" mesh="left_ankle_link"/>
<geom class="collision" mesh="left_ankle_link"/>
</body>
</body>
</body>
</body>
</body>
<body name="right_hip_yaw_link" pos="0 -0.0875 -0.1742">
<inertial pos="-0.04923 -0.0001 0.0072" quat="0.641667 0.233287 0.219193 0.69699" mass="2.244"
diaginertia="0.00304494 0.00296885 0.00189201"/>
<joint name="right_hip_yaw_joint" axis="0 0 1" range="-0.43 0.43"/>
<geom class="visual" mesh="right_hip_yaw_link"/>
<geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/>
<body name="right_hip_roll_link" pos="0.039468 0 0">
<inertial pos="-0.0058 0.00319 -9e-05" quat="-0.0438242 0.70721 0.0729075 0.701867" mass="2.232"
diaginertia="0.00243264 0.00225325 0.00205492"/>
<joint name="right_hip_roll_joint" axis="1 0 0" range="-0.43 0.43"/>
<geom class="visual" mesh="right_hip_roll_link"/>
<geom class="collision" mesh="right_hip_roll_link"/>
<body name="right_hip_pitch_link" pos="0 -0.11536 0">
<inertial pos="0.00746 0.02346 -0.08193" quat="0.979828 -0.0513522 -0.0169854 0.192382" mass="4.152"
diaginertia="0.0829503 0.0821457 0.00510909"/>
<joint name="right_hip_pitch_joint" axis="0 1 0" range="-3.14 2.53"/>
<geom class="visual" mesh="right_hip_pitch_link"/>
<geom class="collision" mesh="right_hip_pitch_link"/>
<body name="right_knee_link" pos="0 0 -0.4">
<inertial pos="-0.00136 0.00512 -0.1384" quat="0.777852 -0.0416277 -0.034227 0.626132" mass="1.721"
diaginertia="0.0125237 0.0123104 0.0019428"/>
<joint name="right_knee_joint" axis="0 1 0" range="-0.26 2.05"/>
<geom class="visual" mesh="right_knee_link"/>
<geom class="collision" mesh="right_knee_link"/>
<body name="right_ankle_link" pos="0 0 -0.4">
<inertial pos="0.048568 0 -0.045609" quat="0.489385 0.510394 0.510394 0.489385" mass="0.552448"
diaginertia="0.00362 0.00355701 0.000149987"/>
<joint name="right_ankle_joint" axis="0 1 0" range="-0.87 0.52"/>
<geom class="visual" mesh="right_ankle_link"/>
<geom class="collision" mesh="right_ankle_link"/>
</body>
</body>
</body>
</body>
</body>
<body name="torso_link">
<inertial pos="0.000489 0.002797 0.20484" quat="0.999989 -0.00130808 -0.00282289 -0.00349105" mass="17.789"
diaginertia="0.487315 0.409628 0.127837"/>
<joint name="torso_joint" axis="0 0 1" range="-2.35 2.35"/>
<geom class="visual" mesh="torso_link"/>
<geom class="collision" mesh="torso_link"/>
<geom class="visual" material="white" mesh="logo_link"/>
<site name="imu" size="0.01" pos="-0.04452 -0.01891 0.27756"/>
<body name="left_shoulder_pitch_link" pos="0.0055 0.15535 0.42999" quat="0.976296 0.216438 0 0">
<inertial pos="0.005045 0.053657 -0.015715" quat="0.814858 0.579236 -0.0201072 -0.00936488" mass="1.033"
diaginertia="0.00129936 0.000987113 0.000858198"/>
<joint name="left_shoulder_pitch_joint" axis="0 1 0" range="-2.87 2.87"/>
<geom class="visual" mesh="left_shoulder_pitch_link"/>
<geom class="collision" mesh="left_shoulder_pitch_link"/>
<body name="left_shoulder_roll_link" pos="-0.0055 0.0565 -0.0165" quat="0.976296 -0.216438 0 0">
<inertial pos="0.000679 0.00115 -0.094076" quat="0.732491 0.00917179 0.0766656 0.676384" mass="0.793"
diaginertia="0.00170388 0.00158256 0.00100336"/>
<joint name="left_shoulder_roll_joint" axis="1 0 0" range="-0.34 3.11"/>
<geom class="visual" mesh="left_shoulder_roll_link"/>
<geom class="collision" mesh="left_shoulder_roll_link"/>
<body name="left_shoulder_yaw_link" pos="0 0 -0.1343">
<inertial pos="0.01365 0.002767 -0.16266" quat="0.703042 -0.0331229 -0.0473362 0.708798" mass="0.839"
diaginertia="0.00408038 0.00370367 0.000622687"/>
<joint name="left_shoulder_yaw_joint" axis="0 0 1" range="-1.3 4.45"/>
<geom class="visual" mesh="left_shoulder_yaw_link"/>
<geom class="collision" mesh="left_shoulder_yaw_link"/>
<body name="left_elbow_link" pos="0.0185 0 -0.198">
<inertial pos="0.15908 -0.000144 -0.015776" quat="0.0765232 0.720327 0.0853116 0.684102" mass="0.669"
diaginertia="0.00601829 0.00600579 0.000408305"/>
<joint name="left_elbow_joint" axis="0 1 0" range="-1.25 2.61"/>
<geom class="visual" mesh="left_elbow_link"/>
<geom class="collision" mesh="left_elbow_link"/>
</body>
</body>
</body>
</body>
<body name="right_shoulder_pitch_link" pos="0.0055 -0.15535 0.42999" quat="0.976296 -0.216438 0 0">
<inertial pos="0.005045 -0.053657 -0.015715" quat="0.579236 0.814858 0.00936488 0.0201072" mass="1.033"
diaginertia="0.00129936 0.000987113 0.000858198"/>
<joint name="right_shoulder_pitch_joint" axis="0 1 0" range="-2.87 2.87"/>
<geom class="visual" mesh="right_shoulder_pitch_link"/>
<geom class="collision" mesh="right_shoulder_pitch_link"/>
<body name="right_shoulder_roll_link" pos="-0.0055 -0.0565 -0.0165" quat="0.976296 0.216438 0 0">
<inertial pos="0.000679 -0.00115 -0.094076" quat="0.676384 0.0766656 0.00917179 0.732491" mass="0.793"
diaginertia="0.00170388 0.00158256 0.00100336"/>
<joint name="right_shoulder_roll_joint" axis="1 0 0" range="-3.11 0.34"/>
<geom class="visual" mesh="right_shoulder_roll_link"/>
<geom class="collision" mesh="right_shoulder_roll_link"/>
<body name="right_shoulder_yaw_link" pos="0 0 -0.1343">
<inertial pos="0.01365 -0.002767 -0.16266" quat="0.708798 -0.0473362 -0.0331229 0.703042" mass="0.839"
diaginertia="0.00408038 0.00370367 0.000622687"/>
<joint name="right_shoulder_yaw_joint" axis="0 0 1" range="-4.45 1.3"/>
<geom class="visual" mesh="right_shoulder_yaw_link"/>
<geom class="collision" mesh="right_shoulder_yaw_link"/>
<body name="right_elbow_link" pos="0.0185 0 -0.198">
<inertial pos="0.15908 0.000144 -0.015776" quat="-0.0765232 0.720327 -0.0853116 0.684102" mass="0.669"
diaginertia="0.00601829 0.00600579 0.000408305"/>
<joint name="right_elbow_joint" axis="0 1 0" range="-1.25 2.61"/>
<geom class="visual" mesh="right_elbow_link"/>
<geom class="collision" mesh="right_elbow_link"/>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor class="h1" name="left_hip_yaw_joint" joint="left_hip_yaw_joint" ctrlrange="-200 200"/>
<motor class="h1" name="left_hip_roll_joint" joint="left_hip_roll_joint" ctrlrange="-200 200"/>
<motor class="h1" name="left_hip_pitch_joint" joint="left_hip_pitch_joint" ctrlrange="-200 200"/>
<motor class="h1" name="left_knee_joint" joint="left_knee_joint" ctrlrange="-300 300"/>
<motor class="h1" name="left_ankle_joint" joint="left_ankle_joint" ctrlrange="-40 40"/>
<motor class="h1" name="right_hip_yaw_joint" joint="right_hip_yaw_joint" ctrlrange="-200 200"/>
<motor class="h1" name="right_hip_roll_joint" joint="right_hip_roll_joint" ctrlrange="-200 200"/>
<motor class="h1" name="right_hip_pitch_joint" joint="right_hip_pitch_joint" ctrlrange="-200 200"/>
<motor class="h1" name="right_knee_joint" joint="right_knee_joint" ctrlrange="-300 300"/>
<motor class="h1" name="right_ankle_joint" joint="right_ankle_joint" ctrlrange="-40 40"/>
<motor class="h1" name="torso_joint" joint="torso_joint" ctrlrange="-200 200"/>
<motor class="h1" name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint" ctrlrange="-40 40"/>
<motor class="h1" name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint" ctrlrange="-40 40"/>
<motor class="h1" name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint" ctrlrange="-18 18"/>
<motor class="h1" name="left_elbow_joint" joint="left_elbow_joint" ctrlrange="-18 18"/>
<motor class="h1" name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint" ctrlrange="-40 40"/>
<motor class="h1" name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint" ctrlrange="-40 40"/>
<motor class="h1" name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint" ctrlrange="-18 18"/>
<motor class="h1" name="right_elbow_joint" joint="right_elbow_joint" ctrlrange="-18 18"/>
</actuator>
<sensor>
<framequat name='orientation' objtype='site' noise='0.001' objname='imu'/>
<gyro name='angular-velocity' site='imu' noise='0.005' cutoff='34.9'/>
<gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
</sensor>
<keyframe>
<key name="home"
qpos="
0 0 0.98
1 0 0 0
0 0 -0.4 0.8 -0.4
0 0 -0.4 0.8 -0.4
0
0 0 0 0
0 0 0 0"/>
</keyframe>
</mujoco>
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