Update g1_23dof_lock_wrist.xml
Browse files
TextOpRobotMDAR/description/robots/g1/g1_23dof_lock_wrist.xml
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g1_23dof_lock_wrist_ankle4p.xml
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TextOpRobotMDAR/description/robots/g1/g1_23dof_lock_wrist.xml
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| 1 |
+
<mujoco model="g1_29dof_rev_1_0">
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| 2 |
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<compiler angle="radian" meshdir="meshes" autolimits="true"/>
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<!-- <option iterations='50' solver='PGS' gravity='0 0 -9.81'>
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<flag frictionloss="enable"/>
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</option> -->
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<!-- <statistic meansize="0.144785" extent="1.23314" center="0.025392 2.0634e-05 -0.245975"/> -->
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<default>
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<!-- <joint frictionloss="1"/> -->
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<joint damping="0.001" armature="0.01" frictionloss="0.1"/>
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| 12 |
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<!-- <geom solref='0.01 2'/>
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<equality solref='0.01 2'/> -->
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</default>
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| 16 |
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| 17 |
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<asset>
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| 19 |
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<mesh name="pelvis" file="pelvis.STL"/>
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| 20 |
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<mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
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| 21 |
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<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
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| 22 |
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<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
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| 23 |
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<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
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| 24 |
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<mesh name="left_knee_link" file="left_knee_link.STL"/>
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| 25 |
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<mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
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| 26 |
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<mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
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| 27 |
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<mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
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| 28 |
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<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
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| 29 |
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<mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
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| 30 |
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<mesh name="right_knee_link" file="right_knee_link.STL"/>
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| 31 |
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<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
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| 32 |
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<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
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| 33 |
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<mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL"/>
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| 34 |
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<mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL"/>
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| 35 |
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<mesh name="torso_link" file="torso_link_rev_1_0.STL"/>
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| 36 |
+
<mesh name="logo_link" file="logo_link.STL"/>
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| 37 |
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<mesh name="head_link" file="head_link.STL"/>
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| 38 |
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<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
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| 39 |
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<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
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| 40 |
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<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
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| 41 |
+
<mesh name="left_elbow_link" file="left_elbow_link.STL"/>
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| 42 |
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<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
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| 43 |
+
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
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| 44 |
+
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
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| 45 |
+
<mesh name="left_rubber_hand" file="left_rubber_hand.STL"/>
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| 46 |
+
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
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| 47 |
+
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
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| 48 |
+
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
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| 49 |
+
<mesh name="right_elbow_link" file="right_elbow_link.STL"/>
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| 50 |
+
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
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| 51 |
+
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
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| 52 |
+
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
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| 53 |
+
<mesh name="right_rubber_hand" file="right_rubber_hand.STL"/>
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| 54 |
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</asset>
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| 55 |
+
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| 56 |
+
<worldbody>
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| 57 |
+
<body name="pelvis" pos="0 0 0.793">
|
| 58 |
+
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
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| 59 |
+
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
| 60 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
| 61 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
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| 62 |
+
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
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| 63 |
+
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
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| 64 |
+
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
| 65 |
+
<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"/>
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| 66 |
+
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
| 67 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
| 68 |
+
<geom type="mesh" contype="2" conaffinity="4" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
| 69 |
+
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
| 70 |
+
<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"/>
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| 71 |
+
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-139 139"/>
|
| 72 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
| 73 |
+
<geom type="mesh" contype="2" conaffinity="4" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
| 74 |
+
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
| 75 |
+
<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"/>
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| 76 |
+
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
| 77 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
| 78 |
+
<geom type="mesh" contype="2" conaffinity="4" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
| 79 |
+
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
| 80 |
+
<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"/>
|
| 81 |
+
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
| 82 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
| 83 |
+
<geom type="mesh" contype="2" conaffinity="4" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
| 84 |
+
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
| 85 |
+
<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"/>
|
| 86 |
+
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
| 87 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
| 88 |
+
<geom type="mesh" contype="2" conaffinity="4" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
| 89 |
+
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
|
| 90 |
+
<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"/>
|
| 91 |
+
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
| 92 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
|
| 93 |
+
<geom contype="2" conaffinity="4" size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
| 94 |
+
<geom contype="2" conaffinity="4" size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
| 95 |
+
<geom contype="2" conaffinity="4" size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
| 96 |
+
<geom contype="2" conaffinity="4" size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
| 97 |
+
</body>
|
| 98 |
+
</body>
|
| 99 |
+
</body>
|
| 100 |
+
</body>
|
| 101 |
+
</body>
|
| 102 |
+
</body>
|
| 103 |
+
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
| 104 |
+
<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"/>
|
| 105 |
+
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
| 106 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
| 107 |
+
<geom type="mesh" contype="2" conaffinity="4" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
| 108 |
+
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
| 109 |
+
<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"/>
|
| 110 |
+
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-139 139"/>
|
| 111 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
| 112 |
+
<geom type="mesh" contype="2" conaffinity="4" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
| 113 |
+
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
| 114 |
+
<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"/>
|
| 115 |
+
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
| 116 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
| 117 |
+
<geom type="mesh" contype="2" conaffinity="4" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
| 118 |
+
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
| 119 |
+
<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"/>
|
| 120 |
+
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
| 121 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
| 122 |
+
<geom type="mesh" contype="2" conaffinity="4" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
| 123 |
+
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
| 124 |
+
<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"/>
|
| 125 |
+
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
| 126 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
| 127 |
+
<geom type="mesh" contype="2" conaffinity="4" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
| 128 |
+
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
|
| 129 |
+
<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"/>
|
| 130 |
+
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
| 131 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
|
| 132 |
+
<geom contype="2" conaffinity="4" size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
| 133 |
+
<geom contype="2" conaffinity="4" size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
| 134 |
+
<geom contype="2" conaffinity="4" size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
| 135 |
+
<geom contype="2" conaffinity="4" size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
| 136 |
+
</body>
|
| 137 |
+
</body>
|
| 138 |
+
</body>
|
| 139 |
+
</body>
|
| 140 |
+
</body>
|
| 141 |
+
</body>
|
| 142 |
+
<body name="waist_yaw_link">
|
| 143 |
+
<inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821" mass="0.214" diaginertia="0.000163531 0.000107714 0.000102205"/>
|
| 144 |
+
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
|
| 145 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
|
| 146 |
+
<body name="waist_roll_link" pos="-0.0039635 0 0.044">
|
| 147 |
+
<inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086" diaginertia="8.245e-06 7.079e-06 6.339e-06"/>
|
| 148 |
+
<joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
| 149 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
|
| 150 |
+
<body name="torso_link">
|
| 151 |
+
<inertial pos="0.00203158 0.000339683 0.184568" quat="0.999803 -6.03319e-05 0.0198256 0.00131986" mass="7.818" diaginertia="0.121847 0.109825 0.0273735"/>
|
| 152 |
+
<joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
| 153 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
| 154 |
+
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
| 155 |
+
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
| 156 |
+
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
| 157 |
+
<geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
| 158 |
+
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
| 159 |
+
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
|
| 160 |
+
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
| 161 |
+
<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"/>
|
| 162 |
+
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
| 163 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
| 164 |
+
<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"/>
|
| 165 |
+
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
| 166 |
+
<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"/>
|
| 167 |
+
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
| 168 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
| 169 |
+
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
| 170 |
+
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
| 171 |
+
<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"/>
|
| 172 |
+
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
| 173 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
| 174 |
+
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
| 175 |
+
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
| 176 |
+
<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"/>
|
| 177 |
+
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
| 178 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
| 179 |
+
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
| 180 |
+
<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
| 181 |
+
<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"/>
|
| 182 |
+
<!-- <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/> -->
|
| 183 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
| 184 |
+
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
| 185 |
+
<body name="left_wrist_pitch_link" pos="0.038 0 0">
|
| 186 |
+
<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"/>
|
| 187 |
+
<!-- <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/> -->
|
| 188 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
| 189 |
+
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
| 190 |
+
<body name="left_wrist_yaw_link" pos="0.046 0 0">
|
| 191 |
+
<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"/>
|
| 192 |
+
<!-- <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/> -->
|
| 193 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
| 194 |
+
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
| 195 |
+
<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"/>
|
| 196 |
+
</body>
|
| 197 |
+
</body>
|
| 198 |
+
</body>
|
| 199 |
+
</body>
|
| 200 |
+
</body>
|
| 201 |
+
</body>
|
| 202 |
+
</body>
|
| 203 |
+
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
| 204 |
+
<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"/>
|
| 205 |
+
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
| 206 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
| 207 |
+
<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"/>
|
| 208 |
+
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
| 209 |
+
<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"/>
|
| 210 |
+
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
| 211 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
| 212 |
+
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
| 213 |
+
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
| 214 |
+
<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"/>
|
| 215 |
+
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
| 216 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
| 217 |
+
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
| 218 |
+
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
| 219 |
+
<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"/>
|
| 220 |
+
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
| 221 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
| 222 |
+
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
| 223 |
+
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
| 224 |
+
<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"/>
|
| 225 |
+
<!-- <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/> -->
|
| 226 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
| 227 |
+
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
| 228 |
+
<body name="right_wrist_pitch_link" pos="0.038 0 0">
|
| 229 |
+
<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"/>
|
| 230 |
+
<!-- <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/> -->
|
| 231 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
| 232 |
+
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
| 233 |
+
<body name="right_wrist_yaw_link" pos="0.046 0 0">
|
| 234 |
+
<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"/>
|
| 235 |
+
<!-- <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/> -->
|
| 236 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
| 237 |
+
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
| 238 |
+
<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"/>
|
| 239 |
+
</body>
|
| 240 |
+
</body>
|
| 241 |
+
</body>
|
| 242 |
+
</body>
|
| 243 |
+
</body>
|
| 244 |
+
</body>
|
| 245 |
+
</body>
|
| 246 |
+
</body>
|
| 247 |
+
</body>
|
| 248 |
+
</body>
|
| 249 |
+
</body>
|
| 250 |
+
</worldbody>
|
| 251 |
+
|
| 252 |
+
<actuator>
|
| 253 |
+
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
| 254 |
+
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
| 255 |
+
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
| 256 |
+
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
| 257 |
+
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
| 258 |
+
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
| 259 |
+
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
| 260 |
+
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
| 261 |
+
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
| 262 |
+
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
| 263 |
+
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
| 264 |
+
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
| 265 |
+
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
| 266 |
+
<motor name="waist_roll_joint" joint="waist_roll_joint"/>
|
| 267 |
+
<motor name="waist_pitch_joint" joint="waist_pitch_joint"/>
|
| 268 |
+
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
| 269 |
+
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
| 270 |
+
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
| 271 |
+
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
| 272 |
+
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
| 273 |
+
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
| 274 |
+
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
| 275 |
+
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
| 276 |
+
</actuator>
|
| 277 |
+
|
| 278 |
+
<sensor>
|
| 279 |
+
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
|
| 280 |
+
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
|
| 281 |
+
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
|
| 282 |
+
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
|
| 283 |
+
</sensor>
|
| 284 |
+
|
| 285 |
+
|
| 286 |
+
<!-- setup scene -->
|
| 287 |
+
<statistic center="1.0 0.7 1.0" extent="0.8"/>
|
| 288 |
+
<visual>
|
| 289 |
+
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
|
| 290 |
+
<rgba haze="0.15 0.25 0.35 1"/>
|
| 291 |
+
<global azimuth="-140" elevation="-20"/>
|
| 292 |
+
</visual>
|
| 293 |
+
<asset>
|
| 294 |
+
<texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
|
| 295 |
+
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
| 296 |
+
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
| 297 |
+
<!-- <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"
|
| 298 |
+
friction="1 0.8 0.1"/> -->
|
| 299 |
+
|
| 300 |
+
</asset>
|
| 301 |
+
<worldbody>
|
| 302 |
+
<light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
|
| 303 |
+
<geom contype="15" conaffinity="15" name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
|
| 304 |
+
<!-- <geom contype="15" conaffinity="15" name="floor" size="0 0 0.05" type="plane" material="groundplane"
|
| 305 |
+
friction="0.6 0.001 0.001"
|
| 306 |
+
solimp="0.9 0.5 0.001"
|
| 307 |
+
/> -->
|
| 308 |
+
<!-- <geom contype="15" conaffinity="15" name="floor" size="0 0 0.05" type="plane" material="groundplane" friction="1 0.8 0.1"/> -->
|
| 309 |
+
</worldbody>
|
| 310 |
+
</mujoco>
|