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jc-bao commited on
Commit
6bd96cb
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1 Parent(s): ea218b0

:zap: update add contact support for gmr pipline

Browse files
Files changed (11) hide show
  1. processed/lafan/assets/robots/unitree_g1/scene.xml +4 -0
  2. processed/lafan/assets/robots/unitree_g1/scene_simple.xml +524 -0
  3. processed/lafan/assets/robots/unitree_g1/scene_soft.xml +545 -0
  4. processed/lafan/unitree_g1/humanoid/dance/0/trajectory_ik.npz +2 -2
  5. processed/lafan/unitree_g1/humanoid/dance/0/trajectory_kinematic.npz +2 -2
  6. processed/lafan/unitree_g1/humanoid/dance/0/trajectory_mjwp.npz +2 -2
  7. processed/lafan/unitree_g1/humanoid/dance/0/visualization_ik.mp4 +2 -2
  8. processed/lafan/unitree_g1/humanoid/dance/0/visualization_kinematic.mp4 +2 -2
  9. processed/lafan/unitree_g1/humanoid/dance/0/visualization_mjwp.mp4 +2 -2
  10. processed/lafan/unitree_g1/humanoid/dance/scene.xml +4 -0
  11. processed/lafan/unitree_g1/humanoid/dance/task_info.json +7 -1
processed/lafan/assets/robots/unitree_g1/scene.xml CHANGED
@@ -220,6 +220,7 @@
220
  <geom name="lf2" class="foot_collision" pos="0.12 0.03 -0.03" />
221
  <geom name="lf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
222
  <site name="trace_left_foot" size="0.01" pos="0.04 0 -0.037" />
 
223
  </body>
224
  </body>
225
  </body>
@@ -277,6 +278,7 @@
277
  <geom name="rf2" class="foot_collision" pos="0.12 0.03 -0.03" />
278
  <geom name="rf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
279
  <site name="trace_right_foot" size="0.01" pos="0.04 0 -0.037" />
 
280
  </body>
281
  </body>
282
  </body>
@@ -365,6 +367,7 @@
365
  fromto="0.07 0 0 0.15 -0.02 0" /> -->
366
  <geom name="lh" class="hand_collision" />
367
  <site name="trace_left_hand" size="0.01" pos="0.08 0 0" />
 
368
  </body>
369
  </body>
370
  </body>
@@ -430,6 +433,7 @@
430
  fromto="0.07 0 0 0.15 0.02 0" /> -->
431
  <geom name="rh" class="hand_collision" />
432
  <site name="trace_right_hand" size="0.01" pos="0.08 0 0" />
 
433
  </body>
434
  </body>
435
  </body>
 
220
  <geom name="lf2" class="foot_collision" pos="0.12 0.03 -0.03" />
221
  <geom name="lf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
222
  <site name="trace_left_foot" size="0.01" pos="0.04 0 -0.037" />
223
+ <site name="contact_left_foot" size="0.01" pos="0.04 0 -0.037" />
224
  </body>
225
  </body>
226
  </body>
 
278
  <geom name="rf2" class="foot_collision" pos="0.12 0.03 -0.03" />
279
  <geom name="rf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
280
  <site name="trace_right_foot" size="0.01" pos="0.04 0 -0.037" />
281
+ <site name="contact_right_foot" size="0.01" pos="0.04 0 -0.037" />
282
  </body>
283
  </body>
284
  </body>
 
367
  fromto="0.07 0 0 0.15 -0.02 0" /> -->
368
  <geom name="lh" class="hand_collision" />
369
  <site name="trace_left_hand" size="0.01" pos="0.08 0 0" />
370
+ <site name="contact_left_hand" size="0.01" pos="0.08 0 0" />
371
  </body>
372
  </body>
373
  </body>
 
433
  fromto="0.07 0 0 0.15 0.02 0" /> -->
434
  <geom name="rh" class="hand_collision" />
435
  <site name="trace_right_hand" size="0.01" pos="0.08 0 0" />
436
+ <site name="contact_right_hand" size="0.01" pos="0.08 0 0" />
437
  </body>
438
  </body>
439
  </body>
processed/lafan/assets/robots/unitree_g1/scene_simple.xml ADDED
@@ -0,0 +1,524 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="g1 scene">
2
+ <compiler angle="radian" meshdir="../../../assets/robots/unitree_g1/meshes" autolimits="true" />
3
+
4
+ <!-- performance options -->
5
+ <option timestep="0.02" iterations="2" ls_iterations="10">
6
+ <flag eulerdamp="disable" />
7
+ </option>
8
+
9
+ <visual>
10
+ <global azimuth="135" elevation="-25" offwidth="1920" offheight="1080" />
11
+ <quality shadowsize="8192" />
12
+ <headlight ambient="0.3 0.3 0.3" diffuse="0.6 0.6 0.6" specular="0 0 0" />
13
+ <scale forcewidth="0.25" contactwidth="0.4" contactheight="0.15" framelength="5"
14
+ framewidth="0.3" />
15
+ <rgba haze="0.15 0.25 0.35 1" force="1 0 0 1" />
16
+ </visual>
17
+
18
+ <custom>
19
+ <numeric data="15" name="max_contact_points" />
20
+ <numeric data="15" name="max_geom_pairs" />
21
+ </custom>
22
+
23
+ <default>
24
+ <default class="g1">
25
+ <default class="visual">
26
+ <geom group="2" type="mesh" density="0" material="silver" />
27
+ </default>
28
+ <default class="collision">
29
+ <geom group="3" rgba="0 1 0 1" type="sphere" />
30
+ <default class="hand_collision">
31
+ <geom type="sphere" pos="0.1 0.0 0.0" size="0.05" />
32
+ </default>
33
+ <default class="foot_collision">
34
+ <geom type="sphere" size="0.005" priority="1" friction="2.0" condim="3" />
35
+ </default>
36
+
37
+ </default>
38
+ <site group="5" rgba="1 0 0 1" />
39
+ <!-- Disable all contacts and use explicit contact pairs. -->
40
+ <geom condim="1" contype="0" conaffinity="0" />
41
+ <position kp="500" dampratio="1" inheritrange="1" />
42
+ <joint damping="0.0" armature="1.0" frictionloss="0.0" />
43
+
44
+ <default class="hip">
45
+ <default class="hip_pitch">
46
+ <joint axis="0 1 0" range="-2.5307 2.8798" />
47
+ </default>
48
+ <default class="hip_roll">
49
+ <joint axis="1 0 0" range="-0.5236 2.9671" />
50
+ </default>
51
+ <default class="hip_yaw">
52
+ <joint axis="0 0 1" range="-2.7576 2.7576" />
53
+ </default>
54
+ </default>
55
+ <default class="knee">
56
+ <joint axis="0 1 0" range="-0.087267 2.8798" />
57
+ </default>
58
+ <default class="ankle">
59
+ <position kp="500" dampratio="1" inheritrange="1" />
60
+ <default class="ankle_pitch">
61
+ <joint axis="0 1 0" range="-0.87267 0.5236" />
62
+ </default>
63
+ <default class="ankle_roll">
64
+ <joint axis="1 0 0" range="-0.2618 0.2618" />
65
+ </default>
66
+ </default>
67
+
68
+ <default class="waist_yaw">
69
+ <joint axis="0 0 1" range="-2.618 2.618" />
70
+ </default>
71
+ <default class="waist_pitch">
72
+ <joint axis="0 1 0" range="-0.52 0.52" />
73
+ </default>
74
+ <default class="waist_roll">
75
+ <joint axis="1 0 0" range="-0.52 0.52" />
76
+ </default>
77
+
78
+ <default class="shoulder">
79
+ <default class="shoulder_pitch">
80
+ <joint axis="0 1 0" range="-3.0892 2.6704" />
81
+ </default>
82
+ <default class="shoulder_roll">
83
+ <joint axis="1 0 0" />
84
+ </default>
85
+ <default class="shoulder_yaw">
86
+ <joint axis="0 0 1" range="-2.618 2.618" />
87
+ </default>
88
+ </default>
89
+
90
+ <default class="elbow">
91
+ <joint axis="0 1 0" range="-1.0472 2.0944" />
92
+ </default>
93
+
94
+ <default class="wrist">
95
+ <position kp="500" dampratio="1" inheritrange="1" />
96
+ <default class="wrist_roll">
97
+ <joint axis="1 0 0" range="-1.97222 1.97222" />
98
+ </default>
99
+ <default class="wrist_pitch">
100
+ <joint axis="0 1 0" range="-1.61443 1.61443" />
101
+ </default>
102
+ <default class="wrist_yaw">
103
+ <joint axis="0 0 1" range="-1.61443 1.61443" />
104
+ </default>
105
+ </default>
106
+ </default>
107
+ </default>
108
+
109
+ <asset>
110
+ <texture type="skybox" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" width="3072" height="3072" />
111
+ <texture type="2d" colorspace="auto" name="groundplane" builtin="checker" mark="edge"
112
+ rgb1="1 1 1" rgb2="1.0 1.0 1.0" markrgb="1.0 1.0 1.0" width="300" height="300" />
113
+ <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="4 4" />
114
+
115
+ <material name="silver" rgba="0.7 0.7 0.7 1" />
116
+ <material name="black" rgba="0.2 0.2 0.2 1" />
117
+
118
+ <mesh name="pelvis" file="pelvis.STL" />
119
+ <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL" />
120
+ <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL" />
121
+ <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL" />
122
+ <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL" />
123
+ <mesh name="left_knee_link" file="left_knee_link.STL" />
124
+ <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL" />
125
+ <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL" />
126
+ <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL" />
127
+ <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL" />
128
+ <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL" />
129
+ <mesh name="right_knee_link" file="right_knee_link.STL" />
130
+ <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL" />
131
+ <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL" />
132
+ <mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL" />
133
+ <mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL" />
134
+ <mesh name="torso_link" file="torso_link_rev_1_0.STL" />
135
+ <mesh name="logo_link" file="logo_link.STL" />
136
+ <mesh name="head_link" file="head_link.STL" />
137
+ <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL" />
138
+ <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL" />
139
+ <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL" />
140
+ <mesh name="left_elbow_link" file="left_elbow_link.STL" />
141
+ <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL" />
142
+ <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL" />
143
+ <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL" />
144
+ <mesh name="left_rubber_hand" file="left_rubber_hand.STL" />
145
+ <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL" />
146
+ <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL" />
147
+ <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL" />
148
+ <mesh name="right_elbow_link" file="right_elbow_link.STL" />
149
+ <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL" />
150
+ <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL" />
151
+ <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL" />
152
+ <mesh name="right_rubber_hand" file="right_rubber_hand.STL" />
153
+ </asset>
154
+
155
+ <worldbody>
156
+ <light pos="0 0 5" dir="0 0 -1" type="directional" />
157
+ <geom name="floor" size="0 0 0.01" type="plane" material="groundplane" />
158
+ <body name="pelvis" pos="0 0 0.793" childclass="g1">
159
+ <camera name="track" pos="1.734 -1.135 .35" xyaxes="0.552 0.834 -0.000 -0.170 0.112 0.979"
160
+ mode="trackcom" />
161
+ <camera name="track2" pos="1.489 1.189 1.174" xyaxes="-0.609 0.793 -0.000 -0.221 -0.169 0.961"
162
+ mode="trackcom" />
163
+ <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813"
164
+ diaginertia="0.010549 0.0093089 0.0079184" />
165
+ <freejoint name="floating_base_joint" />
166
+ <geom class="visual" material="black" mesh="pelvis" />
167
+ <geom class="visual" mesh="pelvis_contour_link" />
168
+ <!-- <geom name="pelvis_collision" class="collision" type="sphere" size="0.07" pos="0 0 -0.08"
169
+ /> -->
170
+ <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
171
+ <site name="trace_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
172
+ <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
173
+ <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122"
174
+ mass="1.35"
175
+ diaginertia="0.00181517 0.00153422 0.00116212" />
176
+ <joint name="left_hip_pitch_joint" class="hip_pitch" />
177
+ <geom class="visual" material="black" mesh="left_hip_pitch_link" />
178
+ <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
179
+ <inertial pos="0.029812 -0.001045 -0.087934"
180
+ quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
181
+ diaginertia="0.00254986 0.00241169 0.00148755" />
182
+ <joint name="left_hip_roll_joint" class="hip_roll" />
183
+ <geom class="visual" mesh="left_hip_roll_link" />
184
+ <!-- <geom name="left_hip_collision" class="collision" size="0.06"
185
+ fromto="0.02 0 0 0.02 0 -0.08" /> -->
186
+ <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
187
+ <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181"
188
+ mass="1.702"
189
+ diaginertia="0.00776166 0.00717575 0.00160139" />
190
+ <joint name="left_hip_yaw_joint" class="hip_yaw" />
191
+ <geom class="visual" mesh="left_hip_yaw_link" />
192
+ <!-- <geom name="left_thigh_collision" class="collision" size="0.055"
193
+ fromto="-0.0 0 -0.03 -0.06 0 -0.17" /> -->
194
+ <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734"
195
+ quat="0.996179 0 0.0873386 0">
196
+ <inertial pos="0.005457 0.003964 -0.12074"
197
+ quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932"
198
+ diaginertia="0.0113804 0.0112778 0.00146458" />
199
+ <joint name="left_knee_joint" class="knee" />
200
+ <geom class="visual" mesh="left_knee_link" />
201
+ <!-- <geom name="left_shin_collision" class="collision" size="0.045"
202
+ fromto="0.01 0 0 0.01 0 -0.15" />
203
+ <geom name="left_linkage_brace_collision" class="collision" size="0.03"
204
+ fromto="0.01 0 -0.2 0.01 0 -0.28" /> -->
205
+ <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
206
+ <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
207
+ mass="0.074"
208
+ diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
209
+ <joint name="left_ankle_pitch_joint" class="ankle_pitch" />
210
+ <geom class="visual" mesh="left_ankle_pitch_link" />
211
+ <body name="left_ankle_roll_link" pos="0 0 -0.017558">
212
+ <site name="left_foot" rgba="1 0 0 1" pos="0.04 0 -0.037" />
213
+ <inertial pos="0.026505 0 -0.016425"
214
+ quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608"
215
+ diaginertia="0.00167218 0.0016161 0.000217621" />
216
+ <joint name="left_ankle_roll_joint" class="ankle_roll" />
217
+ <geom class="visual" material="black" mesh="left_ankle_roll_link" />
218
+ <geom name="lf0" class="foot_collision" pos="-0.05 0.025 -0.03" />
219
+ <geom name="lf1" class="foot_collision" pos="-0.05 -0.025 -0.03" />
220
+ <geom name="lf2" class="foot_collision" pos="0.12 0.03 -0.03" />
221
+ <geom name="lf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
222
+ <site name="trace_left_foot" size="0.01" pos="0.04 0 -0.037" />
223
+ </body>
224
+ </body>
225
+ </body>
226
+ </body>
227
+ </body>
228
+ </body>
229
+ <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
230
+ <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122"
231
+ mass="1.35"
232
+ diaginertia="0.00181517 0.00153422 0.00116212" />
233
+ <joint name="right_hip_pitch_joint" class="hip_pitch" />
234
+ <geom class="visual" material="black" mesh="right_hip_pitch_link" />
235
+ <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
236
+ <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793"
237
+ mass="1.52"
238
+ diaginertia="0.00254986 0.00241169 0.00148755" />
239
+ <joint name="right_hip_roll_joint" class="hip_roll" />
240
+ <geom class="visual" mesh="right_hip_roll_link" />
241
+ <!-- <geom name="right_hip_collision" class="collision" size="0.06"
242
+ fromto="0.02 0 0 0.02 0 -0.08" /> -->
243
+ <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
244
+ <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598"
245
+ mass="1.702"
246
+ diaginertia="0.00776166 0.00717575 0.00160139" />
247
+ <joint name="right_hip_yaw_joint" class="hip_yaw" />
248
+ <geom class="visual" mesh="right_hip_yaw_link" />
249
+ <!-- <geom name="right_thigh_collision" class="collision" size="0.055"
250
+ fromto="-0.0 0 -0.03 -0.06 0 -0.17" /> -->
251
+ <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734"
252
+ quat="0.996179 0 0.0873386 0">
253
+ <inertial pos="0.005457 -0.003964 -0.12074"
254
+ quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932"
255
+ diaginertia="0.011374 0.0112843 0.00146452" />
256
+ <joint name="right_knee_joint" class="knee" />
257
+ <geom class="visual" mesh="right_knee_link" />
258
+ <!-- <geom name="right_shin_collision" class="collision" size="0.045"
259
+ fromto="0.01 0 0 0.01 0 -0.15" />
260
+ <geom name="right_linkage_brace_collision" class="collision" size="0.03"
261
+ fromto="0.01 0 -0.2 0.01 0 -0.28" /> -->
262
+ <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
263
+ <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
264
+ mass="0.074"
265
+ diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
266
+ <joint name="right_ankle_pitch_joint" class="ankle_pitch" />
267
+ <geom class="visual" mesh="right_ankle_pitch_link" />
268
+ <body name="right_ankle_roll_link" pos="0 0 -0.017558">
269
+ <site name="right_foot" rgba="1 0 0 1" pos="0.04 0 -0.037" />
270
+ <inertial pos="0.026505 0 -0.016425"
271
+ quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608"
272
+ diaginertia="0.00167218 0.0016161 0.000217621" />
273
+ <joint name="right_ankle_roll_joint" class="ankle_roll" />
274
+ <geom class="visual" material="black" mesh="right_ankle_roll_link" />
275
+ <geom name="rf0" class="foot_collision" pos="-0.05 0.025 -0.03" />
276
+ <geom name="rf1" class="foot_collision" pos="-0.05 -0.025 -0.03" />
277
+ <geom name="rf2" class="foot_collision" pos="0.12 0.03 -0.03" />
278
+ <geom name="rf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
279
+ <site name="trace_right_foot" size="0.01" pos="0.04 0 -0.037" />
280
+ </body>
281
+ </body>
282
+ </body>
283
+ </body>
284
+ </body>
285
+ </body>
286
+ <body name="waist_yaw_link">
287
+ <inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821"
288
+ mass="0.214"
289
+ diaginertia="0.000163531 0.000107714 0.000102205" />
290
+ <joint name="waist_yaw_joint" class="waist_yaw" />
291
+ <geom class="visual" mesh="waist_yaw_link" />
292
+ <body name="waist_roll_link" pos="-0.0039635 0 0.044">
293
+ <inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086"
294
+ diaginertia="8.245e-06 7.079e-06 6.339e-06" />
295
+ <joint name="waist_roll_joint" class="waist_roll" />
296
+ <geom class="visual" mesh="waist_roll_link" />
297
+ <body name="torso_link">
298
+ <inertial pos="0.00203158 0.000339683 0.184568"
299
+ quat="0.999803 -6.03319e-05 0.0198256 0.00131986"
300
+ mass="7.818" diaginertia="0.121847 0.109825 0.0273735" />
301
+ <joint name="waist_pitch_joint" class="waist_pitch" />
302
+ <geom class="visual" mesh="torso_link" />
303
+ <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" class="visual" material="black"
304
+ mesh="logo_link" />
305
+ <geom pos="0.0039635 0 -0.044" class="visual" material="black" mesh="head_link" />
306
+ <!-- <geom name="torso_collision" class="collision" size="0.09"
307
+ fromto="0.01 0 0.08 0.01 0 0.2" />
308
+ <geom name="head_collision" class="collision" type="sphere" size="0.06" pos="0 0 .43" /> -->
309
+ <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792" />
310
+ <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778"
311
+ quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
312
+ <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225"
313
+ mass="0.718"
314
+ diaginertia="0.000465864 0.000432842 0.000406394" />
315
+ <joint name="left_shoulder_pitch_joint" class="shoulder_pitch" />
316
+ <geom class="visual" mesh="left_shoulder_pitch_link" />
317
+ <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831"
318
+ quat="0.990268 -0.139172 0 0">
319
+ <inertial pos="-0.000227 0.00727 -0.063243"
320
+ quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643"
321
+ diaginertia="0.000691311 0.000618011 0.000388977" />
322
+ <joint name="left_shoulder_roll_joint" range="-1.5882 2.2515" class="shoulder_roll" />
323
+ <geom class="visual" mesh="left_shoulder_roll_link" />
324
+ <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
325
+ <inertial pos="0.010773 -0.002949 -0.072009"
326
+ quat="0.716879 -0.0964829 -0.0679942 0.687134"
327
+ mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
328
+ <joint name="left_shoulder_yaw_joint" class="shoulder_yaw" />
329
+ <geom class="visual" mesh="left_shoulder_yaw_link" />
330
+ <!-- <geom name="left_shoulder_yaw_collision" class="collision" size="0.035"
331
+ fromto="0 0 -0.08 0 0 0.05" /> -->
332
+ <body name="left_elbow_link" pos="0.015783 0 -0.080518">
333
+ <inertial pos="0.064956 0.004454 -0.010062"
334
+ quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
335
+ diaginertia="0.000443035 0.000421612 0.000259353" />
336
+ <joint name="left_elbow_joint" class="elbow" />
337
+ <geom class="visual" mesh="left_elbow_link" />
338
+ <!-- <geom name="left_elbow_yaw_collision" class="collision" size="0.035"
339
+ fromto="-0.01 0 -0.01 0.08 0 -0.01" /> -->
340
+ <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
341
+ <inertial pos="0.0171394 0.000537591 4.8864e-07"
342
+ quat="0.575338 0.411667 -0.574906 0.411094"
343
+ mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
344
+ <joint name="left_wrist_roll_joint" class="wrist_roll" />
345
+ <geom class="visual" mesh="left_wrist_roll_link" />
346
+ <body name="left_wrist_pitch_link" pos="0.038 0 0">
347
+ <inertial pos="0.0229999 -0.00111685 -0.00111658"
348
+ quat="0.249998 0.661363 0.293036 0.643608"
349
+ mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
350
+ <joint name="left_wrist_pitch_joint" class="wrist_pitch" />
351
+ <geom class="visual" mesh="left_wrist_pitch_link" />
352
+ <!-- <geom name="left_wrist_collision" class="collision" size="0.035"
353
+ fromto="-0.01 0 0 0.06 0 0" /> -->
354
+ <body name="left_wrist_yaw_link" pos="0.046 0 0">
355
+ <inertial pos="0.0708244 0.000191745 0.00161742"
356
+ quat="0.510571 0.526295 0.468078 0.493188"
357
+ mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
358
+ <joint name="left_wrist_yaw_joint" class="wrist_yaw" />
359
+ <geom class="visual" mesh="left_wrist_yaw_link" />
360
+ <geom pos="0.0415 0.003 0" quat="1 0 0 0" class="visual"
361
+ mesh="left_rubber_hand" />
362
+ <site name="left_palm" pos="0.08 0 0" size="0.01" />
363
+ <!-- <geom name="left_hand_collision" class="collision" size="0.035"
364
+ rgba=".2 .6 .2 .2"
365
+ fromto="0.07 0 0 0.15 -0.02 0" /> -->
366
+ <geom name="lh" class="hand_collision" />
367
+ <site name="trace_left_hand" size="0.01" pos="0.08 0 0" />
368
+ </body>
369
+ </body>
370
+ </body>
371
+ </body>
372
+ </body>
373
+ </body>
374
+ </body>
375
+ <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778"
376
+ quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
377
+ <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152"
378
+ mass="0.718"
379
+ diaginertia="0.000465864 0.000432842 0.000406394" />
380
+ <joint name="right_shoulder_pitch_joint" class="shoulder_pitch" />
381
+ <geom class="visual" mesh="right_shoulder_pitch_link" />
382
+ <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831"
383
+ quat="0.990268 0.139172 0 0">
384
+ <inertial pos="-0.000227 -0.00727 -0.063243"
385
+ quat="0.712604 -0.00710317 -0.0196223 0.701256"
386
+ mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977" />
387
+ <joint name="right_shoulder_roll_joint" range="-2.2515 1.5882" class="shoulder_roll" />
388
+ <geom class="visual" mesh="right_shoulder_roll_link" />
389
+ <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
390
+ <inertial pos="0.010773 0.002949 -0.072009"
391
+ quat="0.687134 -0.0679942 -0.0964829 0.716879"
392
+ mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
393
+ <joint name="right_shoulder_yaw_joint" class="shoulder_yaw" />
394
+ <geom class="visual" mesh="right_shoulder_yaw_link" />
395
+ <!-- <geom name="right_shoulder_yaw_collision" class="collision" size="0.035"
396
+ fromto="0 0 -0.08 0 0 0.05" /> -->
397
+ <body name="right_elbow_link" pos="0.015783 0 -0.080518">
398
+ <inertial pos="0.064956 -0.004454 -0.010062"
399
+ quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
400
+ diaginertia="0.000443035 0.000421612 0.000259353" />
401
+ <joint name="right_elbow_joint" class="elbow" />
402
+ <geom class="visual" mesh="right_elbow_link" />
403
+ <!-- <geom name="right_elbow_yaw_collision" class="collision" size="0.035"
404
+ fromto="-0.01 0 -0.01 0.08 0 -0.01" /> -->
405
+ <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
406
+ <inertial pos="0.0171394 -0.000537591 4.8864e-07"
407
+ quat="0.411667 0.575338 -0.411094 0.574906"
408
+ mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
409
+ <joint name="right_wrist_roll_joint" class="wrist_roll" />
410
+ <geom class="visual" mesh="right_wrist_roll_link" />
411
+ <body name="right_wrist_pitch_link" pos="0.038 0 0">
412
+ <inertial pos="0.0229999 0.00111685 -0.00111658"
413
+ quat="0.643608 0.293036 0.661363 0.249998"
414
+ mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
415
+ <joint name="right_wrist_pitch_joint" class="wrist_pitch" />
416
+ <geom class="visual" mesh="right_wrist_pitch_link" />
417
+ <!-- <geom name="right_wrist_collision" class="collision" size="0.035"
418
+ fromto="-0.01 0 0 0.06 0 0" /> -->
419
+ <body name="right_wrist_yaw_link" pos="0.046 0 0">
420
+ <inertial pos="0.0708244 -0.000191745 0.00161742"
421
+ quat="0.493188 0.468078 0.526295 0.510571"
422
+ mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
423
+ <joint name="right_wrist_yaw_joint" class="wrist_yaw" />
424
+ <geom class="visual" mesh="right_wrist_yaw_link" />
425
+ <geom pos="0.0415 -0.003 0" quat="1 0 0 0" class="visual"
426
+ mesh="right_rubber_hand" />
427
+ <site name="right_palm" pos="0.08 0 0" size="0.01" />
428
+ <!-- <geom name="right_hand_collision" class="collision" size="0.035"
429
+ rgba=".2 .6 .2 .2"
430
+ fromto="0.07 0 0 0.15 0.02 0" /> -->
431
+ <geom name="rh" class="hand_collision" />
432
+ <site name="trace_right_hand" size="0.01" pos="0.08 0 0" />
433
+ </body>
434
+ </body>
435
+ </body>
436
+ </body>
437
+ </body>
438
+ </body>
439
+ </body>
440
+ </body>
441
+ </body>
442
+ </body>
443
+ </body>
444
+ </worldbody>
445
+
446
+ <actuator>
447
+ <position class="hip_pitch" name="left_hip_pitch_joint" joint="left_hip_pitch_joint" />
448
+ <position class="hip_roll" name="left_hip_roll_joint" joint="left_hip_roll_joint" />
449
+ <position class="hip_yaw" name="left_hip_yaw_joint" joint="left_hip_yaw_joint" />
450
+ <position class="knee" name="left_knee_joint" joint="left_knee_joint" />
451
+ <position class="ankle_pitch" name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint" />
452
+ <position class="ankle_roll" name="left_ankle_roll_joint" joint="left_ankle_roll_joint" />
453
+
454
+ <position class="hip_pitch" name="right_hip_pitch_joint" joint="right_hip_pitch_joint" />
455
+ <position class="hip_roll" name="right_hip_roll_joint" joint="right_hip_roll_joint" />
456
+ <position class="hip_yaw" name="right_hip_yaw_joint" joint="right_hip_yaw_joint" />
457
+ <position class="knee" name="right_knee_joint" joint="right_knee_joint" />
458
+ <position class="ankle_pitch" name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" />
459
+ <position class="ankle_roll" name="right_ankle_roll_joint" joint="right_ankle_roll_joint" />
460
+
461
+ <position class="waist_yaw" name="waist_yaw_joint" joint="waist_yaw_joint" />
462
+ <position class="waist_roll" name="waist_roll_joint" joint="waist_roll_joint" />
463
+ <position class="waist_pitch" name="waist_pitch_joint" joint="waist_pitch_joint" />
464
+
465
+ <position class="shoulder_pitch" name="left_shoulder_pitch_joint"
466
+ joint="left_shoulder_pitch_joint" />
467
+ <position class="shoulder_roll" name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint" />
468
+ <position class="shoulder_yaw" name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint" />
469
+ <position class="elbow" name="left_elbow_joint" joint="left_elbow_joint" />
470
+ <position class="wrist_roll" name="left_wrist_roll_joint" joint="left_wrist_roll_joint" />
471
+ <position class="wrist_pitch" name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint" />
472
+ <position class="wrist_yaw" name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint" />
473
+
474
+ <position class="shoulder_pitch" name="right_shoulder_pitch_joint"
475
+ joint="right_shoulder_pitch_joint" />
476
+ <position class="shoulder_roll" name="right_shoulder_roll_joint"
477
+ joint="right_shoulder_roll_joint" />
478
+ <position class="shoulder_yaw" name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint" />
479
+ <position class="elbow" name="right_elbow_joint" joint="right_elbow_joint" />
480
+ <position class="wrist_roll" name="right_wrist_roll_joint" joint="right_wrist_roll_joint" />
481
+ <position class="wrist_pitch" name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint" />
482
+ <position class="wrist_yaw" name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint" />
483
+ </actuator>
484
+
485
+ <!-- <sensor>
486
+ <velocimeter site="imu_in_torso" name="local_linvel_torso" />
487
+ <velocimeter site="imu_in_pelvis" name="local_linvel_pelvis" />
488
+ <accelerometer site="imu_in_torso" name="accelerometer_torso" />
489
+ <accelerometer site="imu_in_pelvis" name="accelerometer_pelvis" />
490
+ <gyro site="imu_in_torso" name="gyro_torso" />
491
+ <gyro site="imu_in_pelvis" name="gyro_pelvis" />
492
+ <framezaxis objtype="site" objname="imu_in_torso" name="upvector_torso" />
493
+ <framezaxis objtype="site" objname="imu_in_pelvis" name="upvector_pelvis" />
494
+ <framequat objtype="site" objname="imu_in_torso" name="orientation_torso" />
495
+ <framequat objtype="site" objname="imu_in_pelvis" name="orientation_pelvis" />
496
+ <framelinvel objtype="site" objname="imu_in_torso" name="global_linvel_torso" />
497
+ <framelinvel objtype="site" objname="imu_in_pelvis" name="global_linvel_pelvis" />
498
+ <frameangvel objtype="site" objname="imu_in_torso" name="global_angvel_torso" />
499
+ <frameangvel objtype="site" objname="imu_in_pelvis" name="global_angvel_pelvis" />
500
+ </sensor> -->
501
+
502
+ <contact>
503
+ <pair name="left_foot_floor0" geom1="lf0" geom2="floor" solref="0.008 1"
504
+ friction="1 1" condim="3" />
505
+ <pair name="left_foot_floor1" geom1="lf1" geom2="floor" solref="0.008 1"
506
+ friction="1 1" condim="3" />
507
+ <pair name="left_foot_floor2" geom1="lf2" geom2="floor" solref="0.008 1"
508
+ friction="1 1" condim="3" />
509
+ <pair name="left_foot_floor3" geom1="lf3" geom2="floor" solref="0.008 1"
510
+ friction="1 1" condim="3" />
511
+ <pair name="right_foot_floor0" geom1="rf0" geom2="floor" solref="0.008 1"
512
+ friction="1 1" condim="3" />
513
+ <pair name="right_foot_floor1" geom1="rf1" geom2="floor" solref="0.008 1"
514
+ friction="1 1" condim="3" />
515
+ <pair name="right_foot_floor2" geom1="rf2" geom2="floor" solref="0.008 1"
516
+ friction="1 1" condim="3" />
517
+ <pair name="right_foot_floor3" geom1="rf3" geom2="floor" solref="0.008 1"
518
+ friction="1 1" condim="3" />
519
+ <pair name="left_hand_floor" geom1="lh" geom2="floor" solref="0.008 1"
520
+ friction="1 1" condim="3" />
521
+ <pair name="right_hand_floor" geom1="rh" geom2="floor" solref="0.008 1"
522
+ friction="1 1" condim="3" />
523
+ </contact>
524
+ </mujoco>
processed/lafan/assets/robots/unitree_g1/scene_soft.xml ADDED
@@ -0,0 +1,545 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="g1 scene">
2
+ <compiler angle="radian" meshdir="../../../assets/robots/unitree_g1/meshes" autolimits="true" />
3
+
4
+ <!-- performance options -->
5
+ <option timestep="0.01" iterations="5" ls_iterations="20" integrator="implicitfast">
6
+ <flag eulerdamp="disable" />
7
+ </option>
8
+
9
+ <visual>
10
+ <global azimuth="135" elevation="-25" offwidth="1920" offheight="1080" />
11
+ <quality shadowsize="8192" />
12
+ <headlight ambient="0.3 0.3 0.3" diffuse="0.6 0.6 0.6" specular="0 0 0" />
13
+ <scale forcewidth="0.25" contactwidth="0.4" contactheight="0.15" framelength="5"
14
+ framewidth="0.3" />
15
+ <rgba haze="0.15 0.25 0.35 1" force="1 0 0 1" />
16
+ </visual>
17
+
18
+ <custom>
19
+ <numeric data="15" name="max_contact_points" />
20
+ <numeric data="15" name="max_geom_pairs" />
21
+ </custom>
22
+
23
+ <default>
24
+ <default class="g1">
25
+ <default class="visual">
26
+ <geom group="2" type="mesh" density="0" material="silver" />
27
+ </default>
28
+ <default class="collision">
29
+ <geom group="3" rgba="0 1 0 1" />
30
+ </default>
31
+ <site group="5" rgba="1 0 0 1" />
32
+ <!-- Disable all contacts and use explicit contact pairs. -->
33
+ <geom condim="1" contype="0" conaffinity="0" />
34
+ <position kp="500" dampratio="1" inheritrange="1" />
35
+ <joint frictionloss="0.1" solimplimit="0.97 0.995 0.001" />
36
+
37
+ <default class="hip">
38
+ <default class="hip_pitch">
39
+ <joint axis="0 1 0" range="-2.5307 2.8798" armature="0.01017752004" damping="2.5579" />
40
+ <position kp="40.1792" dampratio="1" inheritrange="1" />
41
+ </default>
42
+ <default class="hip_roll">
43
+ <joint axis="1 0 0" range="-0.5236 2.9671" armature="0.025101925" damping="6.3088" />
44
+ <position kp="99.0984" dampratio="1" inheritrange="1" />
45
+ </default>
46
+ <default class="hip_yaw">
47
+ <joint axis="0 0 1" range="-2.7576 2.7576" armature="0.01017752004" damping="2.5579" />
48
+ <position kp="40.1792" dampratio="1" inheritrange="1" />
49
+ </default>
50
+ </default>
51
+ <default class="knee">
52
+ <joint axis="0 1 0" range="-0.087267 2.8798" armature="0.025101925" damping="6.3088" />
53
+ <position kp="99.0984" dampratio="1" inheritrange="1" />
54
+ </default>
55
+ <default class="ankle">
56
+ <default class="ankle_pitch">
57
+ <joint axis="0 1 0" range="-0.87267 0.5236" armature="0.00721945" damping="1.8144" />
58
+ <position kp="28.5012" dampratio="1" inheritrange="1" />
59
+ </default>
60
+ <default class="ankle_roll">
61
+ <joint axis="1 0 0" range="-0.2618 0.2618" armature="0.00721945" damping="1.8144" />
62
+ <position kp="28.5012" dampratio="1" inheritrange="1" />
63
+ </default>
64
+ </default>
65
+
66
+ <default class="waist_yaw">
67
+ <joint axis="0 0 1" range="-2.618 2.618" armature="0.01017752004" damping="2.5579" />
68
+ <position kp="40.1792" dampratio="1" inheritrange="1" />
69
+ </default>
70
+ <default class="waist_pitch">
71
+ <joint axis="0 1 0" range="-0.52 0.52" armature="0.00721945" damping="1.8144" />
72
+ <position kp="28.5012" dampratio="1" inheritrange="1" />
73
+ </default>
74
+ <default class="waist_roll">
75
+ <joint axis="1 0 0" range="-0.52 0.52" armature="0.00721945" damping="1.8144" />
76
+ <position kp="28.5012" dampratio="1" inheritrange="1" />
77
+ </default>
78
+
79
+ <default class="shoulder">
80
+ <default class="shoulder_pitch">
81
+ <joint axis="0 1 0" range="-3.0892 2.6704" armature="0.003609725" damping="0.9072" />
82
+ <position kp="14.2506" dampratio="1" inheritrange="1" />
83
+ </default>
84
+ <default class="shoulder_roll">
85
+ <joint axis="1 0 0" armature="0.003609725" damping="0.9072" />
86
+ <position kp="14.2506" dampratio="1" inheritrange="1" />
87
+ </default>
88
+ <default class="shoulder_yaw">
89
+ <joint axis="0 0 1" range="-2.618 2.618" armature="0.003609725" damping="0.9072" />
90
+ <position kp="14.2506" dampratio="1" inheritrange="1" />
91
+ </default>
92
+ </default>
93
+
94
+ <default class="elbow">
95
+ <joint axis="0 1 0" range="-1.0472 2.0944" armature="0.003609725" damping="0.9072" />
96
+ <position kp="14.2506" dampratio="1" inheritrange="1" />
97
+ </default>
98
+
99
+ <default class="wrist">
100
+ <default class="wrist_roll">
101
+ <joint axis="1 0 0" range="-1.97222 1.97222" armature="0.003609725" damping="0.9072" />
102
+ <position kp="14.2506" dampratio="1" inheritrange="1" />
103
+ </default>
104
+ <default class="wrist_pitch">
105
+ <joint axis="0 1 0" range="-1.61443 1.61443" armature="0.00425" damping="1.0681" />
106
+ <position kp="16.7783" dampratio="1" inheritrange="1" />
107
+ </default>
108
+ <default class="wrist_yaw">
109
+ <joint axis="0 0 1" range="-1.61443 1.61443" armature="0.00425" damping="1.0681" />
110
+ <position kp="16.7783" dampratio="1" inheritrange="1" />
111
+ </default>
112
+ </default>
113
+ </default>
114
+ </default>
115
+
116
+ <asset>
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+ <texture type="skybox" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" width="3072" height="3072" />
118
+ <texture type="2d" colorspace="auto" name="groundplane" builtin="checker" mark="edge"
119
+ rgb1="1 1 1" rgb2="1.0 1.0 1.0" markrgb="1.0 1.0 1.0" width="300" height="300" />
120
+ <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="4 4" />
121
+
122
+ <material name="silver" rgba="0.7 0.7 0.7 1" />
123
+ <material name="black" rgba="0.2 0.2 0.2 1" />
124
+
125
+ <mesh name="pelvis" file="pelvis.STL" />
126
+ <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL" />
127
+ <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL" />
128
+ <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL" />
129
+ <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL" />
130
+ <mesh name="left_knee_link" file="left_knee_link.STL" />
131
+ <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL" />
132
+ <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL" />
133
+ <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL" />
134
+ <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL" />
135
+ <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL" />
136
+ <mesh name="right_knee_link" file="right_knee_link.STL" />
137
+ <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL" />
138
+ <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL" />
139
+ <mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL" />
140
+ <mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL" />
141
+ <mesh name="torso_link" file="torso_link_rev_1_0.STL" />
142
+ <mesh name="logo_link" file="logo_link.STL" />
143
+ <mesh name="head_link" file="head_link.STL" />
144
+ <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL" />
145
+ <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL" />
146
+ <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL" />
147
+ <mesh name="left_elbow_link" file="left_elbow_link.STL" />
148
+ <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL" />
149
+ <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL" />
150
+ <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL" />
151
+ <mesh name="left_rubber_hand" file="left_rubber_hand.STL" />
152
+ <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL" />
153
+ <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL" />
154
+ <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL" />
155
+ <mesh name="right_elbow_link" file="right_elbow_link.STL" />
156
+ <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL" />
157
+ <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL" />
158
+ <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL" />
159
+ <mesh name="right_rubber_hand" file="right_rubber_hand.STL" />
160
+ </asset>
161
+
162
+ <worldbody>
163
+ <light pos="0 0 5" dir="0 0 -1" type="directional" />
164
+ <geom name="floor" size="0 0 0.01" type="plane" material="groundplane" />
165
+ <body name="pelvis" pos="0 0 0.793" childclass="g1">
166
+ <camera name="track" pos="1.734 -1.135 .35" xyaxes="0.552 0.834 -0.000 -0.170 0.112 0.979"
167
+ mode="trackcom" />
168
+ <camera name="track2" pos="1.489 1.189 1.174" xyaxes="-0.609 0.793 -0.000 -0.221 -0.169 0.961"
169
+ mode="trackcom" />
170
+ <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813"
171
+ diaginertia="0.010549 0.0093089 0.0079184" />
172
+ <freejoint name="floating_base_joint" />
173
+ <geom class="visual" material="black" mesh="pelvis" />
174
+ <geom class="visual" mesh="pelvis_contour_link" />
175
+ <!-- <geom name="pelvis_collision" class="collision" type="sphere" size="0.07" pos="0 0 -0.08"
176
+ /> -->
177
+ <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
178
+ <site name="trace_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
179
+ <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
180
+ <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122"
181
+ mass="1.35"
182
+ diaginertia="0.00181517 0.00153422 0.00116212" />
183
+ <joint name="left_hip_pitch_joint" class="hip_pitch" />
184
+ <geom class="visual" material="black" mesh="left_hip_pitch_link" />
185
+ <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
186
+ <inertial pos="0.029812 -0.001045 -0.087934"
187
+ quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
188
+ diaginertia="0.00254986 0.00241169 0.00148755" />
189
+ <joint name="left_hip_roll_joint" class="hip_roll" />
190
+ <geom class="visual" mesh="left_hip_roll_link" />
191
+ <!-- <geom name="left_hip_collision" class="collision" size="0.06"
192
+ fromto="0.02 0 0 0.02 0 -0.08" /> -->
193
+ <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
194
+ <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181"
195
+ mass="1.702"
196
+ diaginertia="0.00776166 0.00717575 0.00160139" />
197
+ <joint name="left_hip_yaw_joint" class="hip_yaw" />
198
+ <geom class="visual" mesh="left_hip_yaw_link" />
199
+ <!-- <geom name="left_thigh_collision" class="collision" size="0.055"
200
+ fromto="-0.0 0 -0.03 -0.06 0 -0.17" /> -->
201
+ <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734"
202
+ quat="0.996179 0 0.0873386 0">
203
+ <inertial pos="0.005457 0.003964 -0.12074"
204
+ quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932"
205
+ diaginertia="0.0113804 0.0112778 0.00146458" />
206
+ <joint name="left_knee_joint" class="knee" />
207
+ <geom class="visual" mesh="left_knee_link" />
208
+ <geom name="left_shin" class="collision" type="capsule" size="0.04" fromto="0.02 0 0 0.02 0 -0.25" />
209
+ <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
210
+ <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
211
+ mass="0.074"
212
+ diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
213
+ <joint name="left_ankle_pitch_joint" class="ankle_pitch" />
214
+ <geom class="visual" mesh="left_ankle_pitch_link" />
215
+ <body name="left_ankle_roll_link" pos="0 0 -0.017558">
216
+ <site name="left_foot" rgba="1 0 0 1" pos="0.04 0 -0.037" />
217
+ <inertial pos="0.026505 0 -0.016425"
218
+ quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608"
219
+ diaginertia="0.00167218 0.0016161 0.000217621" />
220
+ <joint name="left_ankle_roll_joint" class="ankle_roll" />
221
+ <geom class="visual" material="black" mesh="left_ankle_roll_link" />
222
+ <geom name="left_foot1_collision" class="collision" type="capsule" size="0.01" fromto="0.1 -0.026 -0.025 0.05 -0.027 -0.025" />
223
+ <geom name="left_foot2_collision" class="collision" type="capsule" size="0.01" fromto="-0.044 -0.018 -0.025 0.123 -0.018 -0.025" />
224
+ <geom name="left_foot3_collision" class="collision" type="capsule" size="0.01" fromto="-0.052 -0.01 -0.025 0.13 -0.01 -0.025" />
225
+ <geom name="left_foot4_collision" class="collision" type="capsule" size="0.01" fromto="-0.054 0 -0.025 0.132 0 -0.025" />
226
+ <geom name="left_foot5_collision" class="collision" type="capsule" size="0.01" fromto="-0.052 0.01 -0.025 0.13 0.01 -0.025" />
227
+ <geom name="left_foot6_collision" class="collision" type="capsule" size="0.01" fromto="-0.044 0.018 -0.025 0.123 0.018 -0.025" />
228
+ <geom name="left_foot7_collision" class="collision" type="capsule" size="0.01" fromto="0.1 0.026 -0.025 0.05 0.026 -0.025" />
229
+ <site name="trace_left_foot" size="0.01" pos="0.04 0 -0.037" />
230
+ </body>
231
+ </body>
232
+ </body>
233
+ </body>
234
+ </body>
235
+ </body>
236
+ <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
237
+ <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122"
238
+ mass="1.35"
239
+ diaginertia="0.00181517 0.00153422 0.00116212" />
240
+ <joint name="right_hip_pitch_joint" class="hip_pitch" />
241
+ <geom class="visual" material="black" mesh="right_hip_pitch_link" />
242
+ <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
243
+ <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793"
244
+ mass="1.52"
245
+ diaginertia="0.00254986 0.00241169 0.00148755" />
246
+ <joint name="right_hip_roll_joint" class="hip_roll" />
247
+ <geom class="visual" mesh="right_hip_roll_link" />
248
+ <!-- <geom name="right_hip_collision" class="collision" size="0.06"
249
+ fromto="0.02 0 0 0.02 0 -0.08" /> -->
250
+ <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
251
+ <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598"
252
+ mass="1.702"
253
+ diaginertia="0.00776166 0.00717575 0.00160139" />
254
+ <joint name="right_hip_yaw_joint" class="hip_yaw" />
255
+ <geom class="visual" mesh="right_hip_yaw_link" />
256
+ <!-- <geom name="right_thigh_collision" class="collision" size="0.055"
257
+ fromto="-0.0 0 -0.03 -0.06 0 -0.17" /> -->
258
+ <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734"
259
+ quat="0.996179 0 0.0873386 0">
260
+ <inertial pos="0.005457 -0.003964 -0.12074"
261
+ quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932"
262
+ diaginertia="0.011374 0.0112843 0.00146452" />
263
+ <joint name="right_knee_joint" class="knee" />
264
+ <geom class="visual" mesh="right_knee_link" />
265
+ <geom name="right_shin" class="collision" type="capsule" size="0.04" fromto="0.02 0 0 0.02 0 -0.25" />
266
+ <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
267
+ <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
268
+ mass="0.074"
269
+ diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
270
+ <joint name="right_ankle_pitch_joint" class="ankle_pitch" />
271
+ <geom class="visual" mesh="right_ankle_pitch_link" />
272
+ <body name="right_ankle_roll_link" pos="0 0 -0.017558">
273
+ <site name="right_foot" rgba="1 0 0 1" pos="0.04 0 -0.037" />
274
+ <inertial pos="0.026505 0 -0.016425"
275
+ quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608"
276
+ diaginertia="0.00167218 0.0016161 0.000217621" />
277
+ <joint name="right_ankle_roll_joint" class="ankle_roll" />
278
+ <geom class="visual" material="black" mesh="right_ankle_roll_link" />
279
+ <geom name="right_foot1_collision" class="collision" type="capsule" size="0.01" fromto="0.1 -0.026 -0.025 0.05 -0.026 -0.025" />
280
+ <geom name="right_foot2_collision" class="collision" type="capsule" size="0.008" fromto="-0.044 -0.018 -0.025 0.123 -0.018 -0.025" />
281
+ <geom name="right_foot3_collision" class="collision" type="capsule" size="0.01" fromto="-0.052 -0.01 -0.025 0.13 -0.01 -0.025" />
282
+ <geom name="right_foot4_collision" class="collision" type="capsule" size="0.01" fromto="-0.054 0 -0.025 0.132 0 -0.025" />
283
+ <geom name="right_foot5_collision" class="collision" type="capsule" size="0.01" fromto="-0.052 0.01 -0.025 0.13 0.01 -0.025" />
284
+ <geom name="right_foot6_collision" class="collision" type="capsule" size="0.008" fromto="-0.044 0.018 -0.025 0.123 0.018 -0.025" />
285
+ <geom name="right_foot7_collision" class="collision" type="capsule" size="0.01" fromto="0.1 0.026 -0.025 0.05 0.026 -0.025" />
286
+ <site name="trace_right_foot" size="0.01" pos="0.04 0 -0.037" />
287
+ </body>
288
+ </body>
289
+ </body>
290
+ </body>
291
+ </body>
292
+ </body>
293
+ <body name="waist_yaw_link">
294
+ <inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821"
295
+ mass="0.214"
296
+ diaginertia="0.000163531 0.000107714 0.000102205" />
297
+ <joint name="waist_yaw_joint" class="waist_yaw" />
298
+ <geom class="visual" mesh="waist_yaw_link" />
299
+ <body name="waist_roll_link" pos="-0.0039635 0 0.044">
300
+ <inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086"
301
+ diaginertia="8.245e-06 7.079e-06 6.339e-06" />
302
+ <joint name="waist_roll_joint" class="waist_roll" />
303
+ <geom class="visual" mesh="waist_roll_link" />
304
+ <body name="torso_link">
305
+ <inertial pos="0.00203158 0.000339683 0.184568"
306
+ quat="0.999803 -6.03319e-05 0.0198256 0.00131986"
307
+ mass="7.818" diaginertia="0.121847 0.109825 0.0273735" />
308
+ <joint name="waist_pitch_joint" class="waist_pitch" />
309
+ <geom class="visual" mesh="torso_link" />
310
+ <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" class="visual" material="black"
311
+ mesh="logo_link" />
312
+ <geom pos="0.0039635 0 -0.044" class="visual" material="black" mesh="head_link" />
313
+ <!-- <geom name="torso_collision" class="collision" size="0.09"
314
+ fromto="0.01 0 0.08 0.01 0 0.2" />
315
+ <geom name="head_collision" class="collision" type="sphere" size="0.06" pos="0 0 .43" /> -->
316
+ <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792" />
317
+ <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778"
318
+ quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
319
+ <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225"
320
+ mass="0.718"
321
+ diaginertia="0.000465864 0.000432842 0.000406394" />
322
+ <joint name="left_shoulder_pitch_joint" class="shoulder_pitch" />
323
+ <geom class="visual" mesh="left_shoulder_pitch_link" />
324
+ <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831"
325
+ quat="0.990268 -0.139172 0 0">
326
+ <inertial pos="-0.000227 0.00727 -0.063243"
327
+ quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643"
328
+ diaginertia="0.000691311 0.000618011 0.000388977" />
329
+ <joint name="left_shoulder_roll_joint" range="-1.5882 2.2515" class="shoulder_roll" />
330
+ <geom class="visual" mesh="left_shoulder_roll_link" />
331
+ <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
332
+ <inertial pos="0.010773 -0.002949 -0.072009"
333
+ quat="0.716879 -0.0964829 -0.0679942 0.687134"
334
+ mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
335
+ <joint name="left_shoulder_yaw_joint" class="shoulder_yaw" />
336
+ <geom class="visual" mesh="left_shoulder_yaw_link" />
337
+ <!-- <geom name="left_shoulder_yaw_collision" class="collision" size="0.035"
338
+ fromto="0 0 -0.08 0 0 0.05" /> -->
339
+ <body name="left_elbow_link" pos="0.015783 0 -0.080518">
340
+ <inertial pos="0.064956 0.004454 -0.010062"
341
+ quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
342
+ diaginertia="0.000443035 0.000421612 0.000259353" />
343
+ <joint name="left_elbow_joint" class="elbow" />
344
+ <geom class="visual" mesh="left_elbow_link" />
345
+ <!-- <geom name="left_elbow_yaw_collision" class="collision" size="0.035"
346
+ fromto="-0.01 0 -0.01 0.08 0 -0.01" /> -->
347
+ <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
348
+ <inertial pos="0.0171394 0.000537591 4.8864e-07"
349
+ quat="0.575338 0.411667 -0.574906 0.411094"
350
+ mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
351
+ <joint name="left_wrist_roll_joint" class="wrist_roll" />
352
+ <geom class="visual" mesh="left_wrist_roll_link" />
353
+ <body name="left_wrist_pitch_link" pos="0.038 0 0">
354
+ <inertial pos="0.0229999 -0.00111685 -0.00111658"
355
+ quat="0.249998 0.661363 0.293036 0.643608"
356
+ mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
357
+ <joint name="left_wrist_pitch_joint" class="wrist_pitch" />
358
+ <geom class="visual" mesh="left_wrist_pitch_link" />
359
+ <!-- <geom name="left_wrist_collision" class="collision" size="0.035"
360
+ fromto="-0.01 0 0 0.06 0 0" /> -->
361
+ <body name="left_wrist_yaw_link" pos="0.046 0 0">
362
+ <inertial pos="0.0708244 0.000191745 0.00161742"
363
+ quat="0.510571 0.526295 0.468078 0.493188"
364
+ mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
365
+ <joint name="left_wrist_yaw_joint" class="wrist_yaw" />
366
+ <geom class="visual" mesh="left_wrist_yaw_link" />
367
+ <geom pos="0.0415 0.003 0" quat="1 0 0 0" class="visual"
368
+ mesh="left_rubber_hand" />
369
+ <site name="left_palm" pos="0.08 0 0" size="0.01" />
370
+ <geom name="left_hand_collision" class="collision" type="capsule" size="0.05" fromto="0.05 0 0 0.1 0 0" />
371
+ <site name="trace_left_hand" size="0.01" pos="0.08 0 0" />
372
+ </body>
373
+ </body>
374
+ </body>
375
+ </body>
376
+ </body>
377
+ </body>
378
+ </body>
379
+ <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778"
380
+ quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
381
+ <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152"
382
+ mass="0.718"
383
+ diaginertia="0.000465864 0.000432842 0.000406394" />
384
+ <joint name="right_shoulder_pitch_joint" class="shoulder_pitch" />
385
+ <geom class="visual" mesh="right_shoulder_pitch_link" />
386
+ <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831"
387
+ quat="0.990268 0.139172 0 0">
388
+ <inertial pos="-0.000227 -0.00727 -0.063243"
389
+ quat="0.712604 -0.00710317 -0.0196223 0.701256"
390
+ mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977" />
391
+ <joint name="right_shoulder_roll_joint" range="-2.2515 1.5882" class="shoulder_roll" />
392
+ <geom class="visual" mesh="right_shoulder_roll_link" />
393
+ <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
394
+ <inertial pos="0.010773 0.002949 -0.072009"
395
+ quat="0.687134 -0.0679942 -0.0964829 0.716879"
396
+ mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
397
+ <joint name="right_shoulder_yaw_joint" class="shoulder_yaw" />
398
+ <geom class="visual" mesh="right_shoulder_yaw_link" />
399
+ <!-- <geom name="right_shoulder_yaw_collision" class="collision" size="0.035"
400
+ fromto="0 0 -0.08 0 0 0.05" /> -->
401
+ <body name="right_elbow_link" pos="0.015783 0 -0.080518">
402
+ <inertial pos="0.064956 -0.004454 -0.010062"
403
+ quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
404
+ diaginertia="0.000443035 0.000421612 0.000259353" />
405
+ <joint name="right_elbow_joint" class="elbow" />
406
+ <geom class="visual" mesh="right_elbow_link" />
407
+ <!-- <geom name="right_elbow_yaw_collision" class="collision" size="0.035"
408
+ fromto="-0.01 0 -0.01 0.08 0 -0.01" /> -->
409
+ <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
410
+ <inertial pos="0.0171394 -0.000537591 4.8864e-07"
411
+ quat="0.411667 0.575338 -0.411094 0.574906"
412
+ mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
413
+ <joint name="right_wrist_roll_joint" class="wrist_roll" />
414
+ <geom class="visual" mesh="right_wrist_roll_link" />
415
+ <body name="right_wrist_pitch_link" pos="0.038 0 0">
416
+ <inertial pos="0.0229999 0.00111685 -0.00111658"
417
+ quat="0.643608 0.293036 0.661363 0.249998"
418
+ mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
419
+ <joint name="right_wrist_pitch_joint" class="wrist_pitch" />
420
+ <geom class="visual" mesh="right_wrist_pitch_link" />
421
+ <!-- <geom name="right_wrist_collision" class="collision" size="0.035"
422
+ fromto="-0.01 0 0 0.06 0 0" /> -->
423
+ <body name="right_wrist_yaw_link" pos="0.046 0 0">
424
+ <inertial pos="0.0708244 -0.000191745 0.00161742"
425
+ quat="0.493188 0.468078 0.526295 0.510571"
426
+ mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
427
+ <joint name="right_wrist_yaw_joint" class="wrist_yaw" />
428
+ <geom class="visual" mesh="right_wrist_yaw_link" />
429
+ <geom pos="0.0415 -0.003 0" quat="1 0 0 0" class="visual"
430
+ mesh="right_rubber_hand" />
431
+ <site name="right_palm" pos="0.08 0 0" size="0.01" />
432
+ <geom name="right_hand_collision" class="collision" type="capsule" size="0.05" fromto="0.05 0 0 0.1 0 0" />
433
+ <site name="trace_right_hand" size="0.01" pos="0.08 0 0" />
434
+ </body>
435
+ </body>
436
+ </body>
437
+ </body>
438
+ </body>
439
+ </body>
440
+ </body>
441
+ </body>
442
+ </body>
443
+ </body>
444
+ </body>
445
+ </worldbody>
446
+
447
+ <actuator>
448
+ <position class="hip_pitch" name="left_hip_pitch_joint" joint="left_hip_pitch_joint" />
449
+ <position class="hip_roll" name="left_hip_roll_joint" joint="left_hip_roll_joint" />
450
+ <position class="hip_yaw" name="left_hip_yaw_joint" joint="left_hip_yaw_joint" />
451
+ <position class="knee" name="left_knee_joint" joint="left_knee_joint" />
452
+ <position class="ankle_pitch" name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint" />
453
+ <position class="ankle_roll" name="left_ankle_roll_joint" joint="left_ankle_roll_joint" />
454
+
455
+ <position class="hip_pitch" name="right_hip_pitch_joint" joint="right_hip_pitch_joint" />
456
+ <position class="hip_roll" name="right_hip_roll_joint" joint="right_hip_roll_joint" />
457
+ <position class="hip_yaw" name="right_hip_yaw_joint" joint="right_hip_yaw_joint" />
458
+ <position class="knee" name="right_knee_joint" joint="right_knee_joint" />
459
+ <position class="ankle_pitch" name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" />
460
+ <position class="ankle_roll" name="right_ankle_roll_joint" joint="right_ankle_roll_joint" />
461
+
462
+ <position class="waist_yaw" name="waist_yaw_joint" joint="waist_yaw_joint" />
463
+ <position class="waist_roll" name="waist_roll_joint" joint="waist_roll_joint" />
464
+ <position class="waist_pitch" name="waist_pitch_joint" joint="waist_pitch_joint" />
465
+
466
+ <position class="shoulder_pitch" name="left_shoulder_pitch_joint"
467
+ joint="left_shoulder_pitch_joint" />
468
+ <position class="shoulder_roll" name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint" />
469
+ <position class="shoulder_yaw" name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint" />
470
+ <position class="elbow" name="left_elbow_joint" joint="left_elbow_joint" />
471
+ <position class="wrist_roll" name="left_wrist_roll_joint" joint="left_wrist_roll_joint" />
472
+ <position class="wrist_pitch" name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint" />
473
+ <position class="wrist_yaw" name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint" />
474
+
475
+ <position class="shoulder_pitch" name="right_shoulder_pitch_joint"
476
+ joint="right_shoulder_pitch_joint" />
477
+ <position class="shoulder_roll" name="right_shoulder_roll_joint"
478
+ joint="right_shoulder_roll_joint" />
479
+ <position class="shoulder_yaw" name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint" />
480
+ <position class="elbow" name="right_elbow_joint" joint="right_elbow_joint" />
481
+ <position class="wrist_roll" name="right_wrist_roll_joint" joint="right_wrist_roll_joint" />
482
+ <position class="wrist_pitch" name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint" />
483
+ <position class="wrist_yaw" name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint" />
484
+ </actuator>
485
+
486
+ <!-- <sensor>
487
+ <velocimeter site="imu_in_torso" name="local_linvel_torso" />
488
+ <velocimeter site="imu_in_pelvis" name="local_linvel_pelvis" />
489
+ <accelerometer site="imu_in_torso" name="accelerometer_torso" />
490
+ <accelerometer site="imu_in_pelvis" name="accelerometer_pelvis" />
491
+ <gyro site="imu_in_torso" name="gyro_torso" />
492
+ <gyro site="imu_in_pelvis" name="gyro_pelvis" />
493
+ <framezaxis objtype="site" objname="imu_in_torso" name="upvector_torso" />
494
+ <framezaxis objtype="site" objname="imu_in_pelvis" name="upvector_pelvis" />
495
+ <framequat objtype="site" objname="imu_in_torso" name="orientation_torso" />
496
+ <framequat objtype="site" objname="imu_in_pelvis" name="orientation_pelvis" />
497
+ <framelinvel objtype="site" objname="imu_in_torso" name="global_linvel_torso" />
498
+ <framelinvel objtype="site" objname="imu_in_pelvis" name="global_linvel_pelvis" />
499
+ <frameangvel objtype="site" objname="imu_in_torso" name="global_angvel_torso" />
500
+ <frameangvel objtype="site" objname="imu_in_pelvis" name="global_angvel_pelvis" />
501
+ </sensor> -->
502
+
503
+ <contact>
504
+ <pair name="left_foot_floor1" geom1="left_foot1_collision" geom2="floor" solref="0.002 1"
505
+ friction="1 1" condim="3" />
506
+ <pair name="left_foot_floor2" geom1="left_foot2_collision" geom2="floor" solref="0.002 1"
507
+ friction="1 1" condim="3" />
508
+ <pair name="left_foot_floor3" geom1="left_foot3_collision" geom2="floor" solref="0.002 1"
509
+ friction="1 1" condim="3" />
510
+ <pair name="left_foot_floor4" geom1="left_foot4_collision" geom2="floor" solref="0.002 1"
511
+ friction="1 1" condim="3" />
512
+ <pair name="left_foot_floor5" geom1="left_foot5_collision" geom2="floor" solref="0.002 1"
513
+ friction="1 1" condim="3" />
514
+ <pair name="left_foot_floor6" geom1="left_foot6_collision" geom2="floor" solref="0.002 1"
515
+ friction="1 1" condim="3" />
516
+ <pair name="left_foot_floor7" geom1="left_foot7_collision" geom2="floor" solref="0.002 1"
517
+ friction="1 1" condim="3" />
518
+ <pair name="right_foot_floor1" geom1="right_foot1_collision" geom2="floor" solref="0.002 1"
519
+ friction="1 1" condim="3" />
520
+ <pair name="right_foot_floor2" geom1="right_foot2_collision" geom2="floor" solref="0.002 1"
521
+ friction="1 1" condim="3" />
522
+ <pair name="right_foot_floor3" geom1="right_foot3_collision" geom2="floor" solref="0.002 1"
523
+ friction="1 1" condim="3" />
524
+ <pair name="right_foot_floor4" geom1="right_foot4_collision" geom2="floor" solref="0.002 1"
525
+ friction="1 1" condim="3" />
526
+ <pair name="right_foot_floor5" geom1="right_foot5_collision" geom2="floor" solref="0.002 1"
527
+ friction="1 1" condim="3" />
528
+ <pair name="right_foot_floor6" geom1="right_foot6_collision" geom2="floor" solref="0.002 1"
529
+ friction="1 1" condim="3" />
530
+ <pair name="right_foot_floor7" geom1="right_foot7_collision" geom2="floor" solref="0.002 1"
531
+ friction="1 1" condim="3" />
532
+ <pair name="left_hand_floor" geom1="left_hand_collision" geom2="floor" solref="0.002 1"
533
+ friction="1 1" condim="3" />
534
+ <pair name="right_hand_floor" geom1="right_hand_collision" geom2="floor" solref="0.002 1"
535
+ friction="1 1" condim="3" />
536
+
537
+ <!-- shin contact -->
538
+ <pair name="left_shin_floor" geom1="left_shin" geom2="floor" solref="0.002 1"
539
+ friction="1 1" condim="3" />
540
+ <pair name="right_shin_floor" geom1="right_shin" geom2="floor" solref="0.002 1"
541
+ friction="1 1" condim="3" />
542
+ <pair name="left_right_shin" geom1="left_shin" geom2="right_shin" solref="0.002 1"
543
+ friction="1 1" condim="3" />
544
+ </contact>
545
+ </mujoco>
processed/lafan/unitree_g1/humanoid/dance/0/trajectory_ik.npz CHANGED
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processed/lafan/unitree_g1/humanoid/dance/scene.xml CHANGED
@@ -220,6 +220,7 @@
220
  <geom name="lf2" class="foot_collision" pos="0.12 0.03 -0.03" />
221
  <geom name="lf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
222
  <site name="trace_left_foot" size="0.01" pos="0.04 0 -0.037" />
 
223
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224
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225
  </body>
@@ -277,6 +278,7 @@
277
  <geom name="rf2" class="foot_collision" pos="0.12 0.03 -0.03" />
278
  <geom name="rf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
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  <site name="trace_right_foot" size="0.01" pos="0.04 0 -0.037" />
 
280
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@@ -365,6 +367,7 @@
365
  fromto="0.07 0 0 0.15 -0.02 0" /> -->
366
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367
  <site name="trace_left_hand" size="0.01" pos="0.08 0 0" />
 
368
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369
  </body>
370
  </body>
@@ -430,6 +433,7 @@
430
  fromto="0.07 0 0 0.15 0.02 0" /> -->
431
  <geom name="rh" class="hand_collision" />
432
  <site name="trace_right_hand" size="0.01" pos="0.08 0 0" />
 
433
  </body>
434
  </body>
435
  </body>
 
220
  <geom name="lf2" class="foot_collision" pos="0.12 0.03 -0.03" />
221
  <geom name="lf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
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223
+ <site name="contact_left_foot" size="0.01" pos="0.04 0 -0.037" />
224
  </body>
225
  </body>
226
  </body>
 
278
  <geom name="rf2" class="foot_collision" pos="0.12 0.03 -0.03" />
279
  <geom name="rf3" class="foot_collision" pos="0.12 -0.03 -0.03" />
280
  <site name="trace_right_foot" size="0.01" pos="0.04 0 -0.037" />
281
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282
  </body>
283
  </body>
284
  </body>
 
367
  fromto="0.07 0 0 0.15 -0.02 0" /> -->
368
  <geom name="lh" class="hand_collision" />
369
  <site name="trace_left_hand" size="0.01" pos="0.08 0 0" />
370
+ <site name="contact_left_hand" size="0.01" pos="0.08 0 0" />
371
  </body>
372
  </body>
373
  </body>
 
433
  fromto="0.07 0 0 0.15 0.02 0" /> -->
434
  <geom name="rh" class="hand_collision" />
435
  <site name="trace_right_hand" size="0.01" pos="0.08 0 0" />
436
+ <site name="contact_right_hand" size="0.01" pos="0.08 0 0" />
437
  </body>
438
  </body>
439
  </body>
processed/lafan/unitree_g1/humanoid/dance/task_info.json CHANGED
@@ -1,3 +1,9 @@
1
  {
2
- "ref_dt": 0.03333333333333333
 
 
 
 
 
 
3
  }
 
1
  {
2
+ "ref_dt": 0.03333333333333333,
3
+ "contact_site_ids": [
4
+ 4,
5
+ 7,
6
+ 11,
7
+ 14
8
+ ]
9
  }