xml
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<mujoco model="K1">
<include file="../common/scene.xml"/>
<include file="../common/mimic_sites.xml"/>
<compiler angle="radian" meshdir="meshes" autolimits="true"/>
<option iterations="3" ls_iterations="5" timestep=".002" integrator="Euler">
<flag eulerdamp="disable"/>
</option>
<asset>
<material name="light_gray" rgba="0.76 0.76 0.76 1" />
<material name="medium_gray" rgba="0.4 0.4 0.4 1" />
<mesh name="Trunk" file="Trunk.STL" />
<mesh name="Head_1" file="Head_1.STL" />
<mesh name="Head_2" file="Head_2.STL" />
<mesh name="Left_Arm_1" file="Left_Arm_1.STL" />
<mesh name="Left_Arm_2" file="Left_Arm_2.STL" />
<mesh name="Left_Arm_3" file="Left_Arm_3.STL" />
<mesh name="Left_Arm_4" file="Left_Arm_4.STL" />
<mesh name="Right_Arm_1" file="Right_Arm_1.STL" />
<mesh name="Right_Arm_2" file="Right_Arm_2.STL" />
<mesh name="Right_Arm_3" file="Right_Arm_3.STL" />
<mesh name="Right_Arm_4" file="Right_Arm_4.STL" />
<mesh name="Left_Hip_Pitch" file="Left_Hip_Pitch.STL" />
<mesh name="Left_Hip_Roll" file="Left_Hip_Roll.STL" />
<mesh name="Left_Hip_Yaw" file="Left_Hip_Yaw.STL" />
<mesh name="Left_Shank" file="Left_Shank.STL" />
<mesh name="Left_Ankle_Cross" file="Left_Ankle_Cross.STL" />
<mesh name="Left_Foot" file="Left_Foot.STL" />
<mesh name="Right_Hip_Pitch" file="Right_Hip_Pitch.STL" />
<mesh name="Right_Hip_Roll" file="Right_Hip_Roll.STL" />
<mesh name="Right_Hip_Yaw" file="Right_Hip_Yaw.STL" />
<mesh name="Right_Shank" file="Right_Shank.STL" />
<mesh name="Right_Ankle_Cross" file="Right_Ankle_Cross.STL" />
<mesh name="Right_Foot" file="Right_Foot.STL" />
</asset>
<default>
<default class="k1">
<geom condim="1" contype="0" conaffinity="0" material="medium_gray" />
<site rgba="1 0 0 1" size="0.01" group="5" />
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2" />
</default>
<default class="collision">
<geom group="3" mass="0" density="0"/>
<default class="foot">
<geom type="box" pos="0.014 0 -0.008" size="0.08 0.035 0.016" />
<default class="foot_sphere">
<geom contype="2" conaffinity="1" size=".01" type="sphere" />
</default>
</default>
</default>
<joint frictionloss="0.1" armature="0.005" />
<position inheritrange="1" />
<default class="head">
<joint actuatorfrcrange="-7 7" damping="2" />
<position kp="20" />
<default class="head_yaw">
<joint axis="0 0 1" range="-1 1" armature="0.002" />
</default>
<default class="head_pitch">
<joint axis="0 1 0" range="-0.35 1.22" />
</default>
</default>
<default class="shoulder">
<joint actuatorfrcrange="-18 18" damping="2" />
<position kp="20" />
<default class="shoulder_pitch">
<joint axis="0 1 0" range="-3.316 1.22" armature="0.05" />
</default>
<default class="shoulder_roll">
<joint axis="1 0 0" />
</default>
</default>
<default class="elbow">
<joint actuatorfrcrange="-18 18" damping="2" />
<position kp="20" />
<default class="elbow_pitch">
<joint axis="0 1 0" range="-2.27 2.27" armature="0.05" />
</default>
<default class="elbow_yaw">
<joint axis="0 0 1" />
</default>
</default>
<default class="waist">
<joint axis="0 0 1" range="-1.57 1.57" actuatorfrcrange="-30 30" damping="3" />
<position kp="50" />
</default>
<default class="hip">
<default class="hip_pitch">
<joint axis="0 1 0" range="-3 2.21" actuatorfrcrange="-45 45" damping="3" />
<position kp="30" />
</default>
<default class="hip_roll">
<joint axis="1 0 0" actuatorfrcrange="-30 30" damping="3" />
<position kp="30" />
</default>
<default class="hip_yaw">
<joint axis="0 0 1" range="-1 1" actuatorfrcrange="-30 30" damping="3" />
<position kp="30" />
</default>
</default>
<default class="knee">
<joint axis="0 1 0" range="0 2.34" actuatorfrcrange="-60 60" damping="3" />
<position kp="30" />
</default>
<default class="ankle">
<position kp="10" />
<joint damping="3" />
<default class="ankle_pitch">
<joint axis="0 1 0" range="-0.87 0.345" actuatorfrcrange="-20 20" />
</default>
<default class="ankle_roll">
<joint axis="1 0 0" range="-0.345 0.345" actuatorfrcrange="-15 15" />
</default>
</default>
</default>
</default>
<worldbody>
<body name="Trunk" pos="0 0 -.55" childclass="k1">
<site name='imu' size='0.01' pos='0.0 0.0 0.0' />
<inertial pos="-0.0043392 -0.00065534 0.065686"
quat="0.999896 -0.00411546 0.0137413 -0.00168959" mass="6.3921"
diaginertia="0.0962166 0.0895166 0.0201248" />
<freejoint name="root" />
<camera name="track" pos="1.248 -0.947 0.5" xyaxes="0.628 0.779 -0.000 -0.274 0.221 0.936" mode="trackcom" />
<geom name="Trunk" class="visual" material="light_gray" mesh="Trunk" />
<geom contype="2" conaffinity="1" class="collision" size="0.06 0.09 0.1" pos="0 0 0.1" type="box" />
<geom size="0.05 0.05" pos="0 0 -0.06" quat="0.707105 0.707108 0 0" type="cylinder" />
<body name="Head_1" pos="0.0056 0 0.2149">
<inertial pos="-0.00069503 -0.00038527 0.031688"
quat="0.993827 -0.00957801 0.00894723 -0.110168" mass="0.29729"
diaginertia="0.000429546 0.000420659 0.000125795" />
<joint name="AAHead_yaw" class="head_yaw" />
<geom class="visual" mesh="Head_1" />
<body name="Head_2" pos="0 0 0.033">
<inertial pos="0.011042 -0.00092871 0.080698"
quat="0.996402 -0.00118413 -0.0779414 -0.0332651" mass="0.61387"
diaginertia="0.00603249 0.00577511 0.0017024" />
<joint name="Head_pitch" class="head_pitch" />
<camera name="k1_head" pos="0.1 0 0" quat="0.5 0.5 -0.5 -0.5" mode="fixed" />
<geom class="visual" mesh="Head_2" />
<geom contype="2" conaffinity="1" class="collision" size="0.08" pos="0.01 0 0.11" />
</body>
</body>
<body name="Left_Arm_1" pos="0 0.077 0.1845">
<inertial pos="-0.002701 0.062383 -0.011965" quat="0.578658 0.689818 -0.347436 0.261905"
mass="0.45628" diaginertia="0.00223871 0.00217107 0.000254225" />
<site name="left_arm_center" pos="0 0 0" size="0.01" rgba="1 0.3 0.3 1" group="2" />
<joint name="ALeft_Shoulder_Pitch" class="shoulder_pitch" />
<geom class="visual" material="light_gray" mesh="Left_Arm_1" />
<body name="Left_Arm_2" pos="0.0025 0.068 -0.0135">
<inertial pos="0.01729 0.018221 -4.329e-05" quat="0.413453 0.573635 -0.413453 0.573635"
mass="0.084303" diaginertia="0.000113 9.5e-05 6.5e-05" />
<joint name="Left_Shoulder_Roll" range="-1.74 1.57" class="shoulder_roll" />
<geom class="visual" mesh="Left_Arm_2" />
<body name="Left_Arm_3" pos="0 0.044428 0">
<inertial pos="-0.0003979 0.072617 -0.00066218"
quat="0.679502 0.689551 0.177403 -0.176989" mass="0.76208"
diaginertia="0.00606947 0.00606767 0.000385851" />
<joint name="Left_Elbow_Pitch" class="elbow_pitch" />
<geom class="visual" mesh="Left_Arm_3" />
<geom contype="2" conaffinity="1" class="collision" size="0.03 0.075" pos="0 0.05 0" quat="0.707105 0.707108 0 0"
type="cylinder" />
<body name="left_hand_link" pos="0 0.1215 0">
<inertial pos="-0.0015751 0.084637 0.0087033"
quat="0.712106 0.700961 0.0264125 -0.0293496" mass="0.16796"
diaginertia="0.00205619 0.00202933 8.1482e-05" />
<joint name="Left_Elbow_Yaw" range="-2.44 0" class="elbow_yaw" />
<geom class="visual" mesh="Left_Arm_4" />
<geom contype="2" conaffinity="1" class="collision" size="0.03 0.0875" pos="0 0.13 0" quat="0.707105 0.707108 0 0"
type="cylinder" />
<site name="left_hand" pos="0 .215 0" />
</body>
</body>
</body>
</body>
<body name="Right_Arm_1" pos="0 -0.077 0.1845">
<inertial pos="-0.0026302 -0.06251 -0.01199" quat="0.689302 0.577958 -0.263425 0.348475"
mass="0.45669" diaginertia="0.00224439 0.00217742 0.000255199" />
<site name="right_arm_center" pos="0 0 0" size="0.01" rgba="1 0.3 0.3 1" group="2" />
<joint name="ARight_Shoulder_Pitch" class="shoulder_pitch" />
<geom class="visual" material="light_gray" mesh="Right_Arm_1" />
<body name="Right_Arm_2" pos="0.0025 -0.068 -0.0135">
<inertial pos="0.017229 -0.018428 4.3784e-05" quat="0.573635 0.413453 -0.573635 0.413453"
mass="0.083353" diaginertia="0.000113 9.5e-05 6.5e-05" />
<joint name="Right_Shoulder_Roll" range="-1.57 1.74" class="shoulder_roll" />
<geom class="visual" mesh="Right_Arm_2" />
<body name="Right_Arm_3" pos="0 -0.044428 0">
<inertial pos="-0.00039919 -0.072601 -0.00065629"
quat="0.689551 0.679502 0.176989 -0.177403" mass="0.76234"
diaginertia="0.00607047 0.00606867 0.000386851" />
<joint name="Right_Elbow_Pitch" class="elbow_pitch" />
<geom class="visual" mesh="Right_Arm_3" />
<geom contype="2" conaffinity="1" class="collision" size="0.03 0.075" pos="0 -0.05 0" quat="0.707105 0.707108 0 0"
type="cylinder" />
<body name="right_hand_link" pos="0 -0.1215 0">
<inertial pos="-0.0015177 -0.084536 0.0086733"
quat="0.700925 0.712091 0.0296562 -0.0274245" mass="0.16828"
diaginertia="0.00205618 0.00203032 8.14943e-05" />
<joint name="Right_Elbow_Yaw" range="0 2.44" class="elbow_yaw" />
<geom class="visual" mesh="Right_Arm_4" />
<geom contype="2" conaffinity="1" class="collision" size="0.03 0.0875" pos="0 -0.13 0"
quat="0.707105 0.707108 0 0" type="cylinder" />
<site name="right_hand" pos="0 -.215 0" />
</body>
</body>
</body>
</body>
<body name="Hip_Pitch_Left" pos="0 0.096 -0.062">
<inertial pos="-0.010093 -0.0019934 -0.024713" quat="0.704206 -0.178798 -0.198986 0.65767"
mass="0.64068" diaginertia="0.000987585 0.000880963 0.000503452" />
<joint name="Left_Hip_Pitch" class="hip_pitch" />
<geom class="visual" material="light_gray" mesh="Left_Hip_Pitch" />
<body name="Hip_Roll_Left" pos="0 0 -0.026">
<inertial pos="0.023585 4.9e-05 -0.024996" quat="0.677218 0.203412 0.203412 0.677218"
mass="0.127825" diaginertia="0.000262 0.000222694 0.000118306" />
<joint name="Left_Hip_Roll" range="-0.4 1.57" class="hip_roll" />
<geom class="visual" mesh="Left_Hip_Roll" />
<body name="Hip_Yaw_Left" pos="0.012 0 -0.0485">
<inertial pos="-0.0084744 -0.0040494 -0.087906"
quat="0.857995 -0.00590801 -0.0582713 0.510308" mass="1.5591"
diaginertia="0.0162716 0.0158564 0.00134895" />
<joint name="Left_Hip_Yaw" class="hip_yaw" />
<geom class="visual" mesh="Left_Hip_Yaw" />
<geom class="collision" size="0.05 0.08" type="cylinder" />
<body name="Shank_Left" pos="-0.014 0 -0.117">
<inertial pos="-0.00081083 0.0031459 -0.10922"
quat="0.940563 -0.00388906 -0.00385774 0.339574" mass="1.48333"
diaginertia="0.0237114 0.0236423 0.00123731" />
<joint name="Left_Knee_Pitch" class="knee" />
<geom class="visual" mesh="Left_Shank" />
<geom class="collision" size="0.05 0.075" pos="0 0 -0.12" type="cylinder" />
<body name="Ankle_Cross_Left" pos="0.00019706 0.0002 -0.24519">
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.038836"
diaginertia="4e-06 4e-06 2e-06" />
<joint name="Left_Ankle_Pitch" class="ankle_pitch" />
<geom class="visual" mesh="Left_Ankle_Cross" />
<body name="left_foot_link">
<inertial pos="7.3589e-05 -4.1141e-06 -0.0075032" quat="0 0.674609 0 0.738175"
mass="0.38305" diaginertia="0.000789779 0.000741 0.000197221" />
<joint name="Left_Ankle_Roll" class="ankle_roll" />
<geom class="visual" mesh="Left_Foot" />
<geom name="left_foot" class="foot" />
<site name="left_foot" />
<geom name="left_foot_1" class="foot_sphere" pos="0.07 0.04 -0.02" />
<geom name="left_foot_2" class="foot_sphere" pos="0.07 -0.04 -0.02" />
<geom name="left_foot_3" class="foot_sphere" pos="-0.07 0.04 -0.02" />
<geom name="left_foot_4" class="foot_sphere" pos="-0.07 -0.04 -0.02" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="Hip_Pitch_Right" pos="0 -0.096 -0.062">
<inertial pos="-0.010065 0.0020086 -0.024739" quat="0.656712 -0.199052 -0.176963 0.705544"
mass="0.6413" diaginertia="0.000988671 0.000880749 0.00050458" />
<joint name="Right_Hip_Pitch" class="hip_pitch" />
<geom class="visual" material="light_gray" mesh="Right_Hip_Pitch" />
<body name="Hip_Roll_Right" pos="0 0 -0.026">
<inertial pos="0.023585 4.9e-05 -0.024996" quat="0.677218 0.203412 0.203412 0.677218"
mass="0.127825" diaginertia="0.000262 0.000222694 0.000118306" />
<joint name="Right_Hip_Roll" range="-1.57 0.4" class="hip_roll" />
<geom class="visual" mesh="Right_Hip_Roll" />
<body name="Hip_Yaw_Right" pos="0.012 0 -0.0485">
<inertial pos="-0.008475 0.0040392 -0.087906"
quat="0.510308 -0.0582713 -0.00590801 0.857995" mass="1.5592"
diaginertia="0.0162716 0.0158564 0.00134895" />
<joint name="Right_Hip_Yaw" class="hip_yaw" />
<geom class="visual" mesh="Right_Hip_Yaw" />
<geom class="collision" size="0.05 0.08" type="cylinder" />
<body name="Shank_Right" pos="-0.014 0 -0.117">
<inertial pos="-0.000805 -0.003146 -0.109215"
quat="0.940537 0.00388176 -0.00383651 -0.339646" mass="1.48334"
diaginertia="0.0237114 0.0236423 0.00123733" />
<joint name="Right_Knee_Pitch" class="knee" />
<geom class="visual" mesh="Right_Shank" />
<geom class="collision" size="0.05 0.075" pos="0 0 -0.12" type="cylinder" />
<body name="Ankle_Cross_Right" pos="0.00019706 -0.0002 -0.24519">
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.038836"
diaginertia="4e-06 4e-06 2e-06" />
<joint name="Right_Ankle_Pitch" class="ankle_pitch" />
<geom class="visual" mesh="Right_Ankle_Cross" />
<body name="right_foot_link">
<inertial pos="-0.000178 -2e-06 -0.007291" quat="0 0.674109 0 0.738632"
mass="0.38637" diaginertia="0.000794943 0.000745 0.000200057" />
<joint name="Right_Ankle_Roll" class="ankle_roll" />
<geom class="visual" mesh="Right_Foot" />
<geom name="right_foot" class="foot" />
<site name="right_foot" />
<geom name="right_foot_1" class="foot_sphere" pos="0.07 0.04 -0.02" />
<geom name="right_foot_2" class="foot_sphere" pos="0.07 -0.04 -0.02" />
<geom name="right_foot_3" class="foot_sphere" pos="-0.07 0.04 -0.02" />
<geom name="right_foot_4" class="foot_sphere" pos="-0.07 -0.04 -0.02" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor class="head_yaw" name="AAHead_yaw" joint="AAHead_yaw" ctrllimited="true"
ctrlrange="-50 50" />
<motor class="head_pitch" name="Head_pitch" joint="Head_pitch" ctrllimited="true"
ctrlrange="-50 50" />
<motor class="shoulder_pitch" name="ALeft_Shoulder_Pitch" joint="ALeft_Shoulder_Pitch"
ctrllimited="true" ctrlrange="-50 50" />
<motor class="shoulder_roll" name="Left_Shoulder_Roll" joint="Left_Shoulder_Roll"
ctrllimited="true" ctrlrange="-50 50" />
<motor class="elbow_pitch" name="Left_Elbow_Pitch" joint="Left_Elbow_Pitch" ctrllimited="true"
ctrlrange="-50 50" />
<motor class="elbow_yaw" name="Left_Elbow_Yaw" joint="Left_Elbow_Yaw" ctrllimited="true"
ctrlrange="-50 50" />
<motor class="shoulder_pitch" name="ARight_Shoulder_Pitch" joint="ARight_Shoulder_Pitch"
ctrllimited="true" ctrlrange="-50 50" />
<motor class="shoulder_roll" name="Right_Shoulder_Roll" joint="Right_Shoulder_Roll"
ctrllimited="true" ctrlrange="-50 50" />
<motor class="elbow_pitch" name="Right_Elbow_Pitch" joint="Right_Elbow_Pitch" ctrllimited="true"
ctrlrange="-50 50" />
<motor class="elbow_yaw" name="Right_Elbow_Yaw" joint="Right_Elbow_Yaw" ctrllimited="true"
ctrlrange="-50 50" />
<motor class="hip_pitch" name="Left_Hip_Pitch" joint="Left_Hip_Pitch" ctrllimited="true"
ctrlrange="-50 50" />
<motor class="hip_roll" name="Left_Hip_Roll" joint="Left_Hip_Roll" ctrllimited="true"
ctrlrange="-50 50" />
<motor class="hip_yaw" name="Left_Hip_Yaw" joint="Left_Hip_Yaw" ctrllimited="true"
ctrlrange="-50 50" />
<motor class="knee" name="Left_Knee_Pitch" joint="Left_Knee_Pitch" ctrllimited="true"
ctrlrange="-50 50" />
<motor class="ankle_pitch" name="Left_Ankle_Pitch" joint="Left_Ankle_Pitch" ctrllimited="true"
ctrlrange="-50 50" />
<motor class="ankle_roll" name="Left_Ankle_Roll" joint="Left_Ankle_Roll" ctrllimited="true"
ctrlrange="-50 50" />
<motor class="hip_pitch" name="Right_Hip_Pitch" joint="Right_Hip_Pitch" ctrllimited="true"
ctrlrange="-50 50" />
<motor class="hip_roll" name="Right_Hip_Roll" joint="Right_Hip_Roll" ctrllimited="true"
ctrlrange="-50 50" />
<motor class="hip_yaw" name="Right_Hip_Yaw" joint="Right_Hip_Yaw" ctrllimited="true"
ctrlrange="-50 50" />
<motor class="knee" name="Right_Knee_Pitch" joint="Right_Knee_Pitch" ctrllimited="true"
ctrlrange="-50 50" />
<motor class="ankle_pitch" name="Right_Ankle_Pitch" joint="Right_Ankle_Pitch" ctrllimited="true"
ctrlrange="-50 50" />
<motor class="ankle_roll" name="Right_Ankle_Roll" joint="Right_Ankle_Roll" ctrllimited="true"
ctrlrange="-50 50" />
</actuator>
<sensor>
<gyro site="imu" name="torso_gyro" />
<velocimeter site="imu" name="torso_vel" />
<accelerometer site="imu" name="accelerometer" />
<framezaxis objtype="site" objname="imu" name="upvector" />
<framexaxis objtype="site" objname="imu" name="forwardvector" />
<framelinvel objtype="site" objname="imu" name="global_linvel" />
<frameangvel objtype="site" objname="imu" name="global_angvel" />
<framepos objtype="site" objname="imu" name="position" />
<framequat objtype="site" objname="imu" name="torso_quat" />
</sensor>
</mujoco>
|
<mujoco model="T1">
<include file="../common/scene.xml"/>
<include file="../common/mimic_sites.xml"/>
<compiler angle="radian" meshdir="meshes" autolimits="true"/>
<asset>
<material name="light_gray" rgba="0.76 0.76 0.76 1" />
<material name="medium_gray" rgba="0.4 0.4 0.4 1" />
<mesh file="Trunk.STL" />
<mesh file="H1.STL" />
<mesh file="H2.STL" />
<mesh file="AL1.STL" />
<mesh file="AL2.STL" />
<mesh file="AL3.STL" />
<mesh file="left_hand_link.STL" />
<mesh file="AR1.STL" />
<mesh file="AR2.STL" />
<mesh file="AR3.STL" />
<mesh file="right_hand_link.STL" />
<mesh file="Waist.STL" />
<mesh file="Hip_Pitch_Left.STL" />
<mesh file="Hip_Roll_Left.STL" />
<mesh file="Hip_Yaw_Left.STL" />
<mesh file="Shank_Left.STL" />
<mesh file="Ankle_Cross_Left.STL" />
<mesh file="left_foot_link.STL" />
<mesh file="Hip_Pitch_Right.STL" />
<mesh file="Hip_Roll_Right.STL" />
<mesh file="Hip_Yaw_Right.STL" />
<mesh file="Shank_Right.STL" />
<mesh file="Ankle_Cross_Right.STL" />
<mesh file="right_foot_link.STL" />
</asset>
<default>
<default class="t1">
<geom material="medium_gray" />
<site rgba="1 0 0 1" size="0.01" group="5" />
<joint frictionloss="0.1" armature="0.005" />
<position inheritrange="1" kp="75" kv="5" />
<motor ctrllimited="true" ctrlrange="-50 50" />
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2" />
</default>
<default class="collision">
<geom group="3" />
</default>
</default>
</default>
<worldbody>
<body name="Trunk" pos="0 0 -0.7" childclass="t1">
<inertial pos="0.054281 8.47449e-06 0.0893932" quat="0.999999 -0.000254757 -0.00132228 -0.000215148" mass="19.4304" diaginertia="0.502019 0.3531 0.207324" />
<site name='imu' size='0.01' pos='0.0 0.0 0.0' />
<freejoint name="root"/>
<geom name="Trunk" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.76 0.76 0.76 1.0" mesh="Trunk" />
<geom size="0.075 0.1 0.15" pos="0.06 0 0.12" type="box" rgba="0.76 0.76 0.76 0.0" />
<geom pos="0.0625 0 0.243" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="H1" />
<camera name="egocentric" pos="0.0625 0 0.243" fovy="80"/>
<geom pos="0.0625 0 0.30485" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="H2" />
<geom pos="0.0575 0.1063 0.219" quat="0.995004 0 0.0998334 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.76 0.76 0.76 1.0" mesh="AL1" />
<geom pos="0.0575 0.1533 0.219" quat="0.776807 -0.621775 0.0779406 0.0623856" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="AL2" />
<geom pos="0.0460173 0.16655 0.161096" quat="0.776807 -0.621775 0.0779406 0.0623856" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="AL3" />
<geom pos="0.0175025 0.198766 0.0204279" quat="0.768092 -0.621729 -0.078312 -0.131739" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="left_hand_link" />
<geom pos="0.0575 -0.1063 0.219" quat="0.995004 0 0.0998334 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.76 0.76 0.76 1.0" mesh="AR1" />
<geom pos="0.0575 -0.1533 0.219" quat="0.776807 0.621775 0.0779406 -0.0623856" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="AR2" />
<geom pos="0.0460173 -0.16655 0.161096" quat="0.776807 0.621775 0.0779406 -0.0623856" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="AR3" />
<geom pos="0.0175025 -0.198766 0.0204279" quat="0.768092 0.621729 -0.078312 0.131739" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="right_hand_link" />
<geom pos="0.0625 0 -0.1155" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="Waist" />
<body name="Hip_Pitch_Left" pos="0.0625 0.106 -0.1155">
<inertial pos="0.000534 -0.007296 -0.018083" quat="0.975141 0.2211 0.0145808 0.0017406" mass="1.021" diaginertia="0.00180547 0.00145926 0.00125327" />
<joint name="Left_Hip_Pitch" pos="0 0 0" axis="0 1 0" limited="true" range="-1.8 1.57" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.76 0.76 0.76 1.0" mesh="Hip_Pitch_Left" />
<body name="Hip_Roll_Left" pos="0 0 -0.02">
<inertial pos="0.001101 2.4e-05 -0.05375" quat="0.707081 -0.00599604 -0.00599604 0.707081" mass="0.385" diaginertia="0.001743 0.00151729 0.000514712" />
<joint name="Left_Hip_Roll" pos="0 0 0" axis="1 0 0" limited="true" range="-0.3 1.57" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="Hip_Roll_Left" />
<body name="Hip_Yaw_Left" pos="0 0 -0.081854">
<inertial pos="-0.007233 0.000206 -0.089184" quat="0.696808 -0.033953 -0.0315708 0.715758" mass="2.166" diaginertia="0.0257334 0.0253024 0.00259215" />
<joint name="Left_Hip_Yaw" pos="0 0 0" axis="0 0 1" limited="true" range="-1 1" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="Hip_Yaw_Left" />
<geom size="0.05 0.08" type="cylinder" rgba="0.4 0.4 0.4 0.0" />
<body name="Shank_Left" pos="-0.014 0 -0.134">
<inertial pos="-0.006012 0.000259 -0.124318" quat="0.997573 0.00144024 -0.023949 0.0653706" mass="1.73" diaginertia="0.0346951 0.0345375 0.00185844" />
<joint name="Left_Knee_Pitch" pos="0 0 0" axis="0 1 0" limited="true" range="0 2.34" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="Shank_Left" />
<geom size="0.05 0.075" pos="0 0 -0.12" type="cylinder" rgba="0.4 0.4 0.4 0.0" />
<body name="Ankle_Cross_Left" pos="0 0 -0.28">
<inertial pos="-0.003722 0 -0.007981" quat="0.443136 0.551027 0.551027 0.443136" mass="0.073" diaginertia="2.9e-05 2.56589e-05 1.13411e-05" />
<joint name="Left_Ankle_Pitch" pos="0 0 0" axis="0 1 0" limited="true" range="-0.87 0.35" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 0.0" mesh="Ankle_Cross_Left" />
<body name="left_foot_link" pos="0 0.00025 -0.012">
<site name="left_foot"/>
<inertial pos="-0.000249 0 -0.00914" quat="0 0.651138 0 0.75896" mass="0.685" diaginertia="0.00269361 0.002385 0.00171539" />
<joint name="Left_Ankle_Roll" pos="0 0 0" axis="1 0 0" limited="true" range="-0.44 0.44" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="left_foot_link" />
<geom size="0.1115 0.05 0.015" pos="0.01 0 -0.015" type="box" rgba="0.4 0.4 0.4 0.0" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="Hip_Pitch_Right" pos="0.0625 -0.106 -0.1155">
<inertial pos="0.000534 0.007514 -0.018082" quat="0.973446 -0.228403 0.0147148 -0.00419349" mass="1.021" diaginertia="0.00180552 0.0014632 0.00124928" />
<joint name="Right_Hip_Pitch" pos="0 0 0" axis="0 1 0" limited="true" range="-1.8 1.57" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.76 0.76 0.76 1.0" mesh="Hip_Pitch_Right" />
<body name="Hip_Roll_Right" pos="0 0 -0.02">
<inertial pos="0.001099 2.4e-05 -0.053748" quat="0.707081 -0.00599604 -0.00599604 0.707081" mass="0.385" diaginertia="0.001743 0.00151729 0.000514712" />
<joint name="Right_Hip_Roll" pos="0 0 0" axis="1 0 0" limited="true" range="-1.57 0.3" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="Hip_Roll_Right" />
<body name="Hip_Yaw_Right" pos="0 0 -0.081854">
<inertial pos="-0.007191 -0.000149 -0.08922" quat="0.714468 -0.0315638 -0.0336391 0.698146" mass="2.17" diaginertia="0.0257623 0.0253298 0.00259389" />
<joint name="Right_Hip_Yaw" pos="0 0 0" axis="0 0 1" limited="true" range="-1 1" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="Hip_Yaw_Right" />
<geom size="0.05 0.08" type="cylinder" rgba="0.4 0.4 0.4 0.0" />
<body name="Shank_Right" pos="-0.014 0 -0.134">
<inertial pos="-0.005741 -0.000541 -0.122602" quat="0.99926 -0.000580963 -0.023461 -0.0304754" mass="1.79" diaginertia="0.0351717 0.0349574 0.00196589" />
<joint name="Right_Knee_Pitch" pos="0 0 0" axis="0 1 0" limited="true" range="0 2.34" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="Shank_Right" />
<geom size="0.05 0.075" pos="0 0 -0.12" type="cylinder" rgba="0.4 0.4 0.4 0.0" />
<body name="Ankle_Cross_Right" pos="0 0 -0.28">
<inertial pos="-0.003722 0 -0.007981" quat="0.443136 0.551027 0.551027 0.443136" mass="0.073" diaginertia="2.9e-05 2.56589e-05 1.13411e-05" />
<joint name="Right_Ankle_Pitch" pos="0 0 0" axis="0 1 0" limited="true" range="-0.87 0.35" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="Ankle_Cross_Right" />
<body name="right_foot_link" pos="0 -0.00025 -0.012">
<site name="right_foot"/>
<inertial pos="-0.000248 0 -0.00914" quat="0 0.651138 0 0.75896" mass="0.685" diaginertia="0.00269361 0.002385 0.00171539" />
<joint name="Right_Ankle_Roll" pos="0 0 0" axis="1 0 0" limited="true" range="-0.44 0.44" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.4 0.4 0.4 1.0" mesh="right_foot_link" />
<geom size="0.1115 0.05 0.015" pos="0.01 0 -0.015" type="box" rgba="0.4 0.4 0.4 0.0" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="Left_Hip_Pitch" joint="Left_Hip_Pitch" ctrlrange="-45.0 45.0" ctrllimited="true" />
<motor name="Left_Hip_Roll" joint="Left_Hip_Roll" ctrlrange="-45.0 45.0" ctrllimited="true" />
<motor name="Left_Hip_Yaw" joint="Left_Hip_Yaw" ctrlrange="-30.0 30.0" ctrllimited="true" />
<motor name="Left_Knee_Pitch" joint="Left_Knee_Pitch" ctrlrange="-65.0 65.0" ctrllimited="true" />
<motor name="Left_Ankle_Pitch" joint="Left_Ankle_Pitch" ctrlrange="-24.0 24.0" ctrllimited="true" />
<motor name="Left_Ankle_Roll" joint="Left_Ankle_Roll" ctrlrange="-15.0 15.0" ctrllimited="true" />
<motor name="Right_Hip_Pitch" joint="Right_Hip_Pitch" ctrlrange="-45.0 45.0" ctrllimited="true" />
<motor name="Right_Hip_Roll" joint="Right_Hip_Roll" ctrlrange="-45.0 45.0" ctrllimited="true" />
<motor name="Right_Hip_Yaw" joint="Right_Hip_Yaw" ctrlrange="-30.0 30.0" ctrllimited="true" />
<motor name="Right_Knee_Pitch" joint="Right_Knee_Pitch" ctrlrange="-65.0 65.0" ctrllimited="true" />
<motor name="Right_Ankle_Pitch" joint="Right_Ankle_Pitch" ctrlrange="-24.0 24.0" ctrllimited="true" />
<motor name="Right_Ankle_Roll" joint="Right_Ankle_Roll" ctrlrange="-15.0 15.0" ctrllimited="true" />
</actuator>
<sensor>
<gyro site="imu" name="torso_gyro" />
<velocimeter site="imu" name="torso_vel" />
<accelerometer site="imu" name="accelerometer" />
<framezaxis objtype="site" objname="imu" name="upvector" />
<framexaxis objtype="site" objname="imu" name="forwardvector" />
<framelinvel objtype="site" objname="imu" name="global_linvel" />
<frameangvel objtype="site" objname="imu" name="global_angvel" />
<framepos objtype="site" objname="imu" name="position" />
<framequat objtype="site" objname="imu" name="torso_quat" />
</sensor>
</mujoco>
|
<mujoco model="T1">
<include file="../common/scene.xml"/>
<include file="../common/mimic_sites.xml"/>
<compiler angle="radian" meshdir="meshes" autolimits="true"/>
<option integrator="implicitfast"/>
<asset>
<material name="light_gray" rgba="0.76 0.76 0.76 1"/>
<material name="medium_gray" rgba="0.4 0.4 0.4 1"/>
<mesh file="Trunk.STL"/>
<mesh file="H1.STL"/>
<mesh file="H2.STL"/>
<mesh file="AL1.STL"/>
<mesh file="AL2.STL"/>
<mesh file="AL3.STL"/>
<mesh file="left_hand_link.STL"/>
<mesh file="AR1.STL"/>
<mesh file="AR2.STL"/>
<mesh file="AR3.STL"/>
<mesh file="right_hand_link.STL"/>
<mesh file="Waist.STL"/>
<mesh file="Hip_Pitch_Left.STL"/>
<mesh file="Hip_Roll_Left.STL"/>
<mesh file="Hip_Yaw_Left.STL"/>
<mesh file="Shank_Left.STL"/>
<mesh file="Ankle_Cross_Left.STL"/>
<mesh file="left_foot_link.STL"/>
<mesh file="Hip_Pitch_Right.STL"/>
<mesh file="Hip_Roll_Right.STL"/>
<mesh file="Hip_Yaw_Right.STL"/>
<mesh file="Shank_Right.STL"/>
<mesh file="Ankle_Cross_Right.STL"/>
<mesh file="right_foot_link.STL"/>
</asset>
<default>
<default class="t1">
<geom material="medium_gray"/>
<site rgba="1 0 0 1" size="0.01" group="5"/>
<joint damping="1" armature="0.1"/>
<motor ctrllimited="true" ctrlrange="-50 50"/>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="0"/>
</default>
<default class="collision">
<geom group="3"/>
</default>
</default>
</default>
<worldbody>
<body name="Trunk" pos="0 0 .675" childclass="t1">
<light name="spotlight" mode="trackcom" pos="0 -2 50" dir="0 0 -1"/>
<site name="upper_body_mimic" class="mimic" pos="0.075 0.0 0.2"/>
<freejoint name="root"/>
<inertial pos="0.0551365 -1.42058e-06 0.105062" quat="0.99996 1.40561e-05 -0.00899532 -1.39249e-05" mass="11.7"
diaginertia="0.0915404 0.0767787 0.0556055"/>
<site name="imu"/>
<geom class="visual" material="light_gray" mesh="Trunk"/>
<geom class="collision" size="0.075 0.1 0.15" pos="0.06 0 0.12" type="box"/>
<body name="H1" pos="0.0625 0 0.243">
<inertial pos="-0.000508 -0.001403 0.057432" quat="0.763881 -0.0132172 0.00173419 0.645219" mass="0.44391"
diaginertia="0.000241549 0.00022351 0.000149941"/>
<joint name="AAHead_yaw" axis="0 0 1" range="-1.57 1.57" actuatorfrcrange="-7 7"/>
<geom class="visual" mesh="H1"/>
<body name="H2" pos="0 0 0.06185">
<site name="head_mimic" class="mimic" pos="0.0 0.0 0.08"/>
<inertial pos="0.007802 0.001262 0.098631" quat="0.988453 0.106172 -0.0745686 -0.0782786" mass="0.631019"
diaginertia="0.00203553 0.00192467 0.00172381"/>
<joint name="Head_pitch" axis="0 1 0" range="-0.35 1.22" actuatorfrcrange="-7 7"/>
<geom class="visual" mesh="H2"/>
<geom class="collision" size="0.08" pos="0.01 0 0.11"/>
</body>
</body>
<body name="AL1" pos="0.0575 0.1063 0.219" quat="1 0 0.000440565 0">
<inertial pos="-0.000677 0.044974 0" quat="0.50423 0.495734 -0.50423 0.495734" mass="0.53"
diaginertia="0.001367 0.00129329 0.000292711"/>
<joint name="Left_Shoulder_Pitch" axis="0 1 0" range="-3.31 1.22" actuatorfrcrange="-18 18"/>
<geom class="visual" material="light_gray" mesh="AL1"/>
<body name="AL2" pos="0 0.047 0">
<site name="left_shoulder_mimic" class="mimic" pos="0.0 0.0 0.0"/>
<inertial pos="0.003862 0.037976 0" quat="0.487991 0.511727 -0.487991 0.511727" mass="0.16"
diaginertia="0.000401 0.00034538 0.00017662"/>
<joint name="Left_Shoulder_Roll" axis="1 0 0" range="-1.74 1.57" actuatorfrcrange="-18 18"/>
<geom class="visual" mesh="AL2"/>
<body name="AL3" pos="0.00025 0.0605 0">
<inertial pos="0 0.085353 -9.9e-05" quat="0.70641 0.707803 0 0" mass="1.02"
diaginertia="0.012869 0.012798 0.000620953"/>
<joint name="Left_Elbow_Pitch" axis="0 1 0" range="-2.27 2.27" actuatorfrcrange="-18 18"/>
<geom class="visual" mesh="AL3"/>
<geom class="collision" size="0.03 0.075" pos="0 0.05 0" quat="0.707105 0.707108 0 0" type="cylinder"/>
<body name="left_hand_link" pos="0 0.1471 0">
<site name="left_elbow_mimic" class="mimic" pos="0.0 0.0 0.0"/>
<site name="left_hand_mimic" class="mimic" pos="0.0 0.2 0.0"/>
<inertial pos="-0.000108 0.109573 0.000591" quat="0.707866 0.706347 -5.22939e-05 -0.000214913"
mass="0.327214" diaginertia="0.008159 0.00813104 0.000214962"/>
<joint name="Left_Elbow_Yaw" axis="0 0 1" range="-2.44 0" actuatorfrcrange="-18 18"/>
<geom class="visual" mesh="left_hand_link"/>
<geom class="collision" size="0.03 0.0875" pos="0 0.13 0" quat="0.707105 0.707108 0 0" type="cylinder"/>
</body>
</body>
</body>
</body>
<body name="AR1" pos="0.0575 -0.1063 0.219" quat="1 0 0.000440565 0">
<inertial pos="-0.000677 -0.044974 0" quat="0.50423 0.495734 -0.50423 0.495734" mass="0.53"
diaginertia="0.001367 0.00129329 0.000292711"/>
<joint name="Right_Shoulder_Pitch" axis="0 1 0" range="-3.31 1.22" actuatorfrcrange="-18 18"/>
<geom class="visual" material="light_gray" mesh="AR1"/>
<body name="AR2" pos="0 -0.047 0">
<site name="right_shoulder_mimic" class="mimic" pos="0.0 0.0 0.0"/>
<inertial pos="0.003862 -0.037976 0" quat="0.511727 0.487991 -0.511727 0.487991" mass="0.16"
diaginertia="0.000401 0.00034538 0.00017662"/>
<joint name="Right_Shoulder_Roll" axis="1 0 0" range="-1.57 1.74" actuatorfrcrange="-18 18"/>
<geom class="visual" mesh="AR2"/>
<body name="AR3" pos="0.00025 -0.0605 0">
<inertial pos="0 -0.085353 -9.9e-05" quat="0.707803 0.70641 0 0" mass="1.02"
diaginertia="0.012869 0.012798 0.000620953"/>
<joint name="Right_Elbow_Pitch" axis="0 1 0" range="-2.27 2.27" actuatorfrcrange="-18 18"/>
<geom class="visual" mesh="AR3"/>
<geom class="collision" size="0.03 0.075" pos="0 -0.05 0" quat="0.707105 0.707108 0 0" type="cylinder"/>
<body name="right_hand_link" pos="0 -0.1471 0">
<site name="right_elbow_mimic" class="mimic" pos="0.0 0.0 0.0"/>
<site name="right_hand_mimic" class="mimic" pos="0.0 -0.2 0.0"/>
<inertial pos="-0.000108 -0.109573 0.000591" quat="0.706347 0.707866 0.000214913 5.22939e-05"
mass="0.327214" diaginertia="0.008159 0.00813104 0.000214962"/>
<joint name="Right_Elbow_Yaw" axis="0 0 1" range="0 2.44" actuatorfrcrange="-18 18"/>
<geom class="visual" mesh="right_hand_link"/>
<geom class="collision" size="0.03 0.0875" pos="0 -0.13 0" quat="0.707105 0.707108 0 0" type="cylinder"/>
</body>
</body>
</body>
</body>
<body name="Waist" pos="0.0625 0 -0.1155">
<site name="pelvis_mimic" class="mimic"/>
<inertial pos="0.002284 3e-06 0.007301" quat="0.983649 0.000360386 -0.180076 0.00269791" mass="2.581"
diaginertia="0.00536742 0.005299 0.00474258"/>
<joint name="Waist" axis="0 0 1" range="-1.57 1.57" actuatorfrcrange="-30 30"/>
<geom class="visual" mesh="Waist"/>
<body name="Hip_Pitch_Left" pos="0 0.106 0">
<inertial pos="0.000534 -0.007296 -0.018083" quat="0.975141 0.2211 0.0145808 0.0017406" mass="1.021"
diaginertia="0.00180547 0.00145926 0.00125327"/>
<joint name="Left_Hip_Pitch" axis="0 1 0" range="-1.8 1.57" actuatorfrcrange="-45 45"/>
<geom class="visual" material="light_gray" mesh="Hip_Pitch_Left"/>
<body name="Hip_Roll_Left" pos="0 0 -0.02">
<site name="left_hip_mimic" class="mimic" pos="0.0 0.0 0.0"/>
<inertial pos="0.001101 2.4e-05 -0.05375" quat="0.707081 -0.00599604 -0.00599604 0.707081" mass="0.385"
diaginertia="0.001743 0.00151729 0.000514712"/>
<joint name="Left_Hip_Roll" axis="1 0 0" range="-0.2 1.57" actuatorfrcrange="-30 30"/>
<geom class="visual" mesh="Hip_Roll_Left"/>
<body name="Hip_Yaw_Left" pos="0 0 -0.081854">
<inertial pos="-0.007233 0.000206 -0.089184" quat="0.696808 -0.033953 -0.0315708 0.715758" mass="2.166"
diaginertia="0.0257334 0.0253024 0.00259215"/>
<joint name="Left_Hip_Yaw" axis="0 0 1" range="-1 1" actuatorfrcrange="-30 30"/>
<geom class="visual" mesh="Hip_Yaw_Left"/>
<geom class="collision" size="0.05 0.08" type="cylinder"/>
<body name="Shank_Left" pos="-0.014 0 -0.134">
<site name="left_knee_mimic" class="mimic" pos="0.0 0.0 0.0"/>
<inertial pos="-0.006012 0.000259 -0.124318" quat="0.997573 0.00144024 -0.023949 0.0653706" mass="1.73"
diaginertia="0.0346951 0.0345375 0.00185844"/>
<joint name="Left_Knee_Pitch" axis="0 1 0" range="0 2.34" actuatorfrcrange="-60 60"/>
<geom class="visual" mesh="Shank_Left"/>
<geom class="collision" size="0.05 0.075" pos="0 0 -0.12" type="cylinder"/>
<body name="Ankle_Cross_Left" pos="0 0 -0.28">
<inertial pos="-0.003722 0 -0.007981" quat="0.443136 0.551027 0.551027 0.443136" mass="0.073"
diaginertia="2.9e-05 2.56589e-05 1.13411e-05"/>
<joint name="Left_Ankle_Pitch" axis="0 1 0" range="-0.87 0.35" actuatorfrcrange="-20 20"/>
<geom class="visual" mesh="Ankle_Cross_Left"/>
<body name="left_foot_link" pos="0 0.00025 -0.012">
<site name="left_foot_mimic" class="mimic" pos="0.0 0.0 0.0"/>
<inertial pos="-0.000249 0 -0.00914" quat="0 0.620755 0 0.784005" mass="0.685"
diaginertia="0.00269786 0.002385 0.00218714"/>
<joint name="Left_Ankle_Roll" axis="1 0 0" range="-0.44 0.44" actuatorfrcrange="-15 15"/>
<geom class="visual" mesh="left_foot_link"/>
<geom name="left_foot_collision" class="collision" size="0.1115 0.05 0.015" pos="0.01 0 -0.015" type="box"/>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="Hip_Pitch_Right" pos="0 -0.106 0">
<inertial pos="0.000534 0.007514 -0.018082" quat="0.973446 -0.228403 0.0147148 -0.00419349" mass="1.021"
diaginertia="0.00180552 0.0014632 0.00124928"/>
<joint name="Right_Hip_Pitch" axis="0 1 0" range="-1.8 1.57" actuatorfrcrange="-45 45"/>
<geom class="visual" material="light_gray" mesh="Hip_Pitch_Right"/>
<body name="Hip_Roll_Right" pos="0 0 -0.02">
<site name="right_hip_mimic" class="mimic" pos="0.0 0.0 0.0"/>
<inertial pos="0.001099 2.4e-05 -0.053748" quat="0.707081 -0.00599604 -0.00599604 0.707081" mass="0.385"
diaginertia="0.001743 0.00151729 0.000514712"/>
<joint name="Right_Hip_Roll" axis="1 0 0" range="-1.57 0.2" actuatorfrcrange="-30 30"/>
<geom class="visual" mesh="Hip_Roll_Right"/>
<body name="Hip_Yaw_Right" pos="0 0 -0.081854">
<inertial pos="-0.007191 -0.000149 -0.08922" quat="0.714468 -0.0315638 -0.0336391 0.698146" mass="2.17"
diaginertia="0.0257623 0.0253298 0.00259389"/>
<joint name="Right_Hip_Yaw" axis="0 0 1" range="-1 1" actuatorfrcrange="-30 30"/>
<geom class="visual" mesh="Hip_Yaw_Right"/>
<geom class="collision" size="0.05 0.08" type="cylinder"/>
<body name="Shank_Right" pos="-0.014 0 -0.134">
<site name="right_knee_mimic" class="mimic" pos="0.0 0.0 0.0"/>
<inertial pos="-0.005741 -0.000541 -0.122602" quat="0.99926 -0.000580963 -0.023461 -0.0304754"
mass="1.79" diaginertia="0.0351717 0.0349574 0.00196589"/>
<joint name="Right_Knee_Pitch" axis="0 1 0" range="0 2.34" actuatorfrcrange="-60 60"/>
<geom class="visual" mesh="Shank_Right"/>
<geom class="collision" size="0.05 0.075" pos="0 0 -0.12" type="cylinder"/>
<body name="Ankle_Cross_Right" pos="0 0 -0.28">
<inertial pos="-0.003722 0 -0.007981" quat="0.443136 0.551027 0.551027 0.443136" mass="0.073"
diaginertia="2.9e-05 2.56589e-05 1.13411e-05"/>
<joint name="Right_Ankle_Pitch" axis="0 1 0" range="-0.87 0.35" actuatorfrcrange="-20 20"/>
<geom class="visual" mesh="Ankle_Cross_Right"/>
<body name="right_foot_link" pos="0 -0.00025 -0.012">
<site name="right_foot_mimic" class="mimic" pos="0.0 0.0 0.0"/>
<inertial pos="-0.000248 0 -0.00914" quat="0 0.620755 0 0.784005" mass="0.685"
diaginertia="0.00269786 0.002385 0.00218714"/>
<joint name="Right_Ankle_Roll" axis="1 0 0" range="-0.44 0.44" actuatorfrcrange="-15 15"/>
<geom class="visual" mesh="right_foot_link"/>
<geom name="right_foot_collision" class="collision" size="0.1115 0.05 0.015" pos="0.01 0 -0.015" type="box"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<sensor>
<gyro name="angular-velocity" site="imu"/>
<accelerometer name="linear-acceleration" site="imu"/>
<framequat name="orientation" objtype="site" objname="imu"/>
</sensor>
<actuator>
<motor class="t1" name="AAHead_yaw" joint="AAHead_yaw"/>
<motor class="t1" name="Head_pitch" joint="Head_pitch"/>
<motor class="t1" name="Left_Shoulder_Pitch" joint="Left_Shoulder_Pitch"/>
<motor class="t1" name="Left_Shoulder_Roll" joint="Left_Shoulder_Roll"/>
<motor class="t1" name="Left_Elbow_Pitch" joint="Left_Elbow_Pitch"/>
<motor class="t1" name="Left_Elbow_Yaw" joint="Left_Elbow_Yaw"/>
<motor class="t1" name="Right_Shoulder_Pitch" joint="Right_Shoulder_Pitch"/>
<motor class="t1" name="Right_Shoulder_Roll" joint="Right_Shoulder_Roll"/>
<motor class="t1" name="Right_Elbow_Pitch" joint="Right_Elbow_Pitch"/>
<motor class="t1" name="Right_Elbow_Yaw" joint="Right_Elbow_Yaw"/>
<motor class="t1" name="Waist" joint="Waist"/>
<motor class="t1" name="Left_Hip_Pitch" joint="Left_Hip_Pitch"/>
<motor class="t1" name="Left_Hip_Roll" joint="Left_Hip_Roll"/>
<motor class="t1" name="Left_Hip_Yaw" joint="Left_Hip_Yaw"/>
<motor class="t1" name="Left_Knee_Pitch" joint="Left_Knee_Pitch"/>
<motor class="t1" name="Left_Ankle_Pitch" joint="Left_Ankle_Pitch"/>
<motor class="t1" name="Left_Ankle_Roll" joint="Left_Ankle_Roll"/>
<motor class="t1" name="Right_Hip_Pitch" joint="Right_Hip_Pitch"/>
<motor class="t1" name="Right_Hip_Roll" joint="Right_Hip_Roll"/>
<motor class="t1" name="Right_Hip_Yaw" joint="Right_Hip_Yaw"/>
<motor class="t1" name="Right_Knee_Pitch" joint="Right_Knee_Pitch"/>
<motor class="t1" name="Right_Ankle_Pitch" joint="Right_Ankle_Pitch"/>
<motor class="t1" name="Right_Ankle_Roll" joint="Right_Ankle_Roll"/>
</actuator>
</mujoco>
|
<mujoco model="mimic_sites">
<default>
<default class="mimic">
<site group="4" type="box" size="0.075 0.05 0.025" rgba="1.0 0.0 0.0 0.5"/>
</default>
</default>
</mujoco>
|
<mujoco model="scene">
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.871 0.616 0.4 0.5"/>
<global azimuth="-130" elevation="-20"/>
</visual>
<asset>
<texture builtin="gradient" height="100" rgb1="0.9 0.9 0.9" rgb2="0.549 0.251 0.0" type="skybox" width="100"/>
<texture name="texplane" type="2d" builtin="checker" rgb1="0.5 0.5 0.5" rgb2="0.55 0.55 0.55" width="100" height="100"/>
<material name="MatPlane" reflectance="0.0" texture="texplane" texrepeat="1 1" texuniform="true"/>
</asset>
<worldbody>
<geom name="floor" friction="1 .1 .1" pos="0 0 0" size="0 0 0.125" type="plane" material="MatPlane" condim="3" conaffinity="1" contype="1" group="2" rgba="0.8 0.9 0.8 1"/>
<light cutoff="1000" diffuse="1.5 1.5 1.5" dir="-0 0 -1.3" directional="true" exponent="10" pos="0 0 10.3" specular=".1 .1 .1" castshadow="false"/>
</worldbody>
</mujoco>
|
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