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@ -159,4 +159,4 @@ cython_debug/
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.vscode
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.vscode
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# logs
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# logs
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logs
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163
README.md
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README.md
@ -1,162 +1 @@
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<div align="center">
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详细使用说明，请参考 https://support.unitree.com/home/zh/developer/rl_example
|
||||||
<h1 align="center">Unitree RL GYM</h1>
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|
||||||
<p align="center">
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||||||
<span> 🌎English </span> | <a href="README_zh.md"> 🇨🇳中文 </a>
|
|
||||||
</p>
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||||||
</div>
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<p align="center">
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<strong>This is a repository for reinforcement learning implementation based on Unitree robots, supporting Unitree Go2, H1, H1_2, and G1.</strong>
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||||||
</p>
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||||||
|
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||||||
<div align="center">
|
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||||||
|
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||||||
| <div align="center"> Isaac Gym </div> | <div align="center"> Mujoco </div> | <div align="center"> Physical </div> |
|
|
||||||
|--- | --- | --- |
|
|
||||||
| [<img src="https://oss-global-cdn.unitree.com/static/32f06dc9dfe4452dac300dda45e86b34.GIF" width="240px">](https://oss-global-cdn.unitree.com/static/5bbc5ab1d551407080ca9d58d7bec1c8.mp4) | [<img src="https://oss-global-cdn.unitree.com/static/244cd5c4f823495fbfb67ef08f56aa33.GIF" width="240px">](https://oss-global-cdn.unitree.com/static/5aa48535ffd641e2932c0ba45c8e7854.mp4) | [<img src="https://oss-global-cdn.unitree.com/static/78c61459d3ab41448cfdb31f6a537e8b.GIF" width="240px">](https://oss-global-cdn.unitree.com/static/0818dcf7a6874b92997354d628adcacd.mp4) |
|
|
||||||
|
|
||||||
</div>
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|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 📦 Installation and Configuration
|
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||||||
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||||||
Please refer to [setup.md](/doc/setup_en.md) for installation and configuration steps.
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||||||
|
|
||||||
## 🔁 Process Overview
|
|
||||||
|
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||||||
The basic workflow for using reinforcement learning to achieve motion control is:
|
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||||||
|
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||||||
`Train` → `Play` → `Sim2Sim` → `Sim2Real`
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||||||
|
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||||||
- **Train**: Use the Gym simulation environment to let the robot interact with the environment and find a policy that maximizes the designed rewards. Real-time visualization during training is not recommended to avoid reduced efficiency.
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- **Play**: Use the Play command to verify the trained policy and ensure it meets expectations.
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||||||
- **Sim2Sim**: Deploy the Gym-trained policy to other simulators to ensure it’s not overly specific to Gym characteristics.
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||||||
- **Sim2Real**: Deploy the policy to a physical robot to achieve motion control.
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||||||
|
|
||||||
## 🛠️ User Guide
|
|
||||||
|
|
||||||
### 1. Training
|
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||||||
|
|
||||||
Run the following command to start training:
|
|
||||||
|
|
||||||
```bash
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|
||||||
python legged_gym/scripts/train.py --task=xxx
|
|
||||||
```
|
|
||||||
|
|
||||||
#### ⚙️ Parameter Description
|
|
||||||
- `--task`: Required parameter; values can be (go2, g1, h1, h1_2).
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|
||||||
- `--headless`: Defaults to starting with a graphical interface; set to true for headless mode (higher efficiency).
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|
||||||
- `--resume`: Resume training from a checkpoint in the logs.
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|
||||||
- `--experiment_name`: Name of the experiment to run/load.
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|
||||||
- `--run_name`: Name of the run to execute/load.
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|
||||||
- `--load_run`: Name of the run to load; defaults to the latest run.
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- `--checkpoint`: Checkpoint number to load; defaults to the latest file.
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||||||
- `--num_envs`: Number of environments for parallel training.
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||||||
- `--seed`: Random seed.
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||||||
- `--max_iterations`: Maximum number of training iterations.
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|
||||||
- `--sim_device`: Simulation computation device; specify CPU as `--sim_device=cpu`.
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|
||||||
- `--rl_device`: Reinforcement learning computation device; specify CPU as `--rl_device=cpu`.
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|
||||||
|
|
||||||
**Default Training Result Directory**: `logs/<experiment_name>/<date_time>_<run_name>/model_<iteration>.pt`
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### 2. Play
|
|
||||||
|
|
||||||
To visualize the training results in Gym, run the following command:
|
|
||||||
|
|
||||||
```bash
|
|
||||||
python legged_gym/scripts/play.py --task=xxx
|
|
||||||
```
|
|
||||||
|
|
||||||
**Description**:
|
|
||||||
|
|
||||||
- Play’s parameters are the same as Train’s.
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|
||||||
- By default, it loads the latest model from the experiment folder’s last run.
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|
||||||
- You can specify other models using `load_run` and `checkpoint`.
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|
||||||
|
|
||||||
#### 💾 Export Network
|
|
||||||
|
|
||||||
Play exports the Actor network, saving it in `logs/{experiment_name}/exported/policies`:
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|
||||||
- Standard networks (MLP) are exported as `policy_1.pt`.
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|
||||||
- RNN networks are exported as `policy_lstm_1.pt`.
|
|
||||||
|
|
||||||
### Play Results
|
|
||||||
|
|
||||||
| Go2 | G1 | H1 | H1_2 |
|
|
||||||
|--- | --- | --- | --- |
|
|
||||||
| [](https://oss-global-cdn.unitree.com/static/d2e8da875473457c8d5d69c3de58b24d.mp4) | [](https://oss-global-cdn.unitree.com/static/5bbc5ab1d551407080ca9d58d7bec1c8.mp4) | [](https://oss-global-cdn.unitree.com/static/522128f4640c4f348296d2761a33bf98.mp4) |[](https://oss-global-cdn.unitree.com/static/15fa46984f2343cb83342fd39f5ab7b2.mp4)|
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### 3. Sim2Sim (Mujoco)
|
|
||||||
|
|
||||||
Run Sim2Sim in the Mujoco simulator:
|
|
||||||
|
|
||||||
```bash
|
|
||||||
python deploy/deploy_mujoco/deploy_mujoco.py {config_name}
|
|
||||||
```
|
|
||||||
|
|
||||||
#### Parameter Description
|
|
||||||
- `config_name`: Configuration file; default search path is `deploy/deploy_mujoco/configs/`.
|
|
||||||
|
|
||||||
#### Example: Running G1
|
|
||||||
|
|
||||||
```bash
|
|
||||||
python deploy/deploy_mujoco/deploy_mujoco.py g1.yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
#### ➡️ Replace Network Model
|
|
||||||
|
|
||||||
The default model is located at `deploy/pre_train/{robot}/motion.pt`; custom-trained models are saved in `logs/g1/exported/policies/policy_lstm_1.pt`. Update the `policy_path` in the YAML configuration file accordingly.
|
|
||||||
|
|
||||||
#### Simulation Results
|
|
||||||
|
|
||||||
| G1 | H1 | H1_2 |
|
|
||||||
|--- | --- | --- |
|
|
||||||
| [](https://oss-global-cdn.unitree.com/static/5aa48535ffd641e2932c0ba45c8e7854.mp4) | [](https://oss-global-cdn.unitree.com/static/8934052becd84d08bc8c18c95849cf32.mp4) | [](https://oss-global-cdn.unitree.com/static/ee7ee85bd6d249989a905c55c7a9d305.mp4) |
|
|
||||||
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### 4. Sim2Real (Physical Deployment)
|
|
||||||
|
|
||||||
Before deploying to the physical robot, ensure it’s in debug mode. Detailed steps can be found in the [Physical Deployment Guide](deploy/deploy_real/README.md):
|
|
||||||
|
|
||||||
```bash
|
|
||||||
python deploy/deploy_real/deploy_real.py {net_interface} {config_name}
|
|
||||||
```
|
|
||||||
|
|
||||||
#### Parameter Description
|
|
||||||
- `net_interface`: Network card name connected to the robot, e.g., `enp3s0`.
|
|
||||||
- `config_name`: Configuration file located in `deploy/deploy_real/configs/`, e.g., `g1.yaml`, `h1.yaml`, `h1_2.yaml`.
|
|
||||||
|
|
||||||
#### Deployment Results
|
|
||||||
|
|
||||||
| G1 | H1 | H1_2 |
|
|
||||||
|--- | --- | --- |
|
|
||||||
| [](https://oss-global-cdn.unitree.com/static/0818dcf7a6874b92997354d628adcacd.mp4) | [](https://oss-global-cdn.unitree.com/static/ea0084038d384e3eaa73b961f33e6210.mp4) | [](https://oss-global-cdn.unitree.com/static/12d041a7906e489fae79d55b091a63dd.mp4) |
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 🎉 Acknowledgments
|
|
||||||
|
|
||||||
This repository is built upon the support and contributions of the following open-source projects. Special thanks to:
|
|
||||||
|
|
||||||
- [legged\_gym](https://github.com/leggedrobotics/legged_gym): The foundation for training and running codes.
|
|
||||||
- [rsl\_rl](https://github.com/leggedrobotics/rsl_rl.git): Reinforcement learning algorithm implementation.
|
|
||||||
- [mujoco](https://github.com/google-deepmind/mujoco.git): Providing powerful simulation functionalities.
|
|
||||||
- [unitree\_sdk2\_python](https://github.com/unitreerobotics/unitree_sdk2_python.git): Hardware communication interface for physical deployment.
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 🔖 License
|
|
||||||
|
|
||||||
This project is licensed under the [BSD 3-Clause License](./LICENSE):
|
|
||||||
1. The original copyright notice must be retained.
|
|
||||||
2. The project name or organization name may not be used for promotion.
|
|
||||||
3. Any modifications must be disclosed.
|
|
||||||
|
|
||||||
For details, please read the full [LICENSE file](./LICENSE).
|
|
||||||
|
|
||||||
|
|||||||
163
README_zh.md
163
README_zh.md
@ -1,163 +0,0 @@
|
|||||||
<div align="center">
|
|
||||||
<h1 align="center">Unitree RL GYM</h1>
|
|
||||||
<p align="center">
|
|
||||||
<a href="README.md">🌎 English</a> | <span>🇨🇳 中文</span>
|
|
||||||
</p>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
<p align="center">
|
|
||||||
🎮🚪 <strong>这是一个基于 Unitree 机器人实现强化学习的示例仓库，支持 Unitree Go2、H1、H1_2和 G1。</strong> 🚪🎮
|
|
||||||
</p>
|
|
||||||
|
|
||||||
<div align="center">
|
|
||||||
|
|
||||||
| <div align="center"> Isaac Gym </div> | <div align="center"> Mujoco </div> | <div align="center"> Physical </div> |
|
|
||||||
|--- | --- | --- |
|
|
||||||
| [<img src="https://oss-global-cdn.unitree.com/static/32f06dc9dfe4452dac300dda45e86b34.GIF" width="240px">](https://oss-global-cdn.unitree.com/static/5bbc5ab1d551407080ca9d58d7bec1c8.mp4) | [<img src="https://oss-global-cdn.unitree.com/static/244cd5c4f823495fbfb67ef08f56aa33.GIF" width="240px">](https://oss-global-cdn.unitree.com/static/5aa48535ffd641e2932c0ba45c8e7854.mp4) | [<img src="https://oss-global-cdn.unitree.com/static/78c61459d3ab41448cfdb31f6a537e8b.GIF" width="240px">](https://oss-global-cdn.unitree.com/static/0818dcf7a6874b92997354d628adcacd.mp4) |
|
|
||||||
|
|
||||||
</div>
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 📦 安装配置
|
|
||||||
|
|
||||||
安装和配置步骤请参考 [setup.md](/doc/setup_zh.md)
|
|
||||||
|
|
||||||
## 🔁 流程说明
|
|
||||||
|
|
||||||
强化学习实现运动控制的基本流程为：
|
|
||||||
|
|
||||||
`Train` → `Play` → `Sim2Sim` → `Sim2Real`
|
|
||||||
|
|
||||||
- **Train**: 通过 Gym 仿真环境，让机器人与环境互动，找到最满足奖励设计的策略。通常不推荐实时查看效果，以免降低训练效率。
|
|
||||||
- **Play**: 通过 Play 命令查看训练后的策略效果，确保策略符合预期。
|
|
||||||
- **Sim2Sim**: 将 Gym 训练完成的策略部署到其他仿真器，避免策略小众于 Gym 特性。
|
|
||||||
- **Sim2Real**: 将策略部署到实物机器人，实现运动控制。
|
|
||||||
|
|
||||||
## 🛠️ 使用指南
|
|
||||||
|
|
||||||
### 1. 训练
|
|
||||||
|
|
||||||
运行以下命令进行训练：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
python legged_gym/scripts/train.py --task=xxx
|
|
||||||
```
|
|
||||||
|
|
||||||
#### ⚙️ 参数说明
|
|
||||||
- `--task`: 必选参数，值可选(go2, g1, h1, h1_2)
|
|
||||||
- `--headless`: 默认启动图形界面，设为 true 时不渲染图形界面（效率更高）
|
|
||||||
- `--resume`: 从日志中选择 checkpoint 继续训练
|
|
||||||
- `--experiment_name`: 运行/加载的 experiment 名称
|
|
||||||
- `--run_name`: 运行/加载的 run 名称
|
|
||||||
- `--load_run`: 加载运行的名称，默认加载最后一次运行
|
|
||||||
- `--checkpoint`: checkpoint 编号，默认加载最新一次文件
|
|
||||||
- `--num_envs`: 并行训练的环境个数
|
|
||||||
- `--seed`: 随机种子
|
|
||||||
- `--max_iterations`: 训练的最大迭代次数
|
|
||||||
- `--sim_device`: 仿真计算设备，指定 CPU 为 `--sim_device=cpu`
|
|
||||||
- `--rl_device`: 强化学习计算设备，指定 CPU 为 `--rl_device=cpu`
|
|
||||||
|
|
||||||
**默认保存训练结果**：`logs/<experiment_name>/<date_time>_<run_name>/model_<iteration>.pt`
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### 2. Play
|
|
||||||
|
|
||||||
如果想要在 Gym 中查看训练效果，可以运行以下命令：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
python legged_gym/scripts/play.py --task=xxx
|
|
||||||
```
|
|
||||||
|
|
||||||
**说明**：
|
|
||||||
|
|
||||||
- Play 启动参数与 Train 相同。
|
|
||||||
- 默认加载实验文件夹上次运行的最后一个模型。
|
|
||||||
- 可通过 `load_run` 和 `checkpoint` 指定其他模型。
|
|
||||||
|
|
||||||
#### 💾 导出网络
|
|
||||||
|
|
||||||
Play 会导出 Actor 网络，保存于 `logs/{experiment_name}/exported/policies` 中：
|
|
||||||
- 普通网络（MLP）导出为 `policy_1.pt`
|
|
||||||
- RNN 网络，导出为 `policy_lstm_1.pt`
|
|
||||||
|
|
||||||
### Play 效果
|
|
||||||
|
|
||||||
| Go2 | G1 | H1 | H1_2 |
|
|
||||||
|--- | --- | --- | --- |
|
|
||||||
| [](https://oss-global-cdn.unitree.com/static/d2e8da875473457c8d5d69c3de58b24d.mp4) | [](https://oss-global-cdn.unitree.com/static/5bbc5ab1d551407080ca9d58d7bec1c8.mp4) | [](https://oss-global-cdn.unitree.com/static/522128f4640c4f348296d2761a33bf98.mp4) |[](https://oss-global-cdn.unitree.com/static/15fa46984f2343cb83342fd39f5ab7b2.mp4)|
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### 3. Sim2Sim (Mujoco)
|
|
||||||
|
|
||||||
支持在 Mujoco 仿真器中运行 Sim2Sim：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
python deploy/deploy_mujoco/deploy_mujoco.py {config_name}
|
|
||||||
```
|
|
||||||
|
|
||||||
#### 参数说明
|
|
||||||
- `config_name`: 配置文件，默认查询路径为 `deploy/deploy_mujoco/configs/`
|
|
||||||
|
|
||||||
#### 示例：运行 G1
|
|
||||||
|
|
||||||
```bash
|
|
||||||
python deploy/deploy_mujoco/deploy_mujoco.py g1.yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
#### ➡️ 替换网络模型
|
|
||||||
|
|
||||||
默认模型位于 `deploy/pre_train/{robot}/motion.pt`；自己训练模型保存于`logs/g1/exported/policies/policy_lstm_1.pt`，只需替换 yaml 配置文件中 `policy_path`。
|
|
||||||
|
|
||||||
#### 运行效果
|
|
||||||
|
|
||||||
| G1 | H1 | H1_2 |
|
|
||||||
|--- | --- | --- |
|
|
||||||
| [](https://oss-global-cdn.unitree.com/static/5aa48535ffd641e2932c0ba45c8e7854.mp4) | [](https://oss-global-cdn.unitree.com/static/8934052becd84d08bc8c18c95849cf32.mp4) | [](https://oss-global-cdn.unitree.com/static/ee7ee85bd6d249989a905c55c7a9d305.mp4) |
|
|
||||||
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
### 4. Sim2Real (实物部署)
|
|
||||||
|
|
||||||
实现实物部署前，确保机器人进入调试模式。详细步骤请参考 [实物部署指南](deploy/deploy_real/README.zh.md)：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
python deploy/deploy_real/deploy_real.py {net_interface} {config_name}
|
|
||||||
```
|
|
||||||
|
|
||||||
#### 参数说明
|
|
||||||
- `net_interface`: 连接机器人网卡名称，如 `enp3s0`
|
|
||||||
- `config_name`: 配置文件，存在于 `deploy/deploy_real/configs/`，如 `g1.yaml`，`h1.yaml`，`h1_2.yaml`
|
|
||||||
|
|
||||||
#### 运行效果
|
|
||||||
|
|
||||||
| G1 | H1 | H1_2 |
|
|
||||||
|--- | --- | --- |
|
|
||||||
| [](https://oss-global-cdn.unitree.com/static/0818dcf7a6874b92997354d628adcacd.mp4) | [](https://oss-global-cdn.unitree.com/static/ea0084038d384e3eaa73b961f33e6210.mp4) | [](https://oss-global-cdn.unitree.com/static/12d041a7906e489fae79d55b091a63dd.mp4) |
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 🎉 致谢
|
|
||||||
|
|
||||||
本仓库开发离不开以下开源项目的支持与贡献，特此感谢：
|
|
||||||
|
|
||||||
- [legged\_gym](https://github.com/leggedrobotics/legged_gym): 构建训练与运行代码的基础。
|
|
||||||
- [rsl\_rl](https://github.com/leggedrobotics/rsl_rl.git): 强化学习算法实现。
|
|
||||||
- [mujoco](https://github.com/google-deepmind/mujoco.git): 提供强大仿真功能。
|
|
||||||
- [unitree\_sdk2\_python](https://github.com/unitreerobotics/unitree_sdk2_python.git): 实物部署硬件通信接口。
|
|
||||||
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 🔖 许可证
|
|
||||||
|
|
||||||
本项目根据 [BSD 3-Clause License](./LICENSE) 授权：
|
|
||||||
1. 必须保留原始版权声明。
|
|
||||||
2. 禁止以项目名或组织名作举。
|
|
||||||
3. 声明所有修改内容。
|
|
||||||
|
|
||||||
详情请阅读完整 [LICENSE 文件](./LICENSE)。
|
|
||||||
|
|
||||||
@ -1,26 +0,0 @@
|
|||||||
#
|
|
||||||
policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/g1/motion.pt"
|
|
||||||
xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/g1_description/scene.xml"
|
|
||||||
|
|
||||||
# Total simulation time
|
|
||||||
simulation_duration: 60.0
|
|
||||||
# Simulation time step
|
|
||||||
simulation_dt: 0.002
|
|
||||||
# Controller update frequency (meets the requirement of simulation_dt * controll_decimation=0.02; 50Hz)
|
|
||||||
control_decimation: 10
|
|
||||||
|
|
||||||
kps: [100, 100, 100, 150, 40, 40, 100, 100, 100, 150, 40, 40]
|
|
||||||
kds: [2, 2, 2, 4, 2, 2, 2, 2, 2, 4, 2, 2]
|
|
||||||
|
|
||||||
default_angles: [-0.1, 0.0, 0.0, 0.3, -0.2, 0.0,
|
|
||||||
-0.1, 0.0, 0.0, 0.3, -0.2, 0.0]
|
|
||||||
|
|
||||||
ang_vel_scale: 0.25
|
|
||||||
dof_pos_scale: 1.0
|
|
||||||
dof_vel_scale: 0.05
|
|
||||||
action_scale: 0.25
|
|
||||||
cmd_scale: [2.0, 2.0, 0.25]
|
|
||||||
num_actions: 12
|
|
||||||
num_obs: 47
|
|
||||||
|
|
||||||
cmd_init: [0.5, 0, 0]
|
|
||||||
@ -1,26 +0,0 @@
|
|||||||
#
|
|
||||||
policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/h1/motion.pt"
|
|
||||||
xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/h1/scene.xml"
|
|
||||||
|
|
||||||
# Total simulation time
|
|
||||||
simulation_duration: 60.0
|
|
||||||
# Simulation time step
|
|
||||||
simulation_dt: 0.002
|
|
||||||
# Controller update frequency (meets the requirement of simulation_dt * controll_decimation=0.02; 50Hz)
|
|
||||||
control_decimation: 10
|
|
||||||
|
|
||||||
kps: [150, 150, 150, 200, 40, 150, 150, 150, 200, 40]
|
|
||||||
kds: [2, 2, 2, 4, 2, 2, 2, 2, 4, 2]
|
|
||||||
|
|
||||||
default_angles: [0, 0.0, -0.1, 0.3, -0.2,
|
|
||||||
0, 0.0, -0.1, 0.3, -0.2]
|
|
||||||
|
|
||||||
ang_vel_scale: 0.25
|
|
||||||
dof_pos_scale: 1.0
|
|
||||||
dof_vel_scale: 0.05
|
|
||||||
action_scale: 0.25
|
|
||||||
cmd_scale: [2.0, 2.0, 0.25]
|
|
||||||
num_actions: 10
|
|
||||||
num_obs: 41
|
|
||||||
|
|
||||||
cmd_init: [0.5, 0, 0]
|
|
||||||
@ -1,26 +0,0 @@
|
|||||||
#
|
|
||||||
policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/h1_2/motion.pt"
|
|
||||||
xml_path: "{LEGGED_GYM_ROOT_DIR}/resources/robots/h1_2/scene.xml"
|
|
||||||
|
|
||||||
# Total simulation time
|
|
||||||
simulation_duration: 60.0
|
|
||||||
# Simulation time step
|
|
||||||
simulation_dt: 0.002
|
|
||||||
# Controller update frequency (meets the requirement of simulation_dt * controll_decimation=0.02; 50Hz)
|
|
||||||
control_decimation: 10
|
|
||||||
|
|
||||||
kps: [200, 200, 200, 300, 40, 40, 200, 200, 200, 300, 40, 40]
|
|
||||||
kds: [2.5, 2.5, 2.5, 4, 2, 2, 2.5, 2.5, 2.5, 4, 2, 2]
|
|
||||||
|
|
||||||
default_angles: [0, -0.16, 0.0, 0.36, -0.2, 0.0,
|
|
||||||
0, -0.16, 0.0, 0.36, -0.2, 0.0]
|
|
||||||
|
|
||||||
ang_vel_scale: 0.25
|
|
||||||
dof_pos_scale: 1.0
|
|
||||||
dof_vel_scale: 0.05
|
|
||||||
action_scale: 0.25
|
|
||||||
cmd_scale: [2.0, 2.0, 0.25]
|
|
||||||
num_actions: 12
|
|
||||||
num_obs: 47
|
|
||||||
|
|
||||||
cmd_init: [0.5, 0, 0]
|
|
||||||
@ -1,130 +0,0 @@
|
|||||||
import time
|
|
||||||
|
|
||||||
import mujoco.viewer
|
|
||||||
import mujoco
|
|
||||||
import numpy as np
|
|
||||||
from legged_gym import LEGGED_GYM_ROOT_DIR
|
|
||||||
import torch
|
|
||||||
import yaml
|
|
||||||
|
|
||||||
|
|
||||||
def get_gravity_orientation(quaternion):
|
|
||||||
qw = quaternion[0]
|
|
||||||
qx = quaternion[1]
|
|
||||||
qy = quaternion[2]
|
|
||||||
qz = quaternion[3]
|
|
||||||
|
|
||||||
gravity_orientation = np.zeros(3)
|
|
||||||
|
|
||||||
gravity_orientation[0] = 2 * (-qz * qx + qw * qy)
|
|
||||||
gravity_orientation[1] = -2 * (qz * qy + qw * qx)
|
|
||||||
gravity_orientation[2] = 1 - 2 * (qw * qw + qz * qz)
|
|
||||||
|
|
||||||
return gravity_orientation
|
|
||||||
|
|
||||||
|
|
||||||
def pd_control(target_q, q, kp, target_dq, dq, kd):
|
|
||||||
"""Calculates torques from position commands"""
|
|
||||||
return (target_q - q) * kp + (target_dq - dq) * kd
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
# get config file name from command line
|
|
||||||
import argparse
|
|
||||||
|
|
||||||
parser = argparse.ArgumentParser()
|
|
||||||
parser.add_argument("config_file", type=str, help="config file name in the config folder")
|
|
||||||
args = parser.parse_args()
|
|
||||||
config_file = args.config_file
|
|
||||||
with open(f"{LEGGED_GYM_ROOT_DIR}/deploy/deploy_mujoco/configs/{config_file}", "r") as f:
|
|
||||||
config = yaml.load(f, Loader=yaml.FullLoader)
|
|
||||||
policy_path = config["policy_path"].replace("{LEGGED_GYM_ROOT_DIR}", LEGGED_GYM_ROOT_DIR)
|
|
||||||
xml_path = config["xml_path"].replace("{LEGGED_GYM_ROOT_DIR}", LEGGED_GYM_ROOT_DIR)
|
|
||||||
|
|
||||||
simulation_duration = config["simulation_duration"]
|
|
||||||
simulation_dt = config["simulation_dt"]
|
|
||||||
control_decimation = config["control_decimation"]
|
|
||||||
|
|
||||||
kps = np.array(config["kps"], dtype=np.float32)
|
|
||||||
kds = np.array(config["kds"], dtype=np.float32)
|
|
||||||
|
|
||||||
default_angles = np.array(config["default_angles"], dtype=np.float32)
|
|
||||||
|
|
||||||
ang_vel_scale = config["ang_vel_scale"]
|
|
||||||
dof_pos_scale = config["dof_pos_scale"]
|
|
||||||
dof_vel_scale = config["dof_vel_scale"]
|
|
||||||
action_scale = config["action_scale"]
|
|
||||||
cmd_scale = np.array(config["cmd_scale"], dtype=np.float32)
|
|
||||||
|
|
||||||
num_actions = config["num_actions"]
|
|
||||||
num_obs = config["num_obs"]
|
|
||||||
|
|
||||||
cmd = np.array(config["cmd_init"], dtype=np.float32)
|
|
||||||
|
|
||||||
# define context variables
|
|
||||||
action = np.zeros(num_actions, dtype=np.float32)
|
|
||||||
target_dof_pos = default_angles.copy()
|
|
||||||
obs = np.zeros(num_obs, dtype=np.float32)
|
|
||||||
|
|
||||||
counter = 0
|
|
||||||
|
|
||||||
# Load robot model
|
|
||||||
m = mujoco.MjModel.from_xml_path(xml_path)
|
|
||||||
d = mujoco.MjData(m)
|
|
||||||
m.opt.timestep = simulation_dt
|
|
||||||
|
|
||||||
# load policy
|
|
||||||
policy = torch.jit.load(policy_path)
|
|
||||||
|
|
||||||
with mujoco.viewer.launch_passive(m, d) as viewer:
|
|
||||||
# Close the viewer automatically after simulation_duration wall-seconds.
|
|
||||||
start = time.time()
|
|
||||||
while viewer.is_running() and time.time() - start < simulation_duration:
|
|
||||||
step_start = time.time()
|
|
||||||
tau = pd_control(target_dof_pos, d.qpos[7:], kps, np.zeros_like(kds), d.qvel[6:], kds)
|
|
||||||
d.ctrl[:] = tau
|
|
||||||
# mj_step can be replaced with code that also evaluates
|
|
||||||
# a policy and applies a control signal before stepping the physics.
|
|
||||||
mujoco.mj_step(m, d)
|
|
||||||
|
|
||||||
counter += 1
|
|
||||||
if counter % control_decimation == 0:
|
|
||||||
# Apply control signal here.
|
|
||||||
|
|
||||||
# create observation
|
|
||||||
qj = d.qpos[7:]
|
|
||||||
dqj = d.qvel[6:]
|
|
||||||
quat = d.qpos[3:7]
|
|
||||||
omega = d.qvel[3:6]
|
|
||||||
|
|
||||||
qj = (qj - default_angles) * dof_pos_scale
|
|
||||||
dqj = dqj * dof_vel_scale
|
|
||||||
gravity_orientation = get_gravity_orientation(quat)
|
|
||||||
omega = omega * ang_vel_scale
|
|
||||||
|
|
||||||
period = 0.8
|
|
||||||
count = counter * simulation_dt
|
|
||||||
phase = count % period / period
|
|
||||||
sin_phase = np.sin(2 * np.pi * phase)
|
|
||||||
cos_phase = np.cos(2 * np.pi * phase)
|
|
||||||
|
|
||||||
obs[:3] = omega
|
|
||||||
obs[3:6] = gravity_orientation
|
|
||||||
obs[6:9] = cmd * cmd_scale
|
|
||||||
obs[9 : 9 + num_actions] = qj
|
|
||||||
obs[9 + num_actions : 9 + 2 * num_actions] = dqj
|
|
||||||
obs[9 + 2 * num_actions : 9 + 3 * num_actions] = action
|
|
||||||
obs[9 + 3 * num_actions : 9 + 3 * num_actions + 2] = np.array([sin_phase, cos_phase])
|
|
||||||
obs_tensor = torch.from_numpy(obs).unsqueeze(0)
|
|
||||||
# policy inference
|
|
||||||
action = policy(obs_tensor).detach().numpy().squeeze()
|
|
||||||
# transform action to target_dof_pos
|
|
||||||
target_dof_pos = action * action_scale + default_angles
|
|
||||||
|
|
||||||
# Pick up changes to the physics state, apply perturbations, update options from GUI.
|
|
||||||
viewer.sync()
|
|
||||||
|
|
||||||
# Rudimentary time keeping, will drift relative to wall clock.
|
|
||||||
time_until_next_step = m.opt.timestep - (time.time() - step_start)
|
|
||||||
if time_until_next_step > 0:
|
|
||||||
time.sleep(time_until_next_step)
|
|
||||||
@ -1,83 +0,0 @@
|
|||||||
# Deploy on Physical Robot
|
|
||||||
|
|
||||||
This code can deploy the trained network on physical robots. Currently supported robots include Unitree G1, H1, H1_2.
|
|
||||||
|
|
||||||
| G1 | H1 | H1_2 |
|
|
||||||
|--- | --- | --- |
|
|
||||||
| [](https://oss-global-cdn.unitree.com/static/0818dcf7a6874b92997354d628adcacd.mp4) | [](https://oss-global-cdn.unitree.com/static/ea0084038d384e3eaa73b961f33e6210.mp4) | [](https://oss-global-cdn.unitree.com/static/12d041a7906e489fae79d55b091a63dd.mp4) |
|
|
||||||
|
|
||||||
|
|
||||||
## Startup Usage
|
|
||||||
|
|
||||||
```bash
|
|
||||||
python deploy_real.py {net_interface} {config_name}
|
|
||||||
```
|
|
||||||
|
|
||||||
- `net_interface`: is the name of the network interface connected to the robot, such as `enp3s0`
|
|
||||||
- `config_name`: is the file name of the configuration file. The configuration file will be found under `deploy/deploy_real/configs/`, such as `g1.yaml`, `h1.yaml`, `h1_2.yaml`.
|
|
||||||
|
|
||||||
## Startup Process
|
|
||||||
|
|
||||||
### 1. Start the robot
|
|
||||||
|
|
||||||
Start the robot in the hoisting state and wait for the robot to enter `zero torque mode`
|
|
||||||
|
|
||||||
### 2. Enter the debugging mode
|
|
||||||
|
|
||||||
Make sure the robot is in `zero torque mode`, press the `L2+R2` key combination of the remote control; the robot will enter the `debugging mode`, and the robot joints are in the damping state in the `debugging mode`.
|
|
||||||
|
|
||||||
|
|
||||||
### 3. Connect the robot
|
|
||||||
|
|
||||||
Use an Ethernet cable to connect your computer to the network port on the robot. Modify the network configuration as follows
|
|
||||||
|
|
||||||
<img src="https://doc-cdn.unitree.com/static/2023/9/6/0f51cb9b12f94f0cb75070d05118c00a_980x816.jpg" width="400px">
|
|
||||||
|
|
||||||
Then use the `ifconfig` command to view the name of the network interface connected to the robot. Record the network interface name, which will be used as a parameter of the startup command later
|
|
||||||
|
|
||||||
<img src="https://oss-global-cdn.unitree.com/static/b84485f386994ef08b0ccfa928ab3830_825x484.png" width="400px">
|
|
||||||
|
|
||||||
### 4. Start the program
|
|
||||||
|
|
||||||
Assume that the network card currently connected to the physical robot is named `enp3s0`. Take the G1 robot as an example, execute the following command to start
|
|
||||||
|
|
||||||
```bash
|
|
||||||
python deploy_real.py enp3s0 g1.yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
#### 4.1 Zero torque state
|
|
||||||
|
|
||||||
After starting, the robot joints will be in the zero torque state. You can shake the robot joints by hand to feel and confirm.
|
|
||||||
|
|
||||||
#### 4.2 Default position state
|
|
||||||
|
|
||||||
In the zero torque state, press the `start` button on the remote control, and the robot will move to the default joint position state.
|
|
||||||
|
|
||||||
After the robot moves to the default joint position, you can slowly lower the hoisting mechanism to let the robot's feet touch the ground.
|
|
||||||
|
|
||||||
#### 4.3 Motion control mode
|
|
||||||
|
|
||||||
After the preparation is completed, press the `A` button on the remote control, and the robot will step on the spot. After the robot is stable, you can gradually lower the hoisting rope to give the robot a certain amount of space to move.
|
|
||||||
|
|
||||||
At this time, you can use the joystick on the remote control to control the movement of the robot.
|
|
||||||
The front and back of the left joystick controls the movement speed of the robot in the x direction
|
|
||||||
The left and right of the left joystick controls the movement speed of the robot in the y direction
|
|
||||||
The left and right of the right joystick controls the movement speed of the robot's yaw angle
|
|
||||||
|
|
||||||
#### 4.4 Exit control
|
|
||||||
|
|
||||||
In motion control mode, press the `select` button on the remote control, the robot will enter the damping mode and fall down, and the program will exit. Or use `ctrl+c` in the terminal to close the program.
|
|
||||||
|
|
||||||
> Note:
|
|
||||||
>
|
|
||||||
> Since this example deployment is not a stable control program and is only used for demonstration purposes, please try not to disturb the robot during the control process. If any unexpected situation occurs during the control process, please exit the control in time to avoid danger.
|
|
||||||
|
|
||||||
## Video tutorial
|
|
||||||
|
|
||||||
|
|
||||||
deploy on G1 robot: [https://oss-global-cdn.unitree.com/static/ea12b7fb3bb641b3ada9c91d44d348db.mp4](https://oss-global-cdn.unitree.com/static/ea12b7fb3bb641b3ada9c91d44d348db.mp4)
|
|
||||||
|
|
||||||
deploy on H1 robot: [https://oss-global-cdn.unitree.com/static/d4e0cdd8ce0d477fb5bffbb1ac5ef69d.mp4](https://oss-global-cdn.unitree.com/static/d4e0cdd8ce0d477fb5bffbb1ac5ef69d.mp4)
|
|
||||||
|
|
||||||
deploy on H1_2 robot: [https://oss-global-cdn.unitree.com/static/8120e35452404923b854d9e98bdac951.mp4](https://oss-global-cdn.unitree.com/static/8120e35452404923b854d9e98bdac951.mp4)
|
|
||||||
|
|
||||||
@ -1,79 +0,0 @@
|
|||||||
# 实物部署
|
|
||||||
|
|
||||||
本代码可以在实物部署训练的网络。目前支持的机器人包括 Unitree G1, H1, H1_2。
|
|
||||||
|
|
||||||
| G1 | H1 | H1_2 |
|
|
||||||
|--- | --- | --- |
|
|
||||||
| [](https://oss-global-cdn.unitree.com/static/0818dcf7a6874b92997354d628adcacd.mp4) | [](https://oss-global-cdn.unitree.com/static/ea0084038d384e3eaa73b961f33e6210.mp4) | [](https://oss-global-cdn.unitree.com/static/12d041a7906e489fae79d55b091a63dd.mp4) |
|
|
||||||
|
|
||||||
## 启动用法
|
|
||||||
|
|
||||||
```bash
|
|
||||||
python deploy_real.py {net_interface} {config_name}
|
|
||||||
```
|
|
||||||
|
|
||||||
- `net_interface`: 为连接机器人的网卡的名字，例如`enp3s0`
|
|
||||||
- `config_name`: 配置文件的文件名。配置文件会在 `deploy/deploy_real/configs/` 下查找， 例如`g1.yaml`, `h1.yaml`, `h1_2.yaml`。
|
|
||||||
|
|
||||||
## 启动过程
|
|
||||||
|
|
||||||
### 1. 启动机器人
|
|
||||||
|
|
||||||
将机器人在吊装状态下启动，并等待机器人进入 `零力矩模式`
|
|
||||||
|
|
||||||
### 2. 进入调试模式
|
|
||||||
|
|
||||||
确保机器人处于 `零力矩模式` 的情况下，按下遥控器的 `L2+R2`组合键；此时机器人会进入`调试模式`, `调试模式`下机器人关节处于阻尼状态。
|
|
||||||
|
|
||||||
### 3. 连接机器人
|
|
||||||
|
|
||||||
使用网线连接自己的电脑和机器人上的网口。修改网络配置如下
|
|
||||||
|
|
||||||
<img src="https://doc-cdn.unitree.com/static/2023/9/6/0f51cb9b12f94f0cb75070d05118c00a_980x816.jpg" width="400px">
|
|
||||||
|
|
||||||
然后使用 `ifconfig` 命令查看与机器人连接的网卡的名称。网卡名称记录下来，后面会作为启动命令的参数
|
|
||||||
|
|
||||||
<img src="https://oss-global-cdn.unitree.com/static/b84485f386994ef08b0ccfa928ab3830_825x484.png" width="400px">
|
|
||||||
|
|
||||||
### 4. 启动程序
|
|
||||||
|
|
||||||
假设目前与实物机器人连接的网卡名为`enp3s0`.以G1机器人为例，执行下面的命令启动
|
|
||||||
|
|
||||||
```bash
|
|
||||||
python deploy_real.py enp3s0 g1.yaml
|
|
||||||
```
|
|
||||||
|
|
||||||
#### 4.1 零力矩状态
|
|
||||||
|
|
||||||
启动之后，机器人关节会处于零力矩状态，可以用手晃动机器人的关节感受并确认一下。
|
|
||||||
|
|
||||||
#### 4.2 默认位置状态
|
|
||||||
|
|
||||||
在零力矩状态时，按下遥控器上的`start`按键，机器人会运动到默认关节位置状态。
|
|
||||||
|
|
||||||
在机器人运动到默认关节位置之后，可以缓慢的下放吊装机构，让机器人的脚与地面接触。
|
|
||||||
|
|
||||||
#### 4.3 运动控制模式
|
|
||||||
|
|
||||||
准备工作完成，按下遥控器上`A`键，机器人此时会原地踏步，在机器人状态稳定之后，可以逐渐降低吊装绳，给机器人一定的活动空间。
|
|
||||||
|
|
||||||
此时使用遥控器上的摇杆就可以控制机器人的运动了。
|
|
||||||
左摇杆的前后，控制机器人的x方向的运动速度
|
|
||||||
左摇杆的左右，控制机器人的y方向的运动速度
|
|
||||||
右摇杆的左右，控制机器人的偏航角yaw的运动速度
|
|
||||||
|
|
||||||
#### 4.4 退出控制
|
|
||||||
|
|
||||||
在运动控制模式下，按下遥控器上 `select` 按键，机器人会进入阻尼模式倒下，程序退出。或者在终端中 使用 `ctrl+c` 关闭程序。
|
|
||||||
|
|
||||||
> 注意：
|
|
||||||
>
|
|
||||||
> 由于本示例部署并非稳定的控制程序，仅用于示例作用，请控制过程尽量不要给机器人施加扰动，如果控制过程中出现任何意外情况，请及时退出控制，以免发生危险。
|
|
||||||
|
|
||||||
## 视频教程
|
|
||||||
|
|
||||||
部署在G1上：[https://oss-global-cdn.unitree.com/static/ff70a257ddf34adbb67733d8a90b24d4.mp4](https://oss-global-cdn.unitree.com/static/ff70a257ddf34adbb67733d8a90b24d4.mp4)
|
|
||||||
|
|
||||||
部署在H1上：[https://oss-global-cdn.unitree.com/static/6dae1756f4214409a5ced7386ca011ae.mp4](https://oss-global-cdn.unitree.com/static/6dae1756f4214409a5ced7386ca011ae.mp4)
|
|
||||||
|
|
||||||
部署在H1_2上：[https://oss-global-cdn.unitree.com/static/9d61a1470d3e4b9a9af6d131324fcb94.mp4](https://oss-global-cdn.unitree.com/static/9d61a1470d3e4b9a9af6d131324fcb94.mp4)
|
|
||||||
@ -1,61 +0,0 @@
|
|||||||
from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_ as LowCmdGo
|
|
||||||
from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_ as LowCmdHG
|
|
||||||
from typing import Union
|
|
||||||
|
|
||||||
|
|
||||||
class MotorMode:
|
|
||||||
PR = 0 # Series Control for Pitch/Roll Joints
|
|
||||||
AB = 1 # Parallel Control for A/B Joints
|
|
||||||
|
|
||||||
|
|
||||||
def create_damping_cmd(cmd: Union[LowCmdGo, LowCmdHG]):
|
|
||||||
size = len(cmd.motor_cmd)
|
|
||||||
for i in range(size):
|
|
||||||
cmd.motor_cmd[i].q = 0
|
|
||||||
cmd.motor_cmd[i].qd = 0
|
|
||||||
cmd.motor_cmd[i].kp = 0
|
|
||||||
cmd.motor_cmd[i].kd = 8
|
|
||||||
cmd.motor_cmd[i].tau = 0
|
|
||||||
|
|
||||||
|
|
||||||
def create_zero_cmd(cmd: Union[LowCmdGo, LowCmdHG]):
|
|
||||||
size = len(cmd.motor_cmd)
|
|
||||||
for i in range(size):
|
|
||||||
cmd.motor_cmd[i].q = 0
|
|
||||||
cmd.motor_cmd[i].qd = 0
|
|
||||||
cmd.motor_cmd[i].kp = 0
|
|
||||||
cmd.motor_cmd[i].kd = 0
|
|
||||||
cmd.motor_cmd[i].tau = 0
|
|
||||||
|
|
||||||
|
|
||||||
def init_cmd_hg(cmd: LowCmdHG, mode_machine: int, mode_pr: int):
|
|
||||||
cmd.mode_machine = mode_machine
|
|
||||||
cmd.mode_pr = mode_pr
|
|
||||||
size = len(cmd.motor_cmd)
|
|
||||||
for i in range(size):
|
|
||||||
cmd.motor_cmd[i].mode = 1
|
|
||||||
cmd.motor_cmd[i].q = 0
|
|
||||||
cmd.motor_cmd[i].qd = 0
|
|
||||||
cmd.motor_cmd[i].kp = 0
|
|
||||||
cmd.motor_cmd[i].kd = 0
|
|
||||||
cmd.motor_cmd[i].tau = 0
|
|
||||||
|
|
||||||
|
|
||||||
def init_cmd_go(cmd: LowCmdGo, weak_motor: list):
|
|
||||||
cmd.head[0] = 0xFE
|
|
||||||
cmd.head[1] = 0xEF
|
|
||||||
cmd.level_flag = 0xFF
|
|
||||||
cmd.gpio = 0
|
|
||||||
PosStopF = 2.146e9
|
|
||||||
VelStopF = 16000.0
|
|
||||||
size = len(cmd.motor_cmd)
|
|
||||||
for i in range(size):
|
|
||||||
if i in weak_motor:
|
|
||||||
cmd.motor_cmd[i].mode = 1
|
|
||||||
else:
|
|
||||||
cmd.motor_cmd[i].mode = 0x0A
|
|
||||||
cmd.motor_cmd[i].q = PosStopF
|
|
||||||
cmd.motor_cmd[i].qd = VelStopF
|
|
||||||
cmd.motor_cmd[i].kp = 0
|
|
||||||
cmd.motor_cmd[i].kd = 0
|
|
||||||
cmd.motor_cmd[i].tau = 0
|
|
||||||
@ -1,39 +0,0 @@
|
|||||||
import struct
|
|
||||||
|
|
||||||
|
|
||||||
class KeyMap:
|
|
||||||
R1 = 0
|
|
||||||
L1 = 1
|
|
||||||
start = 2
|
|
||||||
select = 3
|
|
||||||
R2 = 4
|
|
||||||
L2 = 5
|
|
||||||
F1 = 6
|
|
||||||
F2 = 7
|
|
||||||
A = 8
|
|
||||||
B = 9
|
|
||||||
X = 10
|
|
||||||
Y = 11
|
|
||||||
up = 12
|
|
||||||
right = 13
|
|
||||||
down = 14
|
|
||||||
left = 15
|
|
||||||
|
|
||||||
|
|
||||||
class RemoteController:
|
|
||||||
def __init__(self):
|
|
||||||
self.lx = 0
|
|
||||||
self.ly = 0
|
|
||||||
self.rx = 0
|
|
||||||
self.ry = 0
|
|
||||||
self.button = [0] * 16
|
|
||||||
|
|
||||||
def set(self, data):
|
|
||||||
# wireless_remote
|
|
||||||
keys = struct.unpack("H", data[2:4])[0]
|
|
||||||
for i in range(16):
|
|
||||||
self.button[i] = (keys & (1 << i)) >> i
|
|
||||||
self.lx = struct.unpack("f", data[4:8])[0]
|
|
||||||
self.rx = struct.unpack("f", data[8:12])[0]
|
|
||||||
self.ry = struct.unpack("f", data[12:16])[0]
|
|
||||||
self.ly = struct.unpack("f", data[20:24])[0]
|
|
||||||
@ -1,25 +0,0 @@
|
|||||||
import numpy as np
|
|
||||||
from scipy.spatial.transform import Rotation as R
|
|
||||||
|
|
||||||
|
|
||||||
def get_gravity_orientation(quaternion):
|
|
||||||
qw = quaternion[0]
|
|
||||||
qx = quaternion[1]
|
|
||||||
qy = quaternion[2]
|
|
||||||
qz = quaternion[3]
|
|
||||||
|
|
||||||
gravity_orientation = np.zeros(3)
|
|
||||||
|
|
||||||
gravity_orientation[0] = 2 * (-qz * qx + qw * qy)
|
|
||||||
gravity_orientation[1] = -2 * (qz * qy + qw * qx)
|
|
||||||
gravity_orientation[2] = 1 - 2 * (qw * qw + qz * qz)
|
|
||||||
|
|
||||||
return gravity_orientation
|
|
||||||
|
|
||||||
|
|
||||||
def transform_imu_data(waist_yaw, waist_yaw_omega, imu_quat, imu_omega):
|
|
||||||
RzWaist = R.from_euler("z", waist_yaw).as_matrix()
|
|
||||||
R_torso = R.from_quat([imu_quat[1], imu_quat[2], imu_quat[3], imu_quat[0]]).as_matrix()
|
|
||||||
R_pelvis = np.dot(R_torso, RzWaist.T)
|
|
||||||
w = np.dot(RzWaist, imu_omega[0]) - np.array([0, 0, waist_yaw_omega])
|
|
||||||
return R.from_matrix(R_pelvis).as_quat()[[3, 0, 1, 2]], w
|
|
||||||
@ -1,43 +0,0 @@
|
|||||||
from legged_gym import LEGGED_GYM_ROOT_DIR
|
|
||||||
import numpy as np
|
|
||||||
import yaml
|
|
||||||
|
|
||||||
|
|
||||||
class Config:
|
|
||||||
def __init__(self, file_path) -> None:
|
|
||||||
with open(file_path, "r") as f:
|
|
||||||
config = yaml.load(f, Loader=yaml.FullLoader)
|
|
||||||
|
|
||||||
self.control_dt = config["control_dt"]
|
|
||||||
|
|
||||||
self.msg_type = config["msg_type"]
|
|
||||||
self.imu_type = config["imu_type"]
|
|
||||||
|
|
||||||
self.weak_motor = []
|
|
||||||
if "weak_motor" in config:
|
|
||||||
self.weak_motor = config["weak_motor"]
|
|
||||||
|
|
||||||
self.lowcmd_topic = config["lowcmd_topic"]
|
|
||||||
self.lowstate_topic = config["lowstate_topic"]
|
|
||||||
|
|
||||||
self.policy_path = config["policy_path"].replace("{LEGGED_GYM_ROOT_DIR}", LEGGED_GYM_ROOT_DIR)
|
|
||||||
|
|
||||||
self.leg_joint2motor_idx = config["leg_joint2motor_idx"]
|
|
||||||
self.kps = config["kps"]
|
|
||||||
self.kds = config["kds"]
|
|
||||||
self.default_angles = np.array(config["default_angles"], dtype=np.float32)
|
|
||||||
|
|
||||||
self.arm_waist_joint2motor_idx = config["arm_waist_joint2motor_idx"]
|
|
||||||
self.arm_waist_kps = config["arm_waist_kps"]
|
|
||||||
self.arm_waist_kds = config["arm_waist_kds"]
|
|
||||||
self.arm_waist_target = np.array(config["arm_waist_target"], dtype=np.float32)
|
|
||||||
|
|
||||||
self.ang_vel_scale = config["ang_vel_scale"]
|
|
||||||
self.dof_pos_scale = config["dof_pos_scale"]
|
|
||||||
self.dof_vel_scale = config["dof_vel_scale"]
|
|
||||||
self.action_scale = config["action_scale"]
|
|
||||||
self.cmd_scale = np.array(config["cmd_scale"], dtype=np.float32)
|
|
||||||
self.max_cmd = np.array(config["max_cmd"], dtype=np.float32)
|
|
||||||
|
|
||||||
self.num_actions = config["num_actions"]
|
|
||||||
self.num_obs = config["num_obs"]
|
|
||||||
@ -1,42 +0,0 @@
|
|||||||
#
|
|
||||||
control_dt: 0.02
|
|
||||||
|
|
||||||
msg_type: "hg" # "hg" or "go"
|
|
||||||
imu_type: "pelvis" # "torso" or "pelvis"
|
|
||||||
|
|
||||||
lowcmd_topic: "rt/lowcmd"
|
|
||||||
lowstate_topic: "rt/lowstate"
|
|
||||||
|
|
||||||
policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/g1/motion.pt"
|
|
||||||
|
|
||||||
leg_joint2motor_idx: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
|
|
||||||
kps: [100, 100, 100, 150, 40, 40, 100, 100, 100, 150, 40, 40]
|
|
||||||
kds: [2, 2, 2, 4, 2, 2, 2, 2, 2, 4, 2, 2]
|
|
||||||
default_angles: [-0.1, 0.0, 0.0, 0.3, -0.2, 0.0,
|
|
||||||
-0.1, 0.0, 0.0, 0.3, -0.2, 0.0]
|
|
||||||
|
|
||||||
arm_waist_joint2motor_idx: [12, 13, 14,
|
|
||||||
15, 16, 17, 18, 19, 20, 21,
|
|
||||||
22, 23, 24, 25, 26, 27, 28]
|
|
||||||
|
|
||||||
arm_waist_kps: [300, 300, 300,
|
|
||||||
100, 100, 50, 50, 20, 20, 20,
|
|
||||||
100, 100, 50, 50, 20, 20, 20]
|
|
||||||
|
|
||||||
arm_waist_kds: [3, 3, 3,
|
|
||||||
2, 2, 2, 2, 1, 1, 1,
|
|
||||||
2, 2, 2, 2, 1, 1, 1]
|
|
||||||
|
|
||||||
arm_waist_target: [ 0, 0, 0,
|
|
||||||
0, 0, 0, 0, 0, 0, 0,
|
|
||||||
0, 0, 0, 0, 0, 0, 0]
|
|
||||||
|
|
||||||
ang_vel_scale: 0.25
|
|
||||||
dof_pos_scale: 1.0
|
|
||||||
dof_vel_scale: 0.05
|
|
||||||
action_scale: 0.25
|
|
||||||
cmd_scale: [2.0, 2.0, 0.25]
|
|
||||||
num_actions: 12
|
|
||||||
num_obs: 47
|
|
||||||
|
|
||||||
max_cmd: [0.8, 0.5, 1.57]
|
|
||||||
@ -1,44 +0,0 @@
|
|||||||
#
|
|
||||||
control_dt: 0.02
|
|
||||||
|
|
||||||
msg_type: "go" # "hg" or "go"
|
|
||||||
imu_type: "torso" # "torso" or "pelvis"
|
|
||||||
|
|
||||||
weak_motor: [10, 11, 12, 13, 14, 15, 16, 17, 18, 19]
|
|
||||||
|
|
||||||
lowcmd_topic: "rt/lowcmd"
|
|
||||||
lowstate_topic: "rt/lowstate"
|
|
||||||
|
|
||||||
policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/h1/motion.pt"
|
|
||||||
|
|
||||||
leg_joint2motor_idx: [7, 3, 4, 5, 10, 8, 0, 1, 2, 11]
|
|
||||||
kps: [150, 150, 150, 200, 40, 150, 150, 150, 200, 40]
|
|
||||||
kds: [2, 2, 2, 4, 2, 2, 2, 2, 4, 2]
|
|
||||||
default_angles: [0, 0.0, -0.1, 0.3, -0.2,
|
|
||||||
0, 0.0, -0.1, 0.3, -0.2]
|
|
||||||
|
|
||||||
arm_waist_joint2motor_idx: [6,
|
|
||||||
16, 17, 18, 19,
|
|
||||||
12, 13, 14, 15]
|
|
||||||
|
|
||||||
arm_waist_kps: [300,
|
|
||||||
100, 100, 50, 50,
|
|
||||||
100, 100, 50, 50]
|
|
||||||
|
|
||||||
arm_waist_kds: [3,
|
|
||||||
2, 2, 2, 2,
|
|
||||||
2, 2, 2, 2]
|
|
||||||
|
|
||||||
arm_waist_target: [ 0,
|
|
||||||
0, 0, 0, 0,
|
|
||||||
0, 0, 0, 0]
|
|
||||||
|
|
||||||
ang_vel_scale: 0.25
|
|
||||||
dof_pos_scale: 1.0
|
|
||||||
dof_vel_scale: 0.05
|
|
||||||
action_scale: 0.25
|
|
||||||
cmd_scale: [2.0, 2.0, 0.25]
|
|
||||||
num_actions: 10
|
|
||||||
num_obs: 41
|
|
||||||
|
|
||||||
max_cmd: [0.8, 0.5, 1.57]
|
|
||||||
@ -1,45 +0,0 @@
|
|||||||
#
|
|
||||||
control_dt: 0.02
|
|
||||||
|
|
||||||
msg_type: "hg" # "hg" or "go"
|
|
||||||
imu_type: "torso" # "torso" or "pelvis"
|
|
||||||
|
|
||||||
lowcmd_topic: "rt/lowcmd"
|
|
||||||
lowstate_topic: "rt/lowstate"
|
|
||||||
|
|
||||||
policy_path: "{LEGGED_GYM_ROOT_DIR}/deploy/pre_train/h1_2/motion.pt"
|
|
||||||
|
|
||||||
leg_joint2motor_idx: [0, 1, 2, 3, 4, 5,
|
|
||||||
6, 7, 8, 9, 10, 11]
|
|
||||||
kps: [200, 200, 200, 300, 40, 40,
|
|
||||||
200, 200, 200, 300, 40, 40]
|
|
||||||
kds: [2.5, 2.5, 2.5, 4, 2, 2,
|
|
||||||
2.5, 2.5, 2.5, 4, 2, 2]
|
|
||||||
default_angles: [0, -0.16, 0.0, 0.36, -0.2, 0.0,
|
|
||||||
0, -0.16, 0.0, 0.36, -0.2, 0.0]
|
|
||||||
|
|
||||||
arm_waist_joint2motor_idx: [12,
|
|
||||||
13, 14, 15, 16, 17, 18, 19,
|
|
||||||
20, 21, 22, 23, 24, 25, 26]
|
|
||||||
|
|
||||||
arm_waist_kps: [300,
|
|
||||||
120, 120, 120, 80, 80, 80, 80,
|
|
||||||
120, 120, 120, 80, 80, 80, 80]
|
|
||||||
|
|
||||||
arm_waist_kds: [3,
|
|
||||||
2, 2, 2, 1, 1, 1, 1,
|
|
||||||
2, 2, 2, 1, 1, 1, 1]
|
|
||||||
|
|
||||||
arm_waist_target: [ 0,
|
|
||||||
0, 0, 0, 0, 0, 0, 0,
|
|
||||||
0, 0, 0, 0, 0, 0, 0]
|
|
||||||
|
|
||||||
ang_vel_scale: 0.25
|
|
||||||
dof_pos_scale: 1.0
|
|
||||||
dof_vel_scale: 0.05
|
|
||||||
action_scale: 0.25
|
|
||||||
cmd_scale: [2.0, 2.0, 0.25]
|
|
||||||
num_actions: 12
|
|
||||||
num_obs: 47
|
|
||||||
|
|
||||||
max_cmd: [0.8, 0.5, 1.57]
|
|
||||||
@ -1,265 +0,0 @@
|
|||||||
from legged_gym import LEGGED_GYM_ROOT_DIR
|
|
||||||
from typing import Union
|
|
||||||
import numpy as np
|
|
||||||
import time
|
|
||||||
import torch
|
|
||||||
|
|
||||||
from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize
|
|
||||||
from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
|
|
||||||
from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_, unitree_hg_msg_dds__LowState_
|
|
||||||
from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_, unitree_go_msg_dds__LowState_
|
|
||||||
from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_ as LowCmdHG
|
|
||||||
from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_ as LowCmdGo
|
|
||||||
from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowState_ as LowStateHG
|
|
||||||
from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_ as LowStateGo
|
|
||||||
from unitree_sdk2py.utils.crc import CRC
|
|
||||||
|
|
||||||
from common.command_helper import create_damping_cmd, create_zero_cmd, init_cmd_hg, init_cmd_go, MotorMode
|
|
||||||
from common.rotation_helper import get_gravity_orientation, transform_imu_data
|
|
||||||
from common.remote_controller import RemoteController, KeyMap
|
|
||||||
from config import Config
|
|
||||||
|
|
||||||
|
|
||||||
class Controller:
|
|
||||||
def __init__(self, config: Config) -> None:
|
|
||||||
self.config = config
|
|
||||||
self.remote_controller = RemoteController()
|
|
||||||
|
|
||||||
# Initialize the policy network
|
|
||||||
self.policy = torch.jit.load(config.policy_path)
|
|
||||||
# Initializing process variables
|
|
||||||
self.qj = np.zeros(config.num_actions, dtype=np.float32)
|
|
||||||
self.dqj = np.zeros(config.num_actions, dtype=np.float32)
|
|
||||||
self.action = np.zeros(config.num_actions, dtype=np.float32)
|
|
||||||
self.target_dof_pos = config.default_angles.copy()
|
|
||||||
self.obs = np.zeros(config.num_obs, dtype=np.float32)
|
|
||||||
self.cmd = np.array([0.0, 0, 0])
|
|
||||||
self.counter = 0
|
|
||||||
|
|
||||||
if config.msg_type == "hg":
|
|
||||||
# g1 and h1_2 use the hg msg type
|
|
||||||
self.low_cmd = unitree_hg_msg_dds__LowCmd_()
|
|
||||||
self.low_state = unitree_hg_msg_dds__LowState_()
|
|
||||||
self.mode_pr_ = MotorMode.PR
|
|
||||||
self.mode_machine_ = 0
|
|
||||||
|
|
||||||
self.lowcmd_publisher_ = ChannelPublisher(config.lowcmd_topic, LowCmdHG)
|
|
||||||
self.lowcmd_publisher_.Init()
|
|
||||||
|
|
||||||
self.lowstate_subscriber = ChannelSubscriber(config.lowstate_topic, LowStateHG)
|
|
||||||
self.lowstate_subscriber.Init(self.LowStateHgHandler, 10)
|
|
||||||
|
|
||||||
elif config.msg_type == "go":
|
|
||||||
# h1 uses the go msg type
|
|
||||||
self.low_cmd = unitree_go_msg_dds__LowCmd_()
|
|
||||||
self.low_state = unitree_go_msg_dds__LowState_()
|
|
||||||
|
|
||||||
self.lowcmd_publisher_ = ChannelPublisher(config.lowcmd_topic, LowCmdGo)
|
|
||||||
self.lowcmd_publisher_.Init()
|
|
||||||
|
|
||||||
self.lowstate_subscriber = ChannelSubscriber(config.lowstate_topic, LowStateGo)
|
|
||||||
self.lowstate_subscriber.Init(self.LowStateGoHandler, 10)
|
|
||||||
|
|
||||||
else:
|
|
||||||
raise ValueError("Invalid msg_type")
|
|
||||||
|
|
||||||
# wait for the subscriber to receive data
|
|
||||||
self.wait_for_low_state()
|
|
||||||
|
|
||||||
# Initialize the command msg
|
|
||||||
if config.msg_type == "hg":
|
|
||||||
init_cmd_hg(self.low_cmd, self.mode_machine_, self.mode_pr_)
|
|
||||||
elif config.msg_type == "go":
|
|
||||||
init_cmd_go(self.low_cmd, weak_motor=self.config.weak_motor)
|
|
||||||
|
|
||||||
def LowStateHgHandler(self, msg: LowStateHG):
|
|
||||||
self.low_state = msg
|
|
||||||
self.mode_machine_ = self.low_state.mode_machine
|
|
||||||
self.remote_controller.set(self.low_state.wireless_remote)
|
|
||||||
|
|
||||||
def LowStateGoHandler(self, msg: LowStateGo):
|
|
||||||
self.low_state = msg
|
|
||||||
self.remote_controller.set(self.low_state.wireless_remote)
|
|
||||||
|
|
||||||
def send_cmd(self, cmd: Union[LowCmdGo, LowCmdHG]):
|
|
||||||
cmd.crc = CRC().Crc(cmd)
|
|
||||||
self.lowcmd_publisher_.Write(cmd)
|
|
||||||
|
|
||||||
def wait_for_low_state(self):
|
|
||||||
while self.low_state.tick == 0:
|
|
||||||
time.sleep(self.config.control_dt)
|
|
||||||
print("Successfully connected to the robot.")
|
|
||||||
|
|
||||||
def zero_torque_state(self):
|
|
||||||
print("Enter zero torque state.")
|
|
||||||
print("Waiting for the start signal...")
|
|
||||||
while self.remote_controller.button[KeyMap.start] != 1:
|
|
||||||
create_zero_cmd(self.low_cmd)
|
|
||||||
self.send_cmd(self.low_cmd)
|
|
||||||
time.sleep(self.config.control_dt)
|
|
||||||
|
|
||||||
def move_to_default_pos(self):
|
|
||||||
print("Moving to default pos.")
|
|
||||||
# move time 2s
|
|
||||||
total_time = 2
|
|
||||||
num_step = int(total_time / self.config.control_dt)
|
|
||||||
|
|
||||||
dof_idx = self.config.leg_joint2motor_idx + self.config.arm_waist_joint2motor_idx
|
|
||||||
kps = self.config.kps + self.config.arm_waist_kps
|
|
||||||
kds = self.config.kds + self.config.arm_waist_kds
|
|
||||||
default_pos = np.concatenate((self.config.default_angles, self.config.arm_waist_target), axis=0)
|
|
||||||
dof_size = len(dof_idx)
|
|
||||||
|
|
||||||
# record the current pos
|
|
||||||
init_dof_pos = np.zeros(dof_size, dtype=np.float32)
|
|
||||||
for i in range(dof_size):
|
|
||||||
init_dof_pos[i] = self.low_state.motor_state[dof_idx[i]].q
|
|
||||||
|
|
||||||
# move to default pos
|
|
||||||
for i in range(num_step):
|
|
||||||
alpha = i / num_step
|
|
||||||
for j in range(dof_size):
|
|
||||||
motor_idx = dof_idx[j]
|
|
||||||
target_pos = default_pos[j]
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].q = init_dof_pos[j] * (1 - alpha) + target_pos * alpha
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].qd = 0
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].kp = kps[j]
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].kd = kds[j]
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].tau = 0
|
|
||||||
self.send_cmd(self.low_cmd)
|
|
||||||
time.sleep(self.config.control_dt)
|
|
||||||
|
|
||||||
def default_pos_state(self):
|
|
||||||
print("Enter default pos state.")
|
|
||||||
print("Waiting for the Button A signal...")
|
|
||||||
while self.remote_controller.button[KeyMap.A] != 1:
|
|
||||||
for i in range(len(self.config.leg_joint2motor_idx)):
|
|
||||||
motor_idx = self.config.leg_joint2motor_idx[i]
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].q = self.config.default_angles[i]
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].qd = 0
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].kp = self.config.kps[i]
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].kd = self.config.kds[i]
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].tau = 0
|
|
||||||
for i in range(len(self.config.arm_waist_joint2motor_idx)):
|
|
||||||
motor_idx = self.config.arm_waist_joint2motor_idx[i]
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].q = self.config.arm_waist_target[i]
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].qd = 0
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].kp = self.config.arm_waist_kps[i]
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].kd = self.config.arm_waist_kds[i]
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].tau = 0
|
|
||||||
self.send_cmd(self.low_cmd)
|
|
||||||
time.sleep(self.config.control_dt)
|
|
||||||
|
|
||||||
def run(self):
|
|
||||||
self.counter += 1
|
|
||||||
# Get the current joint position and velocity
|
|
||||||
for i in range(len(self.config.leg_joint2motor_idx)):
|
|
||||||
self.qj[i] = self.low_state.motor_state[self.config.leg_joint2motor_idx[i]].q
|
|
||||||
self.dqj[i] = self.low_state.motor_state[self.config.leg_joint2motor_idx[i]].dq
|
|
||||||
|
|
||||||
# imu_state quaternion: w, x, y, z
|
|
||||||
quat = self.low_state.imu_state.quaternion
|
|
||||||
ang_vel = np.array([self.low_state.imu_state.gyroscope], dtype=np.float32)
|
|
||||||
|
|
||||||
if self.config.imu_type == "torso":
|
|
||||||
# h1 and h1_2 imu is on the torso
|
|
||||||
# imu data needs to be transformed to the pelvis frame
|
|
||||||
waist_yaw = self.low_state.motor_state[self.config.arm_waist_joint2motor_idx[0]].q
|
|
||||||
waist_yaw_omega = self.low_state.motor_state[self.config.arm_waist_joint2motor_idx[0]].dq
|
|
||||||
quat, ang_vel = transform_imu_data(waist_yaw=waist_yaw, waist_yaw_omega=waist_yaw_omega, imu_quat=quat, imu_omega=ang_vel)
|
|
||||||
|
|
||||||
# create observation
|
|
||||||
gravity_orientation = get_gravity_orientation(quat)
|
|
||||||
qj_obs = self.qj.copy()
|
|
||||||
dqj_obs = self.dqj.copy()
|
|
||||||
qj_obs = (qj_obs - self.config.default_angles) * self.config.dof_pos_scale
|
|
||||||
dqj_obs = dqj_obs * self.config.dof_vel_scale
|
|
||||||
ang_vel = ang_vel * self.config.ang_vel_scale
|
|
||||||
period = 0.8
|
|
||||||
count = self.counter * self.config.control_dt
|
|
||||||
phase = count % period / period
|
|
||||||
sin_phase = np.sin(2 * np.pi * phase)
|
|
||||||
cos_phase = np.cos(2 * np.pi * phase)
|
|
||||||
|
|
||||||
self.cmd[0] = self.remote_controller.ly
|
|
||||||
self.cmd[1] = self.remote_controller.lx * -1
|
|
||||||
self.cmd[2] = self.remote_controller.rx * -1
|
|
||||||
|
|
||||||
num_actions = self.config.num_actions
|
|
||||||
self.obs[:3] = ang_vel
|
|
||||||
self.obs[3:6] = gravity_orientation
|
|
||||||
self.obs[6:9] = self.cmd * self.config.cmd_scale * self.config.max_cmd
|
|
||||||
self.obs[9 : 9 + num_actions] = qj_obs
|
|
||||||
self.obs[9 + num_actions : 9 + num_actions * 2] = dqj_obs
|
|
||||||
self.obs[9 + num_actions * 2 : 9 + num_actions * 3] = self.action
|
|
||||||
self.obs[9 + num_actions * 3] = sin_phase
|
|
||||||
self.obs[9 + num_actions * 3 + 1] = cos_phase
|
|
||||||
|
|
||||||
# Get the action from the policy network
|
|
||||||
obs_tensor = torch.from_numpy(self.obs).unsqueeze(0)
|
|
||||||
self.action = self.policy(obs_tensor).detach().numpy().squeeze()
|
|
||||||
|
|
||||||
# transform action to target_dof_pos
|
|
||||||
target_dof_pos = self.config.default_angles + self.action * self.config.action_scale
|
|
||||||
|
|
||||||
# Build low cmd
|
|
||||||
for i in range(len(self.config.leg_joint2motor_idx)):
|
|
||||||
motor_idx = self.config.leg_joint2motor_idx[i]
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].q = target_dof_pos[i]
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].qd = 0
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].kp = self.config.kps[i]
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].kd = self.config.kds[i]
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].tau = 0
|
|
||||||
|
|
||||||
for i in range(len(self.config.arm_waist_joint2motor_idx)):
|
|
||||||
motor_idx = self.config.arm_waist_joint2motor_idx[i]
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].q = self.config.arm_waist_target[i]
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].qd = 0
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].kp = self.config.arm_waist_kps[i]
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].kd = self.config.arm_waist_kds[i]
|
|
||||||
self.low_cmd.motor_cmd[motor_idx].tau = 0
|
|
||||||
|
|
||||||
# send the command
|
|
||||||
self.send_cmd(self.low_cmd)
|
|
||||||
|
|
||||||
time.sleep(self.config.control_dt)
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
import argparse
|
|
||||||
|
|
||||||
parser = argparse.ArgumentParser()
|
|
||||||
parser.add_argument("net", type=str, help="network interface")
|
|
||||||
parser.add_argument("config", type=str, help="config file name in the configs folder", default="g1.yaml")
|
|
||||||
args = parser.parse_args()
|
|
||||||
|
|
||||||
# Load config
|
|
||||||
config_path = f"{LEGGED_GYM_ROOT_DIR}/deploy/deploy_real/configs/{args.config}"
|
|
||||||
config = Config(config_path)
|
|
||||||
|
|
||||||
# Initialize DDS communication
|
|
||||||
ChannelFactoryInitialize(0, args.net)
|
|
||||||
|
|
||||||
controller = Controller(config)
|
|
||||||
|
|
||||||
# Enter the zero torque state, press the start key to continue executing
|
|
||||||
controller.zero_torque_state()
|
|
||||||
|
|
||||||
# Move to the default position
|
|
||||||
controller.move_to_default_pos()
|
|
||||||
|
|
||||||
# Enter the default position state, press the A key to continue executing
|
|
||||||
controller.default_pos_state()
|
|
||||||
|
|
||||||
while True:
|
|
||||||
try:
|
|
||||||
controller.run()
|
|
||||||
# Press the select key to exit
|
|
||||||
if controller.remote_controller.button[KeyMap.select] == 1:
|
|
||||||
break
|
|
||||||
except KeyboardInterrupt:
|
|
||||||
break
|
|
||||||
# Enter the damping state
|
|
||||||
create_damping_cmd(controller.low_cmd)
|
|
||||||
controller.send_cmd(controller.low_cmd)
|
|
||||||
print("Exit")
|
|
||||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
159
doc/setup_en.md
159
doc/setup_en.md
@ -1,159 +0,0 @@
|
|||||||
# Installation Guide
|
|
||||||
|
|
||||||
## System Requirements
|
|
||||||
|
|
||||||
- **Operating System**: Recommended Ubuntu 18.04 or later
|
|
||||||
- **GPU**: Nvidia GPU
|
|
||||||
- **Driver Version**: Recommended version 525 or later
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 1. Creating a Virtual Environment
|
|
||||||
|
|
||||||
It is recommended to run training or deployment programs in a virtual environment. Conda is recommended for creating virtual environments. If Conda is already installed on your system, you can skip step 1.1.
|
|
||||||
|
|
||||||
### 1.1 Download and Install MiniConda
|
|
||||||
|
|
||||||
MiniConda is a lightweight distribution of Conda, suitable for creating and managing virtual environments. Use the following commands to download and install:
|
|
||||||
|
|
||||||
```bash
|
|
||||||
mkdir -p ~/miniconda3
|
|
||||||
wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh
|
|
||||||
bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
|
|
||||||
rm ~/miniconda3/miniconda.sh
|
|
||||||
```
|
|
||||||
|
|
||||||
After installation, initialize Conda:
|
|
||||||
|
|
||||||
```bash
|
|
||||||
~/miniconda3/bin/conda init --all
|
|
||||||
source ~/.bashrc
|
|
||||||
```
|
|
||||||
|
|
||||||
### 1.2 Create a New Environment
|
|
||||||
|
|
||||||
Use the following command to create a virtual environment:
|
|
||||||
|
|
||||||
```bash
|
|
||||||
conda create -n unitree-rl python=3.8
|
|
||||||
```
|
|
||||||
|
|
||||||
### 1.3 Activate the Virtual Environment
|
|
||||||
|
|
||||||
```bash
|
|
||||||
conda activate unitree-rl
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 2. Installing Dependencies
|
|
||||||
|
|
||||||
### 2.1 Install PyTorch
|
|
||||||
|
|
||||||
PyTorch is a neural network computation framework used for model training and inference. Install it using the following command:
|
|
||||||
|
|
||||||
```bash
|
|
||||||
conda install pytorch==2.3.1 torchvision==0.18.1 torchaudio==2.3.1 pytorch-cuda=12.1 -c pytorch -c nvidia
|
|
||||||
```
|
|
||||||
|
|
||||||
### 2.2 Install Isaac Gym
|
|
||||||
|
|
||||||
Isaac Gym is a rigid body simulation and training framework provided by Nvidia.
|
|
||||||
|
|
||||||
#### 2.2.1 Download
|
|
||||||
|
|
||||||
Download [Isaac Gym](https://developer.nvidia.com/isaac-gym) from Nvidia’s official website.
|
|
||||||
|
|
||||||
#### 2.2.2 Install
|
|
||||||
|
|
||||||
After extracting the package, navigate to the `isaacgym/python` folder and install it using the following commands:
|
|
||||||
|
|
||||||
```bash
|
|
||||||
cd isaacgym/python
|
|
||||||
pip install -e .
|
|
||||||
```
|
|
||||||
|
|
||||||
#### 2.2.3 Verify Installation
|
|
||||||
|
|
||||||
Run the following command. If a window opens displaying 1080 balls falling, the installation was successful:
|
|
||||||
|
|
||||||
```bash
|
|
||||||
cd examples
|
|
||||||
python 1080_balls_of_solitude.py
|
|
||||||
```
|
|
||||||
|
|
||||||
If you encounter any issues, refer to the official documentation at `isaacgym/docs/index.html`.
|
|
||||||
|
|
||||||
### 2.3 Install rsl_rl
|
|
||||||
|
|
||||||
`rsl_rl` is a library implementing reinforcement learning algorithms.
|
|
||||||
|
|
||||||
#### 2.3.1 Download
|
|
||||||
|
|
||||||
Clone the repository using Git:
|
|
||||||
|
|
||||||
```bash
|
|
||||||
git clone https://github.com/leggedrobotics/rsl_rl.git
|
|
||||||
```
|
|
||||||
|
|
||||||
#### 2.3.2 Switch Branch
|
|
||||||
|
|
||||||
Switch to the v1.0.2 branch:
|
|
||||||
|
|
||||||
```bash
|
|
||||||
cd rsl_rl
|
|
||||||
git checkout v1.0.2
|
|
||||||
```
|
|
||||||
|
|
||||||
#### 2.3.3 Install
|
|
||||||
|
|
||||||
```bash
|
|
||||||
pip install -e .
|
|
||||||
```
|
|
||||||
|
|
||||||
### 2.4 Install unitree_rl_gym
|
|
||||||
|
|
||||||
#### 2.4.1 Download
|
|
||||||
|
|
||||||
Clone the repository using Git:
|
|
||||||
|
|
||||||
```bash
|
|
||||||
git clone https://github.com/unitreerobotics/unitree_rl_gym.git
|
|
||||||
```
|
|
||||||
|
|
||||||
#### 2.4.2 Install
|
|
||||||
|
|
||||||
Navigate to the directory and install it:
|
|
||||||
|
|
||||||
```bash
|
|
||||||
cd unitree_rl_gym
|
|
||||||
pip install -e .
|
|
||||||
```
|
|
||||||
|
|
||||||
### 2.5 Install unitree_sdk2py (Optional)
|
|
||||||
|
|
||||||
`unitree_sdk2py` is a library used for communication with real robots. If you need to deploy the trained model on a physical robot, install this library.
|
|
||||||
|
|
||||||
#### 2.5.1 Download
|
|
||||||
|
|
||||||
Clone the repository using Git:
|
|
||||||
|
|
||||||
```bash
|
|
||||||
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
|
|
||||||
```
|
|
||||||
|
|
||||||
#### 2.5.2 Install
|
|
||||||
|
|
||||||
Navigate to the directory and install it:
|
|
||||||
|
|
||||||
```bash
|
|
||||||
cd unitree_sdk2_python
|
|
||||||
pip install -e .
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## Summary
|
|
||||||
|
|
||||||
After completing the above steps, you are ready to run the related programs in the virtual environment. If you encounter any issues, refer to the official documentation of each component or check if the dependencies are installed correctly.
|
|
||||||
|
|
||||||
159
doc/setup_zh.md
159
doc/setup_zh.md
@ -1,159 +0,0 @@
|
|||||||
# 安装配置文档
|
|
||||||
|
|
||||||
## 系统要求
|
|
||||||
|
|
||||||
- **操作系统**：推荐使用 Ubuntu 18.04 或更高版本
|
|
||||||
- **显卡**：Nvidia 显卡
|
|
||||||
- **驱动版本**：建议使用 525 或更高版本
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 1. 创建虚拟环境
|
|
||||||
|
|
||||||
建议在虚拟环境中运行训练或部署程序，推荐使用 Conda 创建虚拟环境。如果您的系统中已经安装了 Conda，可以跳过步骤 1.1。
|
|
||||||
|
|
||||||
### 1.1 下载并安装 MiniConda
|
|
||||||
|
|
||||||
MiniConda 是 Conda 的轻量级发行版，适用于创建和管理虚拟环境。使用以下命令下载并安装：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
mkdir -p ~/miniconda3
|
|
||||||
wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh
|
|
||||||
bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
|
|
||||||
rm ~/miniconda3/miniconda.sh
|
|
||||||
```
|
|
||||||
|
|
||||||
安装完成后，初始化 Conda：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
~/miniconda3/bin/conda init --all
|
|
||||||
source ~/.bashrc
|
|
||||||
```
|
|
||||||
|
|
||||||
### 1.2 创建新环境
|
|
||||||
|
|
||||||
使用以下命令创建虚拟环境：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
conda create -n unitree-rl python=3.8
|
|
||||||
```
|
|
||||||
|
|
||||||
### 1.3 激活虚拟环境
|
|
||||||
|
|
||||||
```bash
|
|
||||||
conda activate unitree-rl
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 2. 安装依赖
|
|
||||||
|
|
||||||
### 2.1 安装 PyTorch
|
|
||||||
|
|
||||||
PyTorch 是一个神经网络计算框架，用于模型训练和推理。使用以下命令安装：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
conda install pytorch==2.3.1 torchvision==0.18.1 torchaudio==2.3.1 pytorch-cuda=12.1 -c pytorch -c nvidia
|
|
||||||
```
|
|
||||||
|
|
||||||
### 2.2 安装 Isaac Gym
|
|
||||||
|
|
||||||
Isaac Gym 是 Nvidia 提供的刚体仿真和训练框架。
|
|
||||||
|
|
||||||
#### 2.2.1 下载
|
|
||||||
|
|
||||||
从 Nvidia 官网下载 [Isaac Gym](https://developer.nvidia.com/isaac-gym)。
|
|
||||||
|
|
||||||
#### 2.2.2 安装
|
|
||||||
|
|
||||||
解压后进入 `isaacgym/python` 文件夹，执行以下命令安装：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
cd isaacgym/python
|
|
||||||
pip install -e .
|
|
||||||
```
|
|
||||||
|
|
||||||
#### 2.2.3 验证安装
|
|
||||||
|
|
||||||
运行以下命令，若弹出窗口并显示 1080 个球下落，则安装成功：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
cd examples
|
|
||||||
python 1080_balls_of_solitude.py
|
|
||||||
```
|
|
||||||
|
|
||||||
如有问题，可参考 `isaacgym/docs/index.html` 中的官方文档。
|
|
||||||
|
|
||||||
### 2.3 安装 rsl_rl
|
|
||||||
|
|
||||||
`rsl_rl` 是一个强化学习算法库。
|
|
||||||
|
|
||||||
#### 2.3.1 下载
|
|
||||||
|
|
||||||
通过 Git 克隆仓库：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
git clone https://github.com/leggedrobotics/rsl_rl.git
|
|
||||||
```
|
|
||||||
|
|
||||||
#### 2.3.2 切换分支
|
|
||||||
|
|
||||||
切换到 v1.0.2 分支：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
cd rsl_rl
|
|
||||||
git checkout v1.0.2
|
|
||||||
```
|
|
||||||
|
|
||||||
#### 2.3.3 安装
|
|
||||||
|
|
||||||
```bash
|
|
||||||
pip install -e .
|
|
||||||
```
|
|
||||||
|
|
||||||
### 2.4 安装 unitree_rl_gym
|
|
||||||
|
|
||||||
#### 2.4.1 下载
|
|
||||||
|
|
||||||
通过 Git 克隆仓库：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
git clone https://github.com/unitreerobotics/unitree_rl_gym.git
|
|
||||||
```
|
|
||||||
|
|
||||||
#### 2.4.2 安装
|
|
||||||
|
|
||||||
进入目录并安装：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
cd unitree_rl_gym
|
|
||||||
pip install -e .
|
|
||||||
```
|
|
||||||
|
|
||||||
### 2.5 安装 unitree_sdk2py（可选）
|
|
||||||
|
|
||||||
`unitree_sdk2py` 是用于与真实机器人通信的库。如果需要将训练的模型部署到物理机器人上运行，可以安装此库。
|
|
||||||
|
|
||||||
#### 2.5.1 下载
|
|
||||||
|
|
||||||
通过 Git 克隆仓库：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
|
|
||||||
```
|
|
||||||
|
|
||||||
#### 2.5.2 安装
|
|
||||||
|
|
||||||
进入目录并安装：
|
|
||||||
|
|
||||||
```bash
|
|
||||||
cd unitree_sdk2_python
|
|
||||||
pip install -e .
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
|
||||||
|
|
||||||
## 总结
|
|
||||||
|
|
||||||
按照上述步骤完成后，您已经准备好在虚拟环境中运行相关程序。若遇到问题，请参考各组件的官方文档或检查依赖安装是否正确。
|
|
||||||
|
|
||||||
@ -2,16 +2,11 @@ from legged_gym import LEGGED_GYM_ROOT_DIR, LEGGED_GYM_ENVS_DIR
|
|||||||
|
|
||||||
from legged_gym.envs.go2.go2_config import GO2RoughCfg, GO2RoughCfgPPO
|
from legged_gym.envs.go2.go2_config import GO2RoughCfg, GO2RoughCfgPPO
|
||||||
from legged_gym.envs.h1.h1_config import H1RoughCfg, H1RoughCfgPPO
|
from legged_gym.envs.h1.h1_config import H1RoughCfg, H1RoughCfgPPO
|
||||||
from legged_gym.envs.h1.h1_env import H1Robot
|
|
||||||
from legged_gym.envs.h1_2.h1_2_config import H1_2RoughCfg, H1_2RoughCfgPPO
|
from legged_gym.envs.h1_2.h1_2_config import H1_2RoughCfg, H1_2RoughCfgPPO
|
||||||
from legged_gym.envs.h1_2.h1_2_env import H1_2Robot
|
|
||||||
from legged_gym.envs.g1.g1_config import G1RoughCfg, G1RoughCfgPPO
|
|
||||||
from legged_gym.envs.g1.g1_env import G1Robot
|
|
||||||
from .base.legged_robot import LeggedRobot
|
from .base.legged_robot import LeggedRobot
|
||||||
|
|
||||||
from legged_gym.utils.task_registry import task_registry
|
from legged_gym.utils.task_registry import task_registry
|
||||||
|
|
||||||
task_registry.register( "go2", LeggedRobot, GO2RoughCfg(), GO2RoughCfgPPO())
|
task_registry.register("go2", LeggedRobot, GO2RoughCfg(), GO2RoughCfgPPO())
|
||||||
task_registry.register( "h1", H1Robot, H1RoughCfg(), H1RoughCfgPPO())
|
task_registry.register("h1", LeggedRobot, H1RoughCfg(), H1RoughCfgPPO())
|
||||||
task_registry.register( "h1_2", H1_2Robot, H1_2RoughCfg(), H1_2RoughCfgPPO())
|
task_registry.register("h1_2", LeggedRobot, H1_2RoughCfg(), H1_2RoughCfgPPO())
|
||||||
task_registry.register( "g1", G1Robot, G1RoughCfg(), G1RoughCfgPPO())
|
|
||||||
|
|||||||
@ -105,10 +105,6 @@ class LeggedRobot(BaseTask):
|
|||||||
self.compute_reward()
|
self.compute_reward()
|
||||||
env_ids = self.reset_buf.nonzero(as_tuple=False).flatten()
|
env_ids = self.reset_buf.nonzero(as_tuple=False).flatten()
|
||||||
self.reset_idx(env_ids)
|
self.reset_idx(env_ids)
|
||||||
|
|
||||||
if self.cfg.domain_rand.push_robots:
|
|
||||||
self._push_robots()
|
|
||||||
|
|
||||||
self.compute_observations() # in some cases a simulation step might be required to refresh some obs (for example body positions)
|
self.compute_observations() # in some cases a simulation step might be required to refresh some obs (for example body positions)
|
||||||
|
|
||||||
self.last_actions[:] = self.actions[:]
|
self.last_actions[:] = self.actions[:]
|
||||||
@ -143,7 +139,6 @@ class LeggedRobot(BaseTask):
|
|||||||
self._resample_commands(env_ids)
|
self._resample_commands(env_ids)
|
||||||
|
|
||||||
# reset buffers
|
# reset buffers
|
||||||
self.actions[env_ids] = 0.
|
|
||||||
self.last_actions[env_ids] = 0.
|
self.last_actions[env_ids] = 0.
|
||||||
self.last_dof_vel[env_ids] = 0.
|
self.last_dof_vel[env_ids] = 0.
|
||||||
self.feet_air_time[env_ids] = 0.
|
self.feet_air_time[env_ids] = 0.
|
||||||
@ -289,6 +284,9 @@ class LeggedRobot(BaseTask):
|
|||||||
heading = torch.atan2(forward[:, 1], forward[:, 0])
|
heading = torch.atan2(forward[:, 1], forward[:, 0])
|
||||||
self.commands[:, 2] = torch.clip(0.5*wrap_to_pi(self.commands[:, 3] - heading), -1., 1.)
|
self.commands[:, 2] = torch.clip(0.5*wrap_to_pi(self.commands[:, 3] - heading), -1., 1.)
|
||||||
|
|
||||||
|
if self.cfg.domain_rand.push_robots and (self.common_step_counter % self.cfg.domain_rand.push_interval == 0):
|
||||||
|
self._push_robots()
|
||||||
|
|
||||||
def _resample_commands(self, env_ids):
|
def _resample_commands(self, env_ids):
|
||||||
""" Randommly select commands of some environments
|
""" Randommly select commands of some environments
|
||||||
|
|
||||||
@ -369,17 +367,9 @@ class LeggedRobot(BaseTask):
|
|||||||
def _push_robots(self):
|
def _push_robots(self):
|
||||||
""" Random pushes the robots. Emulates an impulse by setting a randomized base velocity.
|
""" Random pushes the robots. Emulates an impulse by setting a randomized base velocity.
|
||||||
"""
|
"""
|
||||||
env_ids = torch.arange(self.num_envs, device=self.device)
|
|
||||||
push_env_ids = env_ids[self.episode_length_buf[env_ids] % int(self.cfg.domain_rand.push_interval) == 0]
|
|
||||||
if len(push_env_ids) == 0:
|
|
||||||
return
|
|
||||||
max_vel = self.cfg.domain_rand.max_push_vel_xy
|
max_vel = self.cfg.domain_rand.max_push_vel_xy
|
||||||
self.root_states[:, 7:9] = torch_rand_float(-max_vel, max_vel, (self.num_envs, 2), device=self.device) # lin vel x/y
|
self.root_states[:, 7:9] = torch_rand_float(-max_vel, max_vel, (self.num_envs, 2), device=self.device) # lin vel x/y
|
||||||
|
self.gym.set_actor_root_state_tensor(self.sim, gymtorch.unwrap_tensor(self.root_states))
|
||||||
env_ids_int32 = push_env_ids.to(dtype=torch.int32)
|
|
||||||
self.gym.set_actor_root_state_tensor_indexed(self.sim,
|
|
||||||
gymtorch.unwrap_tensor(self.root_states),
|
|
||||||
gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
@ -1,110 +0,0 @@
|
|||||||
from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobotCfgPPO
|
|
||||||
|
|
||||||
class G1RoughCfg( LeggedRobotCfg ):
|
|
||||||
class init_state( LeggedRobotCfg.init_state ):
|
|
||||||
pos = [0.0, 0.0, 0.8] # x,y,z [m]
|
|
||||||
default_joint_angles = { # = target angles [rad] when action = 0.0
|
|
||||||
'left_hip_yaw_joint' : 0. ,
|
|
||||||
'left_hip_roll_joint' : 0,
|
|
||||||
'left_hip_pitch_joint' : -0.1,
|
|
||||||
'left_knee_joint' : 0.3,
|
|
||||||
'left_ankle_pitch_joint' : -0.2,
|
|
||||||
'left_ankle_roll_joint' : 0,
|
|
||||||
'right_hip_yaw_joint' : 0.,
|
|
||||||
'right_hip_roll_joint' : 0,
|
|
||||||
'right_hip_pitch_joint' : -0.1,
|
|
||||||
'right_knee_joint' : 0.3,
|
|
||||||
'right_ankle_pitch_joint': -0.2,
|
|
||||||
'right_ankle_roll_joint' : 0,
|
|
||||||
'torso_joint' : 0.
|
|
||||||
}
|
|
||||||
|
|
||||||
class env(LeggedRobotCfg.env):
|
|
||||||
num_observations = 47
|
|
||||||
num_privileged_obs = 50
|
|
||||||
num_actions = 12
|
|
||||||
|
|
||||||
|
|
||||||
class domain_rand(LeggedRobotCfg.domain_rand):
|
|
||||||
randomize_friction = True
|
|
||||||
friction_range = [0.1, 1.25]
|
|
||||||
randomize_base_mass = True
|
|
||||||
added_mass_range = [-1., 3.]
|
|
||||||
push_robots = True
|
|
||||||
push_interval_s = 5
|
|
||||||
max_push_vel_xy = 1.5
|
|
||||||
|
|
||||||
|
|
||||||
class control( LeggedRobotCfg.control ):
|
|
||||||
# PD Drive parameters:
|
|
||||||
control_type = 'P'
|
|
||||||
# PD Drive parameters:
|
|
||||||
stiffness = {'hip_yaw': 100,
|
|
||||||
'hip_roll': 100,
|
|
||||||
'hip_pitch': 100,
|
|
||||||
'knee': 150,
|
|
||||||
'ankle': 40,
|
|
||||||
} # [N*m/rad]
|
|
||||||
damping = { 'hip_yaw': 2,
|
|
||||||
'hip_roll': 2,
|
|
||||||
'hip_pitch': 2,
|
|
||||||
'knee': 4,
|
|
||||||
'ankle': 2,
|
|
||||||
} # [N*m/rad] # [N*m*s/rad]
|
|
||||||
# action scale: target angle = actionScale * action + defaultAngle
|
|
||||||
action_scale = 0.25
|
|
||||||
# decimation: Number of control action updates @ sim DT per policy DT
|
|
||||||
decimation = 4
|
|
||||||
|
|
||||||
class asset( LeggedRobotCfg.asset ):
|
|
||||||
file = '{LEGGED_GYM_ROOT_DIR}/resources/robots/g1_description/g1_12dof.urdf'
|
|
||||||
name = "g1"
|
|
||||||
foot_name = "ankle_roll"
|
|
||||||
penalize_contacts_on = ["hip", "knee"]
|
|
||||||
terminate_after_contacts_on = ["pelvis"]
|
|
||||||
self_collisions = 0 # 1 to disable, 0 to enable...bitwise filter
|
|
||||||
flip_visual_attachments = False
|
|
||||||
|
|
||||||
class rewards( LeggedRobotCfg.rewards ):
|
|
||||||
soft_dof_pos_limit = 0.9
|
|
||||||
base_height_target = 0.78
|
|
||||||
|
|
||||||
class scales( LeggedRobotCfg.rewards.scales ):
|
|
||||||
tracking_lin_vel = 1.0
|
|
||||||
tracking_ang_vel = 0.5
|
|
||||||
lin_vel_z = -2.0
|
|
||||||
ang_vel_xy = -0.05
|
|
||||||
orientation = -1.0
|
|
||||||
base_height = -10.0
|
|
||||||
dof_acc = -2.5e-7
|
|
||||||
dof_vel = -1e-3
|
|
||||||
feet_air_time = 0.0
|
|
||||||
collision = 0.0
|
|
||||||
action_rate = -0.01
|
|
||||||
dof_pos_limits = -5.0
|
|
||||||
alive = 0.15
|
|
||||||
hip_pos = -1.0
|
|
||||||
contact_no_vel = -0.2
|
|
||||||
feet_swing_height = -20.0
|
|
||||||
contact = 0.18
|
|
||||||
|
|
||||||
class G1RoughCfgPPO( LeggedRobotCfgPPO ):
|
|
||||||
class policy:
|
|
||||||
init_noise_std = 0.8
|
|
||||||
actor_hidden_dims = [32]
|
|
||||||
critic_hidden_dims = [32]
|
|
||||||
activation = 'elu' # can be elu, relu, selu, crelu, lrelu, tanh, sigmoid
|
|
||||||
# only for 'ActorCriticRecurrent':
|
|
||||||
rnn_type = 'lstm'
|
|
||||||
rnn_hidden_size = 64
|
|
||||||
rnn_num_layers = 1
|
|
||||||
|
|
||||||
class algorithm( LeggedRobotCfgPPO.algorithm ):
|
|
||||||
entropy_coef = 0.01
|
|
||||||
class runner( LeggedRobotCfgPPO.runner ):
|
|
||||||
policy_class_name = "ActorCriticRecurrent"
|
|
||||||
max_iterations = 10000
|
|
||||||
run_name = ''
|
|
||||||
experiment_name = 'g1'
|
|
||||||
|
|
||||||
|
|
||||||
@ -1,124 +0,0 @@
|
|||||||
|
|
||||||
from legged_gym.envs.base.legged_robot import LeggedRobot
|
|
||||||
|
|
||||||
from isaacgym.torch_utils import *
|
|
||||||
from isaacgym import gymtorch, gymapi, gymutil
|
|
||||||
import torch
|
|
||||||
|
|
||||||
class G1Robot(LeggedRobot):
|
|
||||||
|
|
||||||
def _get_noise_scale_vec(self, cfg):
|
|
||||||
""" Sets a vector used to scale the noise added to the observations.
|
|
||||||
[NOTE]: Must be adapted when changing the observations structure
|
|
||||||
|
|
||||||
Args:
|
|
||||||
cfg (Dict): Environment config file
|
|
||||||
|
|
||||||
Returns:
|
|
||||||
[torch.Tensor]: Vector of scales used to multiply a uniform distribution in [-1, 1]
|
|
||||||
"""
|
|
||||||
noise_vec = torch.zeros_like(self.obs_buf[0])
|
|
||||||
self.add_noise = self.cfg.noise.add_noise
|
|
||||||
noise_scales = self.cfg.noise.noise_scales
|
|
||||||
noise_level = self.cfg.noise.noise_level
|
|
||||||
noise_vec[:3] = noise_scales.ang_vel * noise_level * self.obs_scales.ang_vel
|
|
||||||
noise_vec[3:6] = noise_scales.gravity * noise_level
|
|
||||||
noise_vec[6:9] = 0. # commands
|
|
||||||
noise_vec[9:9+self.num_actions] = noise_scales.dof_pos * noise_level * self.obs_scales.dof_pos
|
|
||||||
noise_vec[9+self.num_actions:9+2*self.num_actions] = noise_scales.dof_vel * noise_level * self.obs_scales.dof_vel
|
|
||||||
noise_vec[9+2*self.num_actions:9+3*self.num_actions] = 0. # previous actions
|
|
||||||
noise_vec[9+3*self.num_actions:9+3*self.num_actions+2] = 0. # sin/cos phase
|
|
||||||
|
|
||||||
return noise_vec
|
|
||||||
|
|
||||||
def _init_foot(self):
|
|
||||||
self.feet_num = len(self.feet_indices)
|
|
||||||
|
|
||||||
rigid_body_state = self.gym.acquire_rigid_body_state_tensor(self.sim)
|
|
||||||
self.rigid_body_states = gymtorch.wrap_tensor(rigid_body_state)
|
|
||||||
self.rigid_body_states_view = self.rigid_body_states.view(self.num_envs, -1, 13)
|
|
||||||
self.feet_state = self.rigid_body_states_view[:, self.feet_indices, :]
|
|
||||||
self.feet_pos = self.feet_state[:, :, :3]
|
|
||||||
self.feet_vel = self.feet_state[:, :, 7:10]
|
|
||||||
|
|
||||||
def _init_buffers(self):
|
|
||||||
super()._init_buffers()
|
|
||||||
self._init_foot()
|
|
||||||
|
|
||||||
def update_feet_state(self):
|
|
||||||
self.gym.refresh_rigid_body_state_tensor(self.sim)
|
|
||||||
|
|
||||||
self.feet_state = self.rigid_body_states_view[:, self.feet_indices, :]
|
|
||||||
self.feet_pos = self.feet_state[:, :, :3]
|
|
||||||
self.feet_vel = self.feet_state[:, :, 7:10]
|
|
||||||
|
|
||||||
def _post_physics_step_callback(self):
|
|
||||||
self.update_feet_state()
|
|
||||||
|
|
||||||
period = 0.8
|
|
||||||
offset = 0.5
|
|
||||||
self.phase = (self.episode_length_buf * self.dt) % period / period
|
|
||||||
self.phase_left = self.phase
|
|
||||||
self.phase_right = (self.phase + offset) % 1
|
|
||||||
self.leg_phase = torch.cat([self.phase_left.unsqueeze(1), self.phase_right.unsqueeze(1)], dim=-1)
|
|
||||||
|
|
||||||
return super()._post_physics_step_callback()
|
|
||||||
|
|
||||||
|
|
||||||
def compute_observations(self):
|
|
||||||
""" Computes observations
|
|
||||||
"""
|
|
||||||
sin_phase = torch.sin(2 * np.pi * self.phase ).unsqueeze(1)
|
|
||||||
cos_phase = torch.cos(2 * np.pi * self.phase ).unsqueeze(1)
|
|
||||||
self.obs_buf = torch.cat(( self.base_ang_vel * self.obs_scales.ang_vel,
|
|
||||||
self.projected_gravity,
|
|
||||||
self.commands[:, :3] * self.commands_scale,
|
|
||||||
(self.dof_pos - self.default_dof_pos) * self.obs_scales.dof_pos,
|
|
||||||
self.dof_vel * self.obs_scales.dof_vel,
|
|
||||||
self.actions,
|
|
||||||
sin_phase,
|
|
||||||
cos_phase
|
|
||||||
),dim=-1)
|
|
||||||
self.privileged_obs_buf = torch.cat(( self.base_lin_vel * self.obs_scales.lin_vel,
|
|
||||||
self.base_ang_vel * self.obs_scales.ang_vel,
|
|
||||||
self.projected_gravity,
|
|
||||||
self.commands[:, :3] * self.commands_scale,
|
|
||||||
(self.dof_pos - self.default_dof_pos) * self.obs_scales.dof_pos,
|
|
||||||
self.dof_vel * self.obs_scales.dof_vel,
|
|
||||||
self.actions,
|
|
||||||
sin_phase,
|
|
||||||
cos_phase
|
|
||||||
),dim=-1)
|
|
||||||
# add perceptive inputs if not blind
|
|
||||||
# add noise if needed
|
|
||||||
if self.add_noise:
|
|
||||||
self.obs_buf += (2 * torch.rand_like(self.obs_buf) - 1) * self.noise_scale_vec
|
|
||||||
|
|
||||||
|
|
||||||
def _reward_contact(self):
|
|
||||||
res = torch.zeros(self.num_envs, dtype=torch.float, device=self.device)
|
|
||||||
for i in range(self.feet_num):
|
|
||||||
is_stance = self.leg_phase[:, i] < 0.55
|
|
||||||
contact = self.contact_forces[:, self.feet_indices[i], 2] > 1
|
|
||||||
res += ~(contact ^ is_stance)
|
|
||||||
return res
|
|
||||||
|
|
||||||
def _reward_feet_swing_height(self):
|
|
||||||
contact = torch.norm(self.contact_forces[:, self.feet_indices, :3], dim=2) > 1.
|
|
||||||
pos_error = torch.square(self.feet_pos[:, :, 2] - 0.08) * ~contact
|
|
||||||
return torch.sum(pos_error, dim=(1))
|
|
||||||
|
|
||||||
def _reward_alive(self):
|
|
||||||
# Reward for staying alive
|
|
||||||
return 1.0
|
|
||||||
|
|
||||||
def _reward_contact_no_vel(self):
|
|
||||||
# Penalize contact with no velocity
|
|
||||||
contact = torch.norm(self.contact_forces[:, self.feet_indices, :3], dim=2) > 1.
|
|
||||||
contact_feet_vel = self.feet_vel * contact.unsqueeze(-1)
|
|
||||||
penalize = torch.square(contact_feet_vel[:, :, :3])
|
|
||||||
return torch.sum(penalize, dim=(1,2))
|
|
||||||
|
|
||||||
def _reward_hip_pos(self):
|
|
||||||
return torch.sum(torch.square(self.dof_pos[:,[1,2,7,8]]), dim=1)
|
|
||||||
|
|
||||||
@ -6,14 +6,14 @@ class H1RoughCfg( LeggedRobotCfg ):
|
|||||||
default_joint_angles = { # = target angles [rad] when action = 0.0
|
default_joint_angles = { # = target angles [rad] when action = 0.0
|
||||||
'left_hip_yaw_joint' : 0. ,
|
'left_hip_yaw_joint' : 0. ,
|
||||||
'left_hip_roll_joint' : 0,
|
'left_hip_roll_joint' : 0,
|
||||||
'left_hip_pitch_joint' : -0.1,
|
'left_hip_pitch_joint' : -0.4,
|
||||||
'left_knee_joint' : 0.3,
|
'left_knee_joint' : 0.8,
|
||||||
'left_ankle_joint' : -0.2,
|
'left_ankle_joint' : -0.4,
|
||||||
'right_hip_yaw_joint' : 0.,
|
'right_hip_yaw_joint' : 0.,
|
||||||
'right_hip_roll_joint' : 0,
|
'right_hip_roll_joint' : 0,
|
||||||
'right_hip_pitch_joint' : -0.1,
|
'right_hip_pitch_joint' : -0.4,
|
||||||
'right_knee_joint' : 0.3,
|
'right_knee_joint' : 0.8,
|
||||||
'right_ankle_joint' : -0.2,
|
'right_ankle_joint' : -0.4,
|
||||||
'torso_joint' : 0.,
|
'torso_joint' : 0.,
|
||||||
'left_shoulder_pitch_joint' : 0.,
|
'left_shoulder_pitch_joint' : 0.,
|
||||||
'left_shoulder_roll_joint' : 0,
|
'left_shoulder_roll_joint' : 0,
|
||||||
@ -26,38 +26,27 @@ class H1RoughCfg( LeggedRobotCfg ):
|
|||||||
}
|
}
|
||||||
|
|
||||||
class env(LeggedRobotCfg.env):
|
class env(LeggedRobotCfg.env):
|
||||||
# 3 + 3 + 3 + 10 + 10 + 10 + 2 = 41
|
num_observations = 42
|
||||||
num_observations = 41
|
|
||||||
num_privileged_obs = 44
|
|
||||||
num_actions = 10
|
num_actions = 10
|
||||||
|
|
||||||
|
|
||||||
class domain_rand(LeggedRobotCfg.domain_rand):
|
|
||||||
randomize_friction = True
|
|
||||||
friction_range = [0.1, 1.25]
|
|
||||||
randomize_base_mass = True
|
|
||||||
added_mass_range = [-1., 3.]
|
|
||||||
push_robots = True
|
|
||||||
push_interval_s = 5
|
|
||||||
max_push_vel_xy = 1.5
|
|
||||||
|
|
||||||
class control( LeggedRobotCfg.control ):
|
class control( LeggedRobotCfg.control ):
|
||||||
# PD Drive parameters:
|
# PD Drive parameters:
|
||||||
control_type = 'P'
|
control_type = 'P'
|
||||||
# PD Drive parameters:
|
# PD Drive parameters:
|
||||||
stiffness = {'hip_yaw': 150,
|
stiffness = {'hip_yaw': 200,
|
||||||
'hip_roll': 150,
|
'hip_roll': 200,
|
||||||
'hip_pitch': 150,
|
'hip_pitch': 200,
|
||||||
'knee': 200,
|
'knee': 300,
|
||||||
'ankle': 40,
|
'ankle': 40,
|
||||||
'torso': 300,
|
'torso': 300,
|
||||||
'shoulder': 150,
|
'shoulder': 100,
|
||||||
"elbow":100,
|
"elbow":100,
|
||||||
} # [N*m/rad]
|
} # [N*m/rad]
|
||||||
damping = { 'hip_yaw': 2,
|
damping = { 'hip_yaw': 5,
|
||||||
'hip_roll': 2,
|
'hip_roll': 5,
|
||||||
'hip_pitch': 2,
|
'hip_pitch': 5,
|
||||||
'knee': 4,
|
'knee': 6,
|
||||||
'ankle': 2,
|
'ankle': 2,
|
||||||
'torso': 6,
|
'torso': 6,
|
||||||
'shoulder': 2,
|
'shoulder': 2,
|
||||||
@ -74,46 +63,30 @@ class H1RoughCfg( LeggedRobotCfg ):
|
|||||||
foot_name = "ankle"
|
foot_name = "ankle"
|
||||||
penalize_contacts_on = ["hip", "knee"]
|
penalize_contacts_on = ["hip", "knee"]
|
||||||
terminate_after_contacts_on = ["pelvis"]
|
terminate_after_contacts_on = ["pelvis"]
|
||||||
self_collisions = 0 # 1 to disable, 0 to enable...bitwise filter
|
self_collisions = 1 # 1 to disable, 0 to enable...bitwise filter
|
||||||
flip_visual_attachments = False
|
flip_visual_attachments = False
|
||||||
|
|
||||||
class rewards( LeggedRobotCfg.rewards ):
|
class rewards( LeggedRobotCfg.rewards ):
|
||||||
soft_dof_pos_limit = 0.9
|
soft_dof_pos_limit = 0.9
|
||||||
base_height_target = 1.05
|
base_height_target = 0.98
|
||||||
class scales( LeggedRobotCfg.rewards.scales ):
|
class scales( LeggedRobotCfg.rewards.scales ):
|
||||||
tracking_lin_vel = 1.0
|
tracking_lin_vel = 1.0
|
||||||
tracking_ang_vel = 0.5
|
tracking_ang_vel = 0.5
|
||||||
lin_vel_z = -2.0
|
lin_vel_z = -2.0
|
||||||
ang_vel_xy = -0.05
|
ang_vel_xy = -1.0
|
||||||
orientation = -1.0
|
orientation = -1.0
|
||||||
base_height = -10.0
|
base_height = -100.0
|
||||||
dof_acc = -2.5e-7
|
dof_acc = -3.5e-8
|
||||||
feet_air_time = 0.0
|
feet_air_time = 1.0
|
||||||
collision = -1.0
|
collision = 0.0
|
||||||
action_rate = -0.01
|
action_rate = -0.01
|
||||||
torques = 0.0
|
torques = 0.0
|
||||||
dof_pos_limits = -5.0
|
dof_pos_limits = -10.0
|
||||||
alive = 0.15
|
|
||||||
hip_pos = -1.0
|
|
||||||
contact_no_vel = -0.2
|
|
||||||
feet_swing_height = -20.0
|
|
||||||
contact = 0.18
|
|
||||||
|
|
||||||
class H1RoughCfgPPO( LeggedRobotCfgPPO ):
|
class H1RoughCfgPPO( LeggedRobotCfgPPO ):
|
||||||
class policy:
|
|
||||||
init_noise_std = 0.8
|
|
||||||
actor_hidden_dims = [32]
|
|
||||||
critic_hidden_dims = [32]
|
|
||||||
activation = 'elu' # can be elu, relu, selu, crelu, lrelu, tanh, sigmoid
|
|
||||||
# only for 'ActorCriticRecurrent':
|
|
||||||
rnn_type = 'lstm'
|
|
||||||
rnn_hidden_size = 64
|
|
||||||
rnn_num_layers = 1
|
|
||||||
class algorithm( LeggedRobotCfgPPO.algorithm ):
|
class algorithm( LeggedRobotCfgPPO.algorithm ):
|
||||||
entropy_coef = 0.01
|
entropy_coef = 0.01
|
||||||
class runner( LeggedRobotCfgPPO.runner ):
|
class runner( LeggedRobotCfgPPO.runner ):
|
||||||
policy_class_name = "ActorCriticRecurrent"
|
|
||||||
max_iterations = 10000
|
|
||||||
run_name = ''
|
run_name = ''
|
||||||
experiment_name = 'h1'
|
experiment_name = 'h1'
|
||||||
|
|
||||||
|
|||||||
@ -1,124 +0,0 @@
|
|||||||
|
|
||||||
from legged_gym.envs.base.legged_robot import LeggedRobot
|
|
||||||
|
|
||||||
from isaacgym.torch_utils import *
|
|
||||||
from isaacgym import gymtorch, gymapi, gymutil
|
|
||||||
import torch
|
|
||||||
|
|
||||||
class H1Robot(LeggedRobot):
|
|
||||||
|
|
||||||
def _get_noise_scale_vec(self, cfg):
|
|
||||||
""" Sets a vector used to scale the noise added to the observations.
|
|
||||||
[NOTE]: Must be adapted when changing the observations structure
|
|
||||||
|
|
||||||
Args:
|
|
||||||
cfg (Dict): Environment config file
|
|
||||||
|
|
||||||
Returns:
|
|
||||||
[torch.Tensor]: Vector of scales used to multiply a uniform distribution in [-1, 1]
|
|
||||||
"""
|
|
||||||
noise_vec = torch.zeros_like(self.obs_buf[0])
|
|
||||||
self.add_noise = self.cfg.noise.add_noise
|
|
||||||
noise_scales = self.cfg.noise.noise_scales
|
|
||||||
noise_level = self.cfg.noise.noise_level
|
|
||||||
noise_vec[:3] = noise_scales.ang_vel * noise_level * self.obs_scales.ang_vel
|
|
||||||
noise_vec[3:6] = noise_scales.gravity * noise_level
|
|
||||||
noise_vec[6:9] = 0. # commands
|
|
||||||
noise_vec[9:9+self.num_actions] = noise_scales.dof_pos * noise_level * self.obs_scales.dof_pos
|
|
||||||
noise_vec[9+self.num_actions:9+2*self.num_actions] = noise_scales.dof_vel * noise_level * self.obs_scales.dof_vel
|
|
||||||
noise_vec[9+2*self.num_actions:9+3*self.num_actions] = 0. # previous actions
|
|
||||||
noise_vec[9+3*self.num_actions:9+3*self.num_actions+2] = 0. # sin/cos phase
|
|
||||||
|
|
||||||
return noise_vec
|
|
||||||
|
|
||||||
def _init_foot(self):
|
|
||||||
self.feet_num = len(self.feet_indices)
|
|
||||||
|
|
||||||
rigid_body_state = self.gym.acquire_rigid_body_state_tensor(self.sim)
|
|
||||||
self.rigid_body_states = gymtorch.wrap_tensor(rigid_body_state)
|
|
||||||
self.rigid_body_states_view = self.rigid_body_states.view(self.num_envs, -1, 13)
|
|
||||||
self.feet_state = self.rigid_body_states_view[:, self.feet_indices, :]
|
|
||||||
self.feet_pos = self.feet_state[:, :, :3]
|
|
||||||
self.feet_vel = self.feet_state[:, :, 7:10]
|
|
||||||
|
|
||||||
def _init_buffers(self):
|
|
||||||
super()._init_buffers()
|
|
||||||
self._init_foot()
|
|
||||||
|
|
||||||
def update_feet_state(self):
|
|
||||||
self.gym.refresh_rigid_body_state_tensor(self.sim)
|
|
||||||
|
|
||||||
self.feet_state = self.rigid_body_states_view[:, self.feet_indices, :]
|
|
||||||
self.feet_pos = self.feet_state[:, :, :3]
|
|
||||||
self.feet_vel = self.feet_state[:, :, 7:10]
|
|
||||||
|
|
||||||
def _post_physics_step_callback(self):
|
|
||||||
self.update_feet_state()
|
|
||||||
|
|
||||||
period = 0.8
|
|
||||||
offset = 0.5
|
|
||||||
self.phase = (self.episode_length_buf * self.dt) % period / period
|
|
||||||
self.phase_left = self.phase
|
|
||||||
self.phase_right = (self.phase + offset) % 1
|
|
||||||
self.leg_phase = torch.cat([self.phase_left.unsqueeze(1), self.phase_right.unsqueeze(1)], dim=-1)
|
|
||||||
|
|
||||||
return super()._post_physics_step_callback()
|
|
||||||
|
|
||||||
|
|
||||||
def compute_observations(self):
|
|
||||||
""" Computes observations
|
|
||||||
"""
|
|
||||||
sin_phase = torch.sin(2 * np.pi * self.phase ).unsqueeze(1)
|
|
||||||
cos_phase = torch.cos(2 * np.pi * self.phase ).unsqueeze(1)
|
|
||||||
self.obs_buf = torch.cat(( self.base_ang_vel * self.obs_scales.ang_vel,
|
|
||||||
self.projected_gravity,
|
|
||||||
self.commands[:, :3] * self.commands_scale,
|
|
||||||
(self.dof_pos - self.default_dof_pos) * self.obs_scales.dof_pos,
|
|
||||||
self.dof_vel * self.obs_scales.dof_vel,
|
|
||||||
self.actions,
|
|
||||||
sin_phase,
|
|
||||||
cos_phase
|
|
||||||
),dim=-1)
|
|
||||||
self.privileged_obs_buf = torch.cat(( self.base_lin_vel * self.obs_scales.lin_vel,
|
|
||||||
self.base_ang_vel * self.obs_scales.ang_vel,
|
|
||||||
self.projected_gravity,
|
|
||||||
self.commands[:, :3] * self.commands_scale,
|
|
||||||
(self.dof_pos - self.default_dof_pos) * self.obs_scales.dof_pos,
|
|
||||||
self.dof_vel * self.obs_scales.dof_vel,
|
|
||||||
self.actions,
|
|
||||||
sin_phase,
|
|
||||||
cos_phase
|
|
||||||
),dim=-1)
|
|
||||||
# add perceptive inputs if not blind
|
|
||||||
# add noise if needed
|
|
||||||
if self.add_noise:
|
|
||||||
self.obs_buf += (2 * torch.rand_like(self.obs_buf) - 1) * self.noise_scale_vec
|
|
||||||
|
|
||||||
|
|
||||||
def _reward_contact(self):
|
|
||||||
res = torch.zeros(self.num_envs, dtype=torch.float, device=self.device)
|
|
||||||
for i in range(self.feet_num):
|
|
||||||
is_stance = self.leg_phase[:, i] < 0.55
|
|
||||||
contact = self.contact_forces[:, self.feet_indices[i], 2] > 1
|
|
||||||
res += ~(contact ^ is_stance)
|
|
||||||
return res
|
|
||||||
|
|
||||||
def _reward_feet_swing_height(self):
|
|
||||||
contact = torch.norm(self.contact_forces[:, self.feet_indices, :3], dim=2) > 1.
|
|
||||||
pos_error = torch.square(self.feet_pos[:, :, 2] - 0.08) * ~contact
|
|
||||||
return torch.sum(pos_error, dim=(1))
|
|
||||||
|
|
||||||
def _reward_alive(self):
|
|
||||||
# Reward for staying alive
|
|
||||||
return 1.0
|
|
||||||
|
|
||||||
def _reward_contact_no_vel(self):
|
|
||||||
# Penalize contact with no velocity
|
|
||||||
contact = torch.norm(self.contact_forces[:, self.feet_indices, :3], dim=2) > 1.
|
|
||||||
contact_feet_vel = self.feet_vel * contact.unsqueeze(-1)
|
|
||||||
penalize = torch.square(contact_feet_vel[:, :, :3])
|
|
||||||
return torch.sum(penalize, dim=(1,2))
|
|
||||||
|
|
||||||
def _reward_hip_pos(self):
|
|
||||||
return torch.sum(torch.square(self.dof_pos[:,[0,1,5,6]]), dim=1)
|
|
||||||
|
|
||||||
@ -18,7 +18,7 @@ Free "light" end effectors can lead to unstable simulation. Thus please be caref
|
|||||||
|
|
||||||
## Results
|
## Results
|
||||||
|
|
||||||
https://github.com/user-attachments/assets/d6cdee70-8f8a-4a50-b219-df31b269b083
|
https://github.com/user-attachments/assets/a937e9c4-fe91-4240-88ea-d83b0160cad5
|
||||||
|
|
||||||
## Preview Stage
|
## Preview Stage
|
||||||
|
|
||||||
|
|||||||
@ -4,20 +4,20 @@ from legged_gym.envs.base.legged_robot_config import LeggedRobotCfg, LeggedRobot
|
|||||||
class H1_2RoughCfg(LeggedRobotCfg):
|
class H1_2RoughCfg(LeggedRobotCfg):
|
||||||
|
|
||||||
class init_state(LeggedRobotCfg.init_state):
|
class init_state(LeggedRobotCfg.init_state):
|
||||||
pos = [0.0, 0.0, 1.05] # x,y,z [m]
|
pos = [0.0, 0.0, 1.0] # x,y,z [m]
|
||||||
default_joint_angles = { # = target angles [rad] when action = 0.0
|
default_joint_angles = { # = target angles [rad] when action = 0.0
|
||||||
'left_hip_yaw_joint': 0,
|
'left_hip_yaw_joint': 0,
|
||||||
'left_hip_roll_joint': 0,
|
'left_hip_roll_joint': 0,
|
||||||
'left_hip_pitch_joint': -0.16,
|
'left_hip_pitch_joint': -0.6,
|
||||||
'left_knee_joint': 0.36,
|
'left_knee_joint': 1.2,
|
||||||
'left_ankle_pitch_joint': -0.2,
|
'left_ankle_pitch_joint': -0.6,
|
||||||
'left_ankle_roll_joint': 0.0,
|
'left_ankle_roll_joint': 0.0,
|
||||||
|
|
||||||
'right_hip_yaw_joint': 0,
|
'right_hip_yaw_joint': 0,
|
||||||
'right_hip_roll_joint': 0,
|
'right_hip_roll_joint': 0,
|
||||||
'right_hip_pitch_joint': -0.16,
|
'right_hip_pitch_joint': -0.6,
|
||||||
'right_knee_joint': 0.36,
|
'right_knee_joint': 1.2,
|
||||||
'right_ankle_pitch_joint': -0.2,
|
'right_ankle_pitch_joint': -0.6,
|
||||||
'right_ankle_roll_joint': 0.0,
|
'right_ankle_roll_joint': 0.0,
|
||||||
|
|
||||||
'torso_joint': 0,
|
'torso_joint': 0,
|
||||||
@ -34,11 +34,9 @@ class H1_2RoughCfg(LeggedRobotCfg):
|
|||||||
}
|
}
|
||||||
|
|
||||||
class env(LeggedRobotCfg.env):
|
class env(LeggedRobotCfg.env):
|
||||||
# 3 + 3 + 3 + 12 + 12 + 12 + 2 = 47
|
num_actions = 21
|
||||||
num_observations = 47
|
num_observations = 12 + num_actions * 3
|
||||||
num_privileged_obs = 50
|
num_envs = 8192
|
||||||
num_actions = 12
|
|
||||||
|
|
||||||
|
|
||||||
class control(LeggedRobotCfg.control):
|
class control(LeggedRobotCfg.control):
|
||||||
# PD Drive parameters:
|
# PD Drive parameters:
|
||||||
@ -49,82 +47,75 @@ class H1_2RoughCfg(LeggedRobotCfg):
|
|||||||
'hip_roll_joint': 200.,
|
'hip_roll_joint': 200.,
|
||||||
'hip_pitch_joint': 200.,
|
'hip_pitch_joint': 200.,
|
||||||
'knee_joint': 300.,
|
'knee_joint': 300.,
|
||||||
'ankle_pitch_joint': 40.,
|
'ankle_pitch_joint': 60.,
|
||||||
'ankle_roll_joint': 40.,
|
'ankle_roll_joint': 40.,
|
||||||
|
'torso_joint': 600.,
|
||||||
|
'shoulder_pitch_joint': 80.,
|
||||||
|
'shoulder_roll_joint': 80.,
|
||||||
|
'shoulder_yaw_joint': 40.,
|
||||||
|
'elbow_pitch_joint': 60.,
|
||||||
} # [N*m/rad]
|
} # [N*m/rad]
|
||||||
damping = {
|
damping = {
|
||||||
'hip_yaw_joint': 2.5,
|
'hip_yaw_joint': 5.0,
|
||||||
'hip_roll_joint': 2.5,
|
'hip_roll_joint': 5.0,
|
||||||
'hip_pitch_joint': 2.5,
|
'hip_pitch_joint': 5.0,
|
||||||
'knee_joint': 4,
|
'knee_joint': 7.5,
|
||||||
'ankle_pitch_joint': 2.0,
|
'ankle_pitch_joint': 1.0,
|
||||||
'ankle_roll_joint': 2.0,
|
'ankle_roll_joint': 0.3,
|
||||||
|
'torso_joint': 15.0,
|
||||||
|
'shoulder_pitch_joint': 2.0,
|
||||||
|
'shoulder_roll_joint': 2.0,
|
||||||
|
'shoulder_yaw_joint': 1.0,
|
||||||
|
'elbow_pitch_joint': 1.0,
|
||||||
} # [N*m/rad] # [N*m*s/rad]
|
} # [N*m/rad] # [N*m*s/rad]
|
||||||
# action scale: target angle = actionScale * action + defaultAngle
|
# action scale: target angle = actionScale * action + defaultAngle
|
||||||
action_scale = 0.25
|
action_scale = 0.25
|
||||||
# decimation: Number of control action updates @ sim DT per policy DT
|
# decimation: Number of control action updates @ sim DT per policy DT
|
||||||
decimation = 8
|
decimation = 10
|
||||||
|
|
||||||
class sim(LeggedRobotCfg.sim):
|
|
||||||
dt = 0.0025
|
|
||||||
|
|
||||||
class domain_rand(LeggedRobotCfg.domain_rand):
|
|
||||||
randomize_friction = True
|
|
||||||
friction_range = [0.1, 1.25]
|
|
||||||
randomize_base_mass = True
|
|
||||||
added_mass_range = [-1., 3.]
|
|
||||||
push_robots = True
|
|
||||||
push_interval_s = 5
|
|
||||||
max_push_vel_xy = 1.5
|
|
||||||
|
|
||||||
class asset(LeggedRobotCfg.asset):
|
class asset(LeggedRobotCfg.asset):
|
||||||
file = '{LEGGED_GYM_ROOT_DIR}/resources/robots/h1_2/h1_2_12dof.urdf'
|
file = '{LEGGED_GYM_ROOT_DIR}/resources/robots/h1_2/h1_2_simplified.urdf'
|
||||||
name = "h1_2"
|
name = "h1_2"
|
||||||
foot_name = "ankle_roll"
|
foot_name = "ankle_roll"
|
||||||
penalize_contacts_on = ["hip", "knee"]
|
penalize_contacts_on = []
|
||||||
terminate_after_contacts_on = ["pelvis"]
|
terminate_after_contacts_on = []
|
||||||
self_collisions = 0 # 1 to disable, 0 to enable...bitwise filter
|
self_collisions = 1 # 1 to disable, 0 to enable...bitwise filter
|
||||||
flip_visual_attachments = False
|
flip_visual_attachments = False
|
||||||
armature = 1e-3
|
armature = 6e-4 # stablize semi-euler integration for end effectors
|
||||||
|
|
||||||
|
class sim(LeggedRobotCfg.sim):
|
||||||
|
dt = 0.002 # stablize semi-euler integration for end effectors
|
||||||
|
|
||||||
class rewards(LeggedRobotCfg.rewards):
|
class rewards(LeggedRobotCfg.rewards):
|
||||||
soft_dof_pos_limit = 0.9
|
soft_dof_pos_limit = 0.9
|
||||||
base_height_target = 1.0
|
base_height_target = 0.98
|
||||||
|
|
||||||
class scales(LeggedRobotCfg.rewards.scales):
|
class scales(LeggedRobotCfg.rewards.scales):
|
||||||
tracking_lin_vel = 1.0
|
tracking_lin_vel = 1.0
|
||||||
tracking_ang_vel = 0.5
|
tracking_ang_vel = 0.5
|
||||||
lin_vel_z = -2.0
|
lin_vel_z = -0.2
|
||||||
ang_vel_xy = -0.05
|
ang_vel_xy = -0.1
|
||||||
orientation = -1.0
|
orientation = -0.1
|
||||||
base_height = -10.0
|
base_height = -10.0
|
||||||
dof_acc = -2.5e-7
|
dof_acc = -3.5e-9
|
||||||
dof_vel = -1e-3
|
feet_air_time = 1.0
|
||||||
feet_air_time = 0.0
|
|
||||||
collision = 0.0
|
collision = 0.0
|
||||||
action_rate = -0.01
|
action_rate = -0.001
|
||||||
dof_pos_limits = -5.0
|
torques = 0.0
|
||||||
alive = 0.15
|
dof_pos_limits = -1.0
|
||||||
hip_pos = -1.0
|
|
||||||
contact_no_vel = -0.2
|
only_positive_rewards = False # if true negative total rewards are clipped at zero (avoids early termination problems)
|
||||||
feet_swing_height = -20.0
|
|
||||||
contact = 0.18
|
class normalization(LeggedRobotCfg.normalization):
|
||||||
|
clip_actions = 10.0
|
||||||
|
|
||||||
|
|
||||||
class H1_2RoughCfgPPO(LeggedRobotCfgPPO):
|
class H1_2RoughCfgPPO(LeggedRobotCfgPPO):
|
||||||
class policy:
|
|
||||||
init_noise_std = 0.8
|
class policy(LeggedRobotCfgPPO.policy):
|
||||||
actor_hidden_dims = [32]
|
init_noise_std = 0.3
|
||||||
critic_hidden_dims = [32]
|
activation = 'tanh'
|
||||||
activation = 'elu' # can be elu, relu, selu, crelu, lrelu, tanh, sigmoid
|
|
||||||
# only for 'ActorCriticRecurrent':
|
class runner(LeggedRobotCfgPPO.runner):
|
||||||
rnn_type = 'lstm'
|
|
||||||
rnn_hidden_size = 64
|
|
||||||
rnn_num_layers = 1
|
|
||||||
class algorithm( LeggedRobotCfgPPO.algorithm ):
|
|
||||||
entropy_coef = 0.01
|
|
||||||
class runner( LeggedRobotCfgPPO.runner ):
|
|
||||||
policy_class_name = "ActorCriticRecurrent"
|
|
||||||
max_iterations = 10000
|
|
||||||
run_name = ''
|
run_name = ''
|
||||||
experiment_name = 'h1_2'
|
experiment_name = 'h1_2'
|
||||||
|
|||||||
@ -1,124 +0,0 @@
|
|||||||
|
|
||||||
from legged_gym.envs.base.legged_robot import LeggedRobot
|
|
||||||
|
|
||||||
from isaacgym.torch_utils import *
|
|
||||||
from isaacgym import gymtorch, gymapi, gymutil
|
|
||||||
import torch
|
|
||||||
|
|
||||||
class H1_2Robot(LeggedRobot):
|
|
||||||
|
|
||||||
def _get_noise_scale_vec(self, cfg):
|
|
||||||
""" Sets a vector used to scale the noise added to the observations.
|
|
||||||
[NOTE]: Must be adapted when changing the observations structure
|
|
||||||
|
|
||||||
Args:
|
|
||||||
cfg (Dict): Environment config file
|
|
||||||
|
|
||||||
Returns:
|
|
||||||
[torch.Tensor]: Vector of scales used to multiply a uniform distribution in [-1, 1]
|
|
||||||
"""
|
|
||||||
noise_vec = torch.zeros_like(self.obs_buf[0])
|
|
||||||
self.add_noise = self.cfg.noise.add_noise
|
|
||||||
noise_scales = self.cfg.noise.noise_scales
|
|
||||||
noise_level = self.cfg.noise.noise_level
|
|
||||||
noise_vec[:3] = noise_scales.ang_vel * noise_level * self.obs_scales.ang_vel
|
|
||||||
noise_vec[3:6] = noise_scales.gravity * noise_level
|
|
||||||
noise_vec[6:9] = 0. # commands
|
|
||||||
noise_vec[9:9+self.num_actions] = noise_scales.dof_pos * noise_level * self.obs_scales.dof_pos
|
|
||||||
noise_vec[9+self.num_actions:9+2*self.num_actions] = noise_scales.dof_vel * noise_level * self.obs_scales.dof_vel
|
|
||||||
noise_vec[9+2*self.num_actions:9+3*self.num_actions] = 0. # previous actions
|
|
||||||
noise_vec[9+3*self.num_actions:9+3*self.num_actions+2] = 0. # sin/cos phase
|
|
||||||
|
|
||||||
return noise_vec
|
|
||||||
|
|
||||||
def _init_foot(self):
|
|
||||||
self.feet_num = len(self.feet_indices)
|
|
||||||
|
|
||||||
rigid_body_state = self.gym.acquire_rigid_body_state_tensor(self.sim)
|
|
||||||
self.rigid_body_states = gymtorch.wrap_tensor(rigid_body_state)
|
|
||||||
self.rigid_body_states_view = self.rigid_body_states.view(self.num_envs, -1, 13)
|
|
||||||
self.feet_state = self.rigid_body_states_view[:, self.feet_indices, :]
|
|
||||||
self.feet_pos = self.feet_state[:, :, :3]
|
|
||||||
self.feet_vel = self.feet_state[:, :, 7:10]
|
|
||||||
|
|
||||||
def _init_buffers(self):
|
|
||||||
super()._init_buffers()
|
|
||||||
self._init_foot()
|
|
||||||
|
|
||||||
def update_feet_state(self):
|
|
||||||
self.gym.refresh_rigid_body_state_tensor(self.sim)
|
|
||||||
|
|
||||||
self.feet_state = self.rigid_body_states_view[:, self.feet_indices, :]
|
|
||||||
self.feet_pos = self.feet_state[:, :, :3]
|
|
||||||
self.feet_vel = self.feet_state[:, :, 7:10]
|
|
||||||
|
|
||||||
def _post_physics_step_callback(self):
|
|
||||||
self.update_feet_state()
|
|
||||||
|
|
||||||
period = 0.8
|
|
||||||
offset = 0.5
|
|
||||||
self.phase = (self.episode_length_buf * self.dt) % period / period
|
|
||||||
self.phase_left = self.phase
|
|
||||||
self.phase_right = (self.phase + offset) % 1
|
|
||||||
self.leg_phase = torch.cat([self.phase_left.unsqueeze(1), self.phase_right.unsqueeze(1)], dim=-1)
|
|
||||||
|
|
||||||
return super()._post_physics_step_callback()
|
|
||||||
|
|
||||||
|
|
||||||
def compute_observations(self):
|
|
||||||
""" Computes observations
|
|
||||||
"""
|
|
||||||
sin_phase = torch.sin(2 * np.pi * self.phase ).unsqueeze(1)
|
|
||||||
cos_phase = torch.cos(2 * np.pi * self.phase ).unsqueeze(1)
|
|
||||||
self.obs_buf = torch.cat(( self.base_ang_vel * self.obs_scales.ang_vel,
|
|
||||||
self.projected_gravity,
|
|
||||||
self.commands[:, :3] * self.commands_scale,
|
|
||||||
(self.dof_pos - self.default_dof_pos) * self.obs_scales.dof_pos,
|
|
||||||
self.dof_vel * self.obs_scales.dof_vel,
|
|
||||||
self.actions,
|
|
||||||
sin_phase,
|
|
||||||
cos_phase
|
|
||||||
),dim=-1)
|
|
||||||
self.privileged_obs_buf = torch.cat(( self.base_lin_vel * self.obs_scales.lin_vel,
|
|
||||||
self.base_ang_vel * self.obs_scales.ang_vel,
|
|
||||||
self.projected_gravity,
|
|
||||||
self.commands[:, :3] * self.commands_scale,
|
|
||||||
(self.dof_pos - self.default_dof_pos) * self.obs_scales.dof_pos,
|
|
||||||
self.dof_vel * self.obs_scales.dof_vel,
|
|
||||||
self.actions,
|
|
||||||
sin_phase,
|
|
||||||
cos_phase
|
|
||||||
),dim=-1)
|
|
||||||
# add perceptive inputs if not blind
|
|
||||||
# add noise if needed
|
|
||||||
if self.add_noise:
|
|
||||||
self.obs_buf += (2 * torch.rand_like(self.obs_buf) - 1) * self.noise_scale_vec
|
|
||||||
|
|
||||||
|
|
||||||
def _reward_contact(self):
|
|
||||||
res = torch.zeros(self.num_envs, dtype=torch.float, device=self.device)
|
|
||||||
for i in range(self.feet_num):
|
|
||||||
is_stance = self.leg_phase[:, i] < 0.55
|
|
||||||
contact = self.contact_forces[:, self.feet_indices[i], 2] > 1
|
|
||||||
res += ~(contact ^ is_stance)
|
|
||||||
return res
|
|
||||||
|
|
||||||
def _reward_feet_swing_height(self):
|
|
||||||
contact = torch.norm(self.contact_forces[:, self.feet_indices, :3], dim=2) > 1.
|
|
||||||
pos_error = torch.square(self.feet_pos[:, :, 2] - 0.08) * ~contact
|
|
||||||
return torch.sum(pos_error, dim=(1))
|
|
||||||
|
|
||||||
def _reward_alive(self):
|
|
||||||
# Reward for staying alive
|
|
||||||
return 1.0
|
|
||||||
|
|
||||||
def _reward_contact_no_vel(self):
|
|
||||||
# Penalize contact with no velocity
|
|
||||||
contact = torch.norm(self.contact_forces[:, self.feet_indices, :3], dim=2) > 1.
|
|
||||||
contact_feet_vel = self.feet_vel * contact.unsqueeze(-1)
|
|
||||||
penalize = torch.square(contact_feet_vel[:, :, :3])
|
|
||||||
return torch.sum(penalize, dim=(1,2))
|
|
||||||
|
|
||||||
def _reward_hip_pos(self):
|
|
||||||
return torch.sum(torch.square(self.dof_pos[:,[0,2,6,8]]), dim=1)
|
|
||||||
|
|
||||||
@ -1,8 +1,6 @@
|
|||||||
import sys
|
import sys
|
||||||
from legged_gym import LEGGED_GYM_ROOT_DIR
|
from legged_gym import LEGGED_GYM_ROOT_DIR
|
||||||
import os
|
import os
|
||||||
import sys
|
|
||||||
from legged_gym import LEGGED_GYM_ROOT_DIR
|
|
||||||
|
|
||||||
import isaacgym
|
import isaacgym
|
||||||
from legged_gym.envs import *
|
from legged_gym.envs import *
|
||||||
|
|||||||
@ -1,5 +1,5 @@
|
|||||||
import os
|
|
||||||
import numpy as np
|
import numpy as np
|
||||||
|
import os
|
||||||
from datetime import datetime
|
from datetime import datetime
|
||||||
import sys
|
import sys
|
||||||
|
|
||||||
@ -15,4 +15,5 @@ def train(args):
|
|||||||
|
|
||||||
if __name__ == '__main__':
|
if __name__ == '__main__':
|
||||||
args = get_args()
|
args = get_args()
|
||||||
|
args.headless = False
|
||||||
train(args)
|
train(args)
|
||||||
|
|||||||
@ -1,30 +0,0 @@
|
|||||||
# Unitree G1 Description (URDF & MJCF)
|
|
||||||
|
|
||||||
## Overview
|
|
||||||
|
|
||||||
This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/).
|
|
||||||
|
|
||||||
MJCF/URDF for the G1 robot:
|
|
||||||
|
|
||||||
| MJCF/URDF file name | `mode_machine` | Hip roll reduction ratio | Update status | dof#leg | dof#waist | dof#arm | dof#hand |
|
|
||||||
| ----------------------------- | :------------: | :----------------------: | ------------- | :-----: | :-------: | :-----: | :------: |
|
|
||||||
| `g1_23dof` | 1 | 14.5 | Beta | 6*2 | 1 | 5*2 | 0 |
|
|
||||||
| `g1_29dof` | 2 | 14.5 | Beta | 6*2 | 3 | 7*2 | 0 |
|
|
||||||
| `g1_29dof_with_hand` | 2 | 14.5 | Beta | 6*2 | 3 | 7*2 | 7*2 |
|
|
||||||
| `g1_29dof_lock_waist` | 3 | 14.5 | Beta | 6*2 | 1 | 7*2 | 0 |
|
|
||||||
| `g1_23dof_rev_1_0` | 4 | 22.5 | Up-to-date | 6*2 | 1 | 5*2 | 0 |
|
|
||||||
| `g1_29dof_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 0 |
|
|
||||||
| `g1_29dof_with_hand_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 7*2 |
|
|
||||||
| `g1_29dof_lock_waist_rev_1_0` | 6 | 22.5 | Up-to-date | 6*2 | 1 | 7*2 | 0 |
|
|
||||||
| `g1_dual_arm` | 9 | null | Up-to-date | 0 | 0 | 7*2 | 0 |
|
|
||||||
|
|
||||||
## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
|
|
||||||
|
|
||||||
1. Open MuJoCo Viewer
|
|
||||||
|
|
||||||
```bash
|
|
||||||
pip install mujoco
|
|
||||||
python -m mujoco.viewer
|
|
||||||
```
|
|
||||||
|
|
||||||
2. Drag and drop the MJCF/URDF model file (`g1_XXX.xml`/`g1_XXX.urdf`) to the MuJoCo Viewer.
|
|
||||||
@ -1,854 +0,0 @@
|
|||||||
<robot name="g1_12dof">
|
|
||||||
<mujoco>
|
|
||||||
<compiler meshdir="meshes" discardvisual="false"/>
|
|
||||||
</mujoco>
|
|
||||||
|
|
||||||
<!-- [CAUTION] uncomment when convert to mujoco -->
|
|
||||||
<!-- <link name="world"></link>
|
|
||||||
<joint name="floating_base_joint" type="floating">
|
|
||||||
<parent link="world"/>
|
|
||||||
<child link="pelvis"/>
|
|
||||||
</joint> -->
|
|
||||||
|
|
||||||
<link name="pelvis">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 0 -0.07605" rpy="0 0 0"/>
|
|
||||||
<mass value="3.813"/>
|
|
||||||
<inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/pelvis.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
<link name="pelvis_contour_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<mass value="0.001"/>
|
|
||||||
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/pelvis_contour_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/pelvis_contour_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="pelvis_contour_joint" type="fixed">
|
|
||||||
<parent link="pelvis"/>
|
|
||||||
<child link="pelvis_contour_link"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- Legs -->
|
|
||||||
<link name="left_hip_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0"/>
|
|
||||||
<mass value="1.35"/>
|
|
||||||
<inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_hip_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_hip_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_hip_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0 0.064452 -0.1027" rpy="0 0 0"/>
|
|
||||||
<parent link="pelvis"/>
|
|
||||||
<child link="left_hip_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_hip_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0"/>
|
|
||||||
<mass value="1.52"/>
|
|
||||||
<inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_hip_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_hip_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_hip_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0"/>
|
|
||||||
<parent link="left_hip_pitch_link"/>
|
|
||||||
<child link="left_hip_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-0.5236" upper="2.9671" effort="139" velocity="20"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_hip_yaw_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0"/>
|
|
||||||
<mass value="1.702"/>
|
|
||||||
<inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_hip_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_hip_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_hip_yaw_joint" type="revolute">
|
|
||||||
<origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
|
|
||||||
<parent link="left_hip_roll_link"/>
|
|
||||||
<child link="left_hip_yaw_link"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_knee_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0"/>
|
|
||||||
<mass value="1.932"/>
|
|
||||||
<inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_knee_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_knee_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_knee_joint" type="revolute">
|
|
||||||
<origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0"/>
|
|
||||||
<parent link="left_hip_yaw_link"/>
|
|
||||||
<child link="left_knee_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_ankle_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
|
|
||||||
<mass value="0.074"/>
|
|
||||||
<inertia ixx="0.01" ixy="0" ixz="-2.9E-06" iyy="0.01" iyz="0" izz="0.01"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_ankle_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_ankle_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_ankle_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0"/>
|
|
||||||
<parent link="left_knee_link"/>
|
|
||||||
<child link="left_ankle_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_ankle_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
|
|
||||||
<mass value="0.608"/>
|
|
||||||
<inertia ixx="0.01" ixy="2E-07" ixz="8.91E-05" iyy="0.01" iyz="-1E-07" izz="0.01"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_ankle_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_ankle_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0 0 -0.017558" rpy="0 0 0"/>
|
|
||||||
<parent link="left_ankle_pitch_link"/>
|
|
||||||
<child link="left_ankle_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_hip_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0"/>
|
|
||||||
<mass value="1.35"/>
|
|
||||||
<inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_hip_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_hip_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_hip_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0 -0.064452 -0.1027" rpy="0 0 0"/>
|
|
||||||
<parent link="pelvis"/>
|
|
||||||
<child link="right_hip_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_hip_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0"/>
|
|
||||||
<mass value="1.52"/>
|
|
||||||
<inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_hip_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_hip_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_hip_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0"/>
|
|
||||||
<parent link="right_hip_pitch_link"/>
|
|
||||||
<child link="right_hip_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-2.9671" upper="0.5236" effort="139" velocity="20"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_hip_yaw_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0"/>
|
|
||||||
<mass value="1.702"/>
|
|
||||||
<inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_hip_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_hip_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_hip_yaw_joint" type="revolute">
|
|
||||||
<origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
|
|
||||||
<parent link="right_hip_roll_link"/>
|
|
||||||
<child link="right_hip_yaw_link"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_knee_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0"/>
|
|
||||||
<mass value="1.932"/>
|
|
||||||
<inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_knee_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_knee_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_knee_joint" type="revolute">
|
|
||||||
<origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0"/>
|
|
||||||
<parent link="right_hip_yaw_link"/>
|
|
||||||
<child link="right_knee_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_ankle_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
|
|
||||||
<mass value="0.074"/>
|
|
||||||
<inertia ixx="0.01" ixy="0" ixz="-2.9E-06" iyy="0.01" iyz="0" izz="0.01"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_ankle_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_ankle_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_ankle_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0"/>
|
|
||||||
<parent link="right_knee_link"/>
|
|
||||||
<child link="right_ankle_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_ankle_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
|
|
||||||
<mass value="0.608"/>
|
|
||||||
<inertia ixx="0.01" ixy="-2E-07" ixz="8.91E-05" iyy="0.01" iyz="1E-07" izz="0.01"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_ankle_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_ankle_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0 0 -0.017558" rpy="0 0 0"/>
|
|
||||||
<parent link="right_ankle_pitch_link"/>
|
|
||||||
<child link="right_ankle_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- Torso -->
|
|
||||||
<joint name="waist_yaw_joint" type="fixed">
|
|
||||||
<origin xyz="-0.0039635 0 0.044" rpy="0 0 0"/>
|
|
||||||
<parent link="pelvis"/>
|
|
||||||
<child link="torso_link"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit lower="-2.618" upper="2.618" effort="88" velocity="32"/>
|
|
||||||
</joint>
|
|
||||||
<link name="torso_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0"/>
|
|
||||||
<mass value="6.78"/>
|
|
||||||
<inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/torso_link_23dof_rev_1_0.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/torso_link_23dof_rev_1_0.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<!-- LOGO -->
|
|
||||||
<joint name="logo_joint" type="fixed">
|
|
||||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="logo_link"/>
|
|
||||||
</joint>
|
|
||||||
<link name="logo_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<mass value="0.001"/>
|
|
||||||
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/logo_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/logo_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<!-- Head -->
|
|
||||||
<link name="head_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0"/>
|
|
||||||
<mass value="1.036"/>
|
|
||||||
<inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/head_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/head_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="head_joint" type="fixed">
|
|
||||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="head_link"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
|
|
||||||
<!-- IMU -->
|
|
||||||
<link name="imu_in_torso"></link>
|
|
||||||
<joint name="imu_in_torso_joint" type="fixed">
|
|
||||||
<origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="imu_in_torso"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<link name="imu_in_pelvis"></link>
|
|
||||||
<joint name="imu_in_pelvis_joint" type="fixed">
|
|
||||||
<origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
|
|
||||||
<parent link="pelvis"/>
|
|
||||||
<child link="imu_in_pelvis"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- d435 -->
|
|
||||||
<link name="d435_link"></link>
|
|
||||||
<joint name="d435_joint" type="fixed">
|
|
||||||
<origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="d435_link"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- mid360 -->
|
|
||||||
<link name="mid360_link"></link>
|
|
||||||
<joint name="mid360_joint" type="fixed">
|
|
||||||
<origin xyz="0.0002835 0.00003 0.41618" rpy="0 0.04014257279586953 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="mid360_link"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- Arm -->
|
|
||||||
<link name="left_shoulder_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 0.035892 -0.011628" rpy="0 0 0"/>
|
|
||||||
<mass value="0.718"/>
|
|
||||||
<inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_shoulder_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder radius="0.03" length="0.05"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_shoulder_pitch_joint" type="fixed">
|
|
||||||
<origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="left_shoulder_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_shoulder_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0"/>
|
|
||||||
<mass value="0.643"/>
|
|
||||||
<inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_shoulder_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder radius="0.03" length="0.03"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_shoulder_roll_joint" type="fixed">
|
|
||||||
<origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0"/>
|
|
||||||
<parent link="left_shoulder_pitch_link"/>
|
|
||||||
<child link="left_shoulder_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-1.5882" upper="2.2515" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_shoulder_yaw_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0"/>
|
|
||||||
<mass value="0.734"/>
|
|
||||||
<inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_shoulder_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_shoulder_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_shoulder_yaw_joint" type="fixed">
|
|
||||||
<origin xyz="0 0.00624 -0.1032" rpy="0 0 0"/>
|
|
||||||
<parent link="left_shoulder_roll_link"/>
|
|
||||||
<child link="left_shoulder_yaw_link"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_elbow_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0"/>
|
|
||||||
<mass value="0.6"/>
|
|
||||||
<inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_elbow_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_elbow_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_elbow_joint" type="fixed">
|
|
||||||
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
|
||||||
<parent link="left_shoulder_yaw_link"/>
|
|
||||||
<child link="left_elbow_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="left_wrist_roll_joint" type="fixed">
|
|
||||||
<origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<parent link="left_elbow_link"/>
|
|
||||||
<child link="left_wrist_roll_rubber_hand"/>
|
|
||||||
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_wrist_roll_rubber_hand">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.10794656650 0.00163511945 0.00202244863" rpy="0 0 0"/>
|
|
||||||
<mass value="0.35692864"/>
|
|
||||||
<inertia ixx="0.00019613494735" ixy="-0.00000419816908" ixz="-0.00003950860580" iyy="0.00200280358206" iyz="0.00000249774203" izz="0.00194181412808"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_wrist_roll_rubber_hand.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_wrist_roll_rubber_hand.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<link name="right_shoulder_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 -0.035892 -0.011628" rpy="0 0 0"/>
|
|
||||||
<mass value="0.718"/>
|
|
||||||
<inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_shoulder_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder radius="0.03" length="0.05"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_shoulder_pitch_joint" type="fixed">
|
|
||||||
<origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="right_shoulder_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_shoulder_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0"/>
|
|
||||||
<mass value="0.643"/>
|
|
||||||
<inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_shoulder_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder radius="0.03" length="0.03"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_shoulder_roll_joint" type="fixed">
|
|
||||||
<origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0"/>
|
|
||||||
<parent link="right_shoulder_pitch_link"/>
|
|
||||||
<child link="right_shoulder_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-2.2515" upper="1.5882" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_shoulder_yaw_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0"/>
|
|
||||||
<mass value="0.734"/>
|
|
||||||
<inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_shoulder_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_shoulder_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_shoulder_yaw_joint" type="fixed">
|
|
||||||
<origin xyz="0 -0.00624 -0.1032" rpy="0 0 0"/>
|
|
||||||
<parent link="right_shoulder_roll_link"/>
|
|
||||||
<child link="right_shoulder_yaw_link"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_elbow_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0"/>
|
|
||||||
<mass value="0.6"/>
|
|
||||||
<inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_elbow_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_elbow_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_elbow_joint" type="fixed">
|
|
||||||
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
|
||||||
<parent link="right_shoulder_yaw_link"/>
|
|
||||||
<child link="right_elbow_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="right_wrist_roll_joint" type="fixed">
|
|
||||||
<origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<parent link="right_elbow_link"/>
|
|
||||||
<child link="right_wrist_roll_rubber_hand"/>
|
|
||||||
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_wrist_roll_rubber_hand">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.10794656650 -0.00163511945 0.00202244863" rpy="0 0 0"/>
|
|
||||||
<mass value="0.35692864"/>
|
|
||||||
<inertia ixx="0.00019613494735" ixy="0.00000419816908" ixz="-0.00003950860580" iyy="0.00200280358206" iyz="-0.00000249774203" izz="0.00194181412808"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_wrist_roll_rubber_hand.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_wrist_roll_rubber_hand.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
</robot>
|
|
||||||
@ -1,166 +0,0 @@
|
|||||||
<mujoco model="g1_12dof">
|
|
||||||
<compiler angle="radian" meshdir="meshes/"/>
|
|
||||||
|
|
||||||
<statistic meansize="0.144785" extent="1.23314" center="0.025392 2.0634e-05 -0.245975"/>
|
|
||||||
<default>
|
|
||||||
<joint damping="0.001" armature="0.01" frictionloss="0.1"/>
|
|
||||||
</default>
|
|
||||||
|
|
||||||
<asset>
|
|
||||||
<mesh name="pelvis" file="pelvis.STL"/>
|
|
||||||
<mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
|
|
||||||
<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
|
|
||||||
<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
|
|
||||||
<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
|
|
||||||
<mesh name="left_knee_link" file="left_knee_link.STL"/>
|
|
||||||
<mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
|
|
||||||
<mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
|
|
||||||
<mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
|
|
||||||
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
|
||||||
<mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
|
|
||||||
<mesh name="right_knee_link" file="right_knee_link.STL"/>
|
|
||||||
<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
|
|
||||||
<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
|
|
||||||
<mesh name="torso_link_23dof_rev_1_0" file="torso_link_23dof_rev_1_0.STL"/>
|
|
||||||
<mesh name="logo_link" file="logo_link.STL"/>
|
|
||||||
<mesh name="head_link" file="head_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="left_elbow_link" file="left_elbow_link.STL"/>
|
|
||||||
<mesh name="left_wrist_roll_rubber_hand" file="left_wrist_roll_rubber_hand.STL"/>
|
|
||||||
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="right_elbow_link" file="right_elbow_link.STL"/>
|
|
||||||
<mesh name="right_wrist_roll_rubber_hand" file="right_wrist_roll_rubber_hand.STL"/>
|
|
||||||
</asset>
|
|
||||||
|
|
||||||
<worldbody>
|
|
||||||
<body name="pelvis" pos="0 0 0.793">
|
|
||||||
<inertial pos="0.0144905 0.000151462 0.144068" quat="0.999881 -0.000505543 -0.0154276 0.000328408" mass="17.7349" diaginertia="0.552723 0.454092 0.211762"/>
|
|
||||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link_23dof_rev_1_0"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link_23dof_rev_1_0"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
|
||||||
<geom pos="-7.2e-06 0.10022 0.29178" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
|
||||||
<geom size="0.03 0.025" pos="7.72569e-07 0.141427 0.293195" quat="0.700213 0.0985001 0.700232 0.0983605" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<geom pos="3.73942e-07 0.14056 0.288961" quat="1 3.00026e-05 2.74716e-05 -9.57958e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.00400139 0.146564 0.235962" quat="1 3.00026e-05 2.74716e-05 -9.57958e-05" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<geom pos="-4.10007e-06 0.146807 0.185762" quat="1 3.00026e-05 2.74716e-05 -9.57958e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<geom pos="-4.10007e-06 0.146807 0.185762" quat="1 3.00026e-05 2.74716e-05 -9.57958e-05" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<geom pos="0.0157745 0.146808 0.105243" quat="1 3.00026e-05 2.74716e-05 -9.57958e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<geom pos="0.0157745 0.146808 0.105243" quat="1 3.00026e-05 2.74716e-05 -9.57958e-05" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<geom pos="0.115774 0.148678 0.0952374" quat="1 3.00026e-05 2.74716e-05 -9.57958e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_rubber_hand"/>
|
|
||||||
<geom pos="0.115774 0.148678 0.0952374" quat="1 3.00026e-05 2.74716e-05 -9.57958e-05" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_rubber_hand"/>
|
|
||||||
<geom pos="-7.2e-06 -0.10021 0.29178" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
|
||||||
<geom size="0.03 0.025" pos="7.72569e-07 -0.141417 0.293195" quat="0.700213 -0.0985001 0.700232 -0.0983605" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<geom pos="3.73942e-07 -0.14055 0.288961" quat="1 -3.00026e-05 2.74716e-05 9.57958e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.00400139 -0.146554 0.235962" quat="1 -3.00026e-05 2.74716e-05 9.57958e-05" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<geom pos="-4.10007e-06 -0.146797 0.185762" quat="1 -3.00026e-05 2.74716e-05 9.57958e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<geom pos="-4.10007e-06 -0.146797 0.185762" quat="1 -3.00026e-05 2.74716e-05 9.57958e-05" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<geom pos="0.0157745 -0.146798 0.105243" quat="1 -3.00026e-05 2.74716e-05 9.57958e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<geom pos="0.0157745 -0.146798 0.105243" quat="1 -3.00026e-05 2.74716e-05 9.57958e-05" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<geom pos="0.115774 -0.148668 0.0952374" quat="1 -3.00026e-05 2.74716e-05 9.57958e-05" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_rubber_hand"/>
|
|
||||||
<geom pos="0.115774 -0.148668 0.0952374" quat="1 -3.00026e-05 2.74716e-05 9.57958e-05" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_rubber_hand"/>
|
|
||||||
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
|
||||||
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
|
||||||
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
|
||||||
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
|
||||||
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
|
||||||
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
|
|
||||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
|
||||||
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
|
||||||
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
|
||||||
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
|
||||||
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
|
||||||
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
|
|
||||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</worldbody>
|
|
||||||
<actuator>
|
|
||||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
|
||||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
|
||||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
|
||||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
|
||||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
|
||||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
|
||||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
|
||||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
|
||||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
|
||||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
|
||||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
|
||||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
|
||||||
</actuator>
|
|
||||||
</mujoco>
|
|
||||||
@ -1,903 +0,0 @@
|
|||||||
<robot name="g1_23dof">
|
|
||||||
<mujoco>
|
|
||||||
<compiler meshdir="meshes" discardvisual="false"/>
|
|
||||||
</mujoco>
|
|
||||||
|
|
||||||
<!-- [CAUTION] uncomment when convert to mujoco -->
|
|
||||||
<!-- <link name="world"></link>
|
|
||||||
<joint name="floating_base_joint" type="floating">
|
|
||||||
<parent link="world"/>
|
|
||||||
<child link="pelvis"/>
|
|
||||||
</joint> -->
|
|
||||||
|
|
||||||
<link name="pelvis">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 0 -0.07605" rpy="0 0 0"/>
|
|
||||||
<mass value="3.813"/>
|
|
||||||
<inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/pelvis.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
<link name="pelvis_contour_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<mass value="0.001"/>
|
|
||||||
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/pelvis_contour_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/pelvis_contour_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="pelvis_contour_joint" type="fixed">
|
|
||||||
<parent link="pelvis"/>
|
|
||||||
<child link="pelvis_contour_link"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- Legs -->
|
|
||||||
<link name="left_hip_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0"/>
|
|
||||||
<mass value="1.35"/>
|
|
||||||
<inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_hip_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_hip_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_hip_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0 0.064452 -0.1027" rpy="0 0 0"/>
|
|
||||||
<parent link="pelvis"/>
|
|
||||||
<child link="left_hip_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_hip_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0"/>
|
|
||||||
<mass value="1.52"/>
|
|
||||||
<inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_hip_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_hip_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_hip_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0"/>
|
|
||||||
<parent link="left_hip_pitch_link"/>
|
|
||||||
<child link="left_hip_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-0.5236" upper="2.9671" effort="88" velocity="32"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_hip_yaw_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0"/>
|
|
||||||
<mass value="1.702"/>
|
|
||||||
<inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_hip_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_hip_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_hip_yaw_joint" type="revolute">
|
|
||||||
<origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
|
|
||||||
<parent link="left_hip_roll_link"/>
|
|
||||||
<child link="left_hip_yaw_link"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_knee_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0"/>
|
|
||||||
<mass value="1.932"/>
|
|
||||||
<inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_knee_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_knee_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_knee_joint" type="revolute">
|
|
||||||
<origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0"/>
|
|
||||||
<parent link="left_hip_yaw_link"/>
|
|
||||||
<child link="left_knee_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_ankle_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
|
|
||||||
<mass value="0.074"/>
|
|
||||||
<inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_ankle_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_ankle_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_ankle_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0"/>
|
|
||||||
<parent link="left_knee_link"/>
|
|
||||||
<child link="left_ankle_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_ankle_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
|
|
||||||
<mass value="0.608"/>
|
|
||||||
<inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_ankle_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_ankle_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0 0 -0.017558" rpy="0 0 0"/>
|
|
||||||
<parent link="left_ankle_pitch_link"/>
|
|
||||||
<child link="left_ankle_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_hip_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0"/>
|
|
||||||
<mass value="1.35"/>
|
|
||||||
<inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_hip_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_hip_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_hip_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0 -0.064452 -0.1027" rpy="0 0 0"/>
|
|
||||||
<parent link="pelvis"/>
|
|
||||||
<child link="right_hip_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_hip_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0"/>
|
|
||||||
<mass value="1.52"/>
|
|
||||||
<inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_hip_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_hip_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_hip_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0"/>
|
|
||||||
<parent link="right_hip_pitch_link"/>
|
|
||||||
<child link="right_hip_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-2.9671" upper="0.5236" effort="88" velocity="32"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_hip_yaw_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0"/>
|
|
||||||
<mass value="1.702"/>
|
|
||||||
<inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_hip_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_hip_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_hip_yaw_joint" type="revolute">
|
|
||||||
<origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
|
|
||||||
<parent link="right_hip_roll_link"/>
|
|
||||||
<child link="right_hip_yaw_link"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_knee_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0"/>
|
|
||||||
<mass value="1.932"/>
|
|
||||||
<inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_knee_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_knee_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_knee_joint" type="revolute">
|
|
||||||
<origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0"/>
|
|
||||||
<parent link="right_hip_yaw_link"/>
|
|
||||||
<child link="right_knee_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_ankle_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
|
|
||||||
<mass value="0.074"/>
|
|
||||||
<inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_ankle_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_ankle_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_ankle_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0"/>
|
|
||||||
<parent link="right_knee_link"/>
|
|
||||||
<child link="right_ankle_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_ankle_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
|
|
||||||
<mass value="0.608"/>
|
|
||||||
<inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_ankle_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_ankle_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0 0 -0.017558" rpy="0 0 0"/>
|
|
||||||
<parent link="right_ankle_pitch_link"/>
|
|
||||||
<child link="right_ankle_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- Torso -->
|
|
||||||
<link name="waist_yaw_fixed_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.003964 0 0.018769" rpy="0 0 0"/>
|
|
||||||
<mass value="0.244"/>
|
|
||||||
<inertia ixx="9.9587E-05" ixy="-1.833E-06" ixz="-1.2617E-05" iyy="0.00012411" iyz="-1.18E-07" izz="0.00015586"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/waist_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
<joint name="waist_yaw_fixed_joint" type="fixed">
|
|
||||||
<origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="waist_yaw_fixed_link"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="waist_yaw_joint" type="revolute">
|
|
||||||
<origin xyz="-0.0039635 0 0.054" rpy="0 0 0"/>
|
|
||||||
<parent link="pelvis"/>
|
|
||||||
<child link="torso_link"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit lower="-2.618" upper="2.618" effort="88" velocity="32"/>
|
|
||||||
</joint>
|
|
||||||
<link name="torso_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.002601 0.000257 0.153719" rpy="0 0 0"/>
|
|
||||||
<mass value="8.562"/>
|
|
||||||
<inertia ixx="0.065674966" ixy="-8.597E-05" ixz="-0.001737252" iyy="0.053535188" iyz="8.6899E-05" izz="0.030808125"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/torso_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/torso_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<!-- LOGO -->
|
|
||||||
<joint name="logo_joint" type="fixed">
|
|
||||||
<origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="logo_link"/>
|
|
||||||
</joint>
|
|
||||||
<link name="logo_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<mass value="0.001"/>
|
|
||||||
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/logo_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/logo_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<!-- Head -->
|
|
||||||
<link name="head_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0"/>
|
|
||||||
<mass value="1.036"/>
|
|
||||||
<inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/head_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/head_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="head_joint" type="fixed">
|
|
||||||
<origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="head_link"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- Waist Support -->
|
|
||||||
<link name="waist_support_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<mass value="0.001"/>
|
|
||||||
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/waist_support_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/waist_support_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="waist_support_joint" type="fixed">
|
|
||||||
<origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="waist_support_link"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- IMU -->
|
|
||||||
<link name="imu_in_torso"></link>
|
|
||||||
<joint name="imu_in_torso_joint" type="fixed">
|
|
||||||
<origin xyz="-0.03959 -0.00224 0.13792" rpy="0 0 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="imu_in_torso"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<link name="imu_in_pelvis"></link>
|
|
||||||
<joint name="imu_in_pelvis_joint" type="fixed">
|
|
||||||
<origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
|
|
||||||
<parent link="pelvis"/>
|
|
||||||
<child link="imu_in_pelvis"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- d435 -->
|
|
||||||
<link name="d435_link"></link>
|
|
||||||
<joint name="d435_joint" type="fixed">
|
|
||||||
<origin xyz="0.0576235 0.01753 0.41987" rpy="0 0.8307767239493009 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="d435_link"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- mid360 -->
|
|
||||||
<link name="mid360_link"></link>
|
|
||||||
<joint name="mid360_joint" type="fixed">
|
|
||||||
<origin xyz="0.0002835 0.00003 0.40618" rpy="0 0.04014257279586953 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="mid360_link"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- Arm -->
|
|
||||||
<link name="left_shoulder_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 0.035892 -0.011628" rpy="0 0 0"/>
|
|
||||||
<mass value="0.718"/>
|
|
||||||
<inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_shoulder_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder radius="0.03" length="0.05"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_shoulder_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0.0039563 0.10022 0.23778" rpy="0.27931 5.4949E-05 -0.00019159"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="left_shoulder_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_shoulder_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0"/>
|
|
||||||
<mass value="0.643"/>
|
|
||||||
<inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_shoulder_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder radius="0.03" length="0.03"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_shoulder_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0"/>
|
|
||||||
<parent link="left_shoulder_pitch_link"/>
|
|
||||||
<child link="left_shoulder_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-1.5882" upper="2.2515" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_shoulder_yaw_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0"/>
|
|
||||||
<mass value="0.734"/>
|
|
||||||
<inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_shoulder_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_shoulder_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_shoulder_yaw_joint" type="revolute">
|
|
||||||
<origin xyz="0 0.00624 -0.1032" rpy="0 0 0"/>
|
|
||||||
<parent link="left_shoulder_roll_link"/>
|
|
||||||
<child link="left_shoulder_yaw_link"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_elbow_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0"/>
|
|
||||||
<mass value="0.6"/>
|
|
||||||
<inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_elbow_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_elbow_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_elbow_joint" type="revolute">
|
|
||||||
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
|
||||||
<parent link="left_shoulder_yaw_link"/>
|
|
||||||
<child link="left_elbow_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="left_wrist_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<parent link="left_elbow_link"/>
|
|
||||||
<child link="left_wrist_roll_rubber_hand"/>
|
|
||||||
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_wrist_roll_rubber_hand">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.10794656650 0.00163511945 0.00202244863" rpy="0 0 0"/>
|
|
||||||
<mass value="0.35692864"/>
|
|
||||||
<inertia ixx="0.00019613494735" ixy="-0.00000419816908" ixz="-0.00003950860580" iyy="0.00200280358206" iyz="0.00000249774203" izz="0.00194181412808"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_wrist_roll_rubber_hand.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_wrist_roll_rubber_hand.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<link name="right_shoulder_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 -0.035892 -0.011628" rpy="0 0 0"/>
|
|
||||||
<mass value="0.718"/>
|
|
||||||
<inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_shoulder_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder radius="0.03" length="0.05"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_shoulder_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0.0039563 -0.10021 0.23778" rpy="-0.27931 5.4949E-05 0.00019159"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="right_shoulder_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_shoulder_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0"/>
|
|
||||||
<mass value="0.643"/>
|
|
||||||
<inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_shoulder_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder radius="0.03" length="0.03"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_shoulder_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0"/>
|
|
||||||
<parent link="right_shoulder_pitch_link"/>
|
|
||||||
<child link="right_shoulder_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-2.2515" upper="1.5882" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_shoulder_yaw_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0"/>
|
|
||||||
<mass value="0.734"/>
|
|
||||||
<inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_shoulder_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_shoulder_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_shoulder_yaw_joint" type="revolute">
|
|
||||||
<origin xyz="0 -0.00624 -0.1032" rpy="0 0 0"/>
|
|
||||||
<parent link="right_shoulder_roll_link"/>
|
|
||||||
<child link="right_shoulder_yaw_link"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_elbow_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0"/>
|
|
||||||
<mass value="0.6"/>
|
|
||||||
<inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_elbow_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_elbow_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_elbow_joint" type="revolute">
|
|
||||||
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
|
||||||
<parent link="right_shoulder_yaw_link"/>
|
|
||||||
<child link="right_elbow_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="right_wrist_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<parent link="right_elbow_link"/>
|
|
||||||
<child link="right_wrist_roll_rubber_hand"/>
|
|
||||||
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_wrist_roll_rubber_hand">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.10794656650 -0.00163511945 0.00202244863" rpy="0 0 0"/>
|
|
||||||
<mass value="0.35692864"/>
|
|
||||||
<inertia ixx="0.00019613494735" ixy="0.00000419816908" ixz="-0.00003950860580" iyy="0.00200280358206" iyz="-0.00000249774203" izz="0.00194181412808"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_wrist_roll_rubber_hand.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_wrist_roll_rubber_hand.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
</robot>
|
|
||||||
@ -1,249 +0,0 @@
|
|||||||
<mujoco model="g1_23dof">
|
|
||||||
<compiler angle="radian" meshdir="meshes"/>
|
|
||||||
|
|
||||||
<asset>
|
|
||||||
<mesh name="pelvis" file="pelvis.STL"/>
|
|
||||||
<mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
|
|
||||||
<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
|
|
||||||
<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
|
|
||||||
<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
|
|
||||||
<mesh name="left_knee_link" file="left_knee_link.STL"/>
|
|
||||||
<mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
|
|
||||||
<mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
|
|
||||||
<mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
|
|
||||||
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
|
||||||
<mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
|
|
||||||
<mesh name="right_knee_link" file="right_knee_link.STL"/>
|
|
||||||
<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
|
|
||||||
<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
|
|
||||||
<mesh name="waist_yaw_link" file="waist_yaw_link.STL"/>
|
|
||||||
<mesh name="torso_link" file="torso_link.STL"/>
|
|
||||||
<mesh name="logo_link" file="logo_link.STL"/>
|
|
||||||
<mesh name="head_link" file="head_link.STL"/>
|
|
||||||
<mesh name="waist_support_link" file="waist_support_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="left_elbow_link" file="left_elbow_link.STL"/>
|
|
||||||
<mesh name="left_wrist_roll_rubber_hand" file="left_wrist_roll_rubber_hand.STL"/>
|
|
||||||
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="right_elbow_link" file="right_elbow_link.STL"/>
|
|
||||||
<mesh name="right_wrist_roll_rubber_hand" file="right_wrist_roll_rubber_hand.STL"/>
|
|
||||||
</asset>
|
|
||||||
|
|
||||||
<worldbody>
|
|
||||||
<body name="pelvis" pos="0 0 0.793">
|
|
||||||
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
|
|
||||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
|
||||||
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
|
|
||||||
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
|
||||||
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
|
||||||
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
|
||||||
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
|
||||||
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
|
||||||
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
|
|
||||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
|
||||||
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
|
||||||
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
|
||||||
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
|
||||||
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
|
||||||
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
|
|
||||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="torso_link" pos="-0.0039635 0 0.054">
|
|
||||||
<inertial pos="0.0034309 0.00025505 0.174524" quat="0.99988 0.000261157 0.0149809 -0.0038211" mass="9.842" diaginertia="0.135151 0.123088 0.0327256"/>
|
|
||||||
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
|
||||||
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
|
|
||||||
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
|
||||||
<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"/>
|
|
||||||
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<body name="left_wrist_roll_rubber_hand" pos="0.1 0.00188791 -0.01">
|
|
||||||
<inertial pos="0.107947 0.00163512 0.00202245" quat="0.494051 0.504265 0.48416 0.516933" mass="0.356929" diaginertia="0.00200292 0.0019426 0.000195232"/>
|
|
||||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_rubber_hand"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_rubber_hand"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
|
||||||
<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"/>
|
|
||||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<body name="right_wrist_roll_rubber_hand" pos="0.1 -0.00188791 -0.01">
|
|
||||||
<inertial pos="0.107947 -0.00163512 0.00202245" quat="0.516933 0.48416 0.504265 0.494051" mass="0.356929" diaginertia="0.00200292 0.0019426 0.000195232"/>
|
|
||||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_rubber_hand"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_rubber_hand"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</worldbody>
|
|
||||||
|
|
||||||
<actuator>
|
|
||||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
|
||||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
|
||||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
|
||||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
|
||||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
|
||||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
|
||||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
|
||||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
|
||||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
|
||||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
|
||||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
|
||||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
|
||||||
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
|
||||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
|
||||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
|
||||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
|
||||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
|
||||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
|
||||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
|
||||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
|
||||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
|
||||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
|
||||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
|
||||||
</actuator>
|
|
||||||
|
|
||||||
<sensor>
|
|
||||||
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
|
|
||||||
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
|
|
||||||
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
|
|
||||||
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
|
|
||||||
</sensor>
|
|
||||||
|
|
||||||
|
|
||||||
<!-- setup scene -->
|
|
||||||
<statistic center="1.0 0.7 1.0" extent="0.8"/>
|
|
||||||
<visual>
|
|
||||||
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
|
|
||||||
<rgba haze="0.15 0.25 0.35 1"/>
|
|
||||||
<global azimuth="-140" elevation="-20"/>
|
|
||||||
</visual>
|
|
||||||
<asset>
|
|
||||||
<texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
|
|
||||||
<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"/>
|
|
||||||
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
|
||||||
</asset>
|
|
||||||
<worldbody>
|
|
||||||
<light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
|
|
||||||
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
|
|
||||||
</worldbody>
|
|
||||||
</mujoco>
|
|
||||||
@ -1,854 +0,0 @@
|
|||||||
<robot name="g1_23dof_rev_1_0">
|
|
||||||
<mujoco>
|
|
||||||
<compiler meshdir="meshes" discardvisual="false"/>
|
|
||||||
</mujoco>
|
|
||||||
|
|
||||||
<!-- [CAUTION] uncomment when convert to mujoco -->
|
|
||||||
<!-- <link name="world"></link>
|
|
||||||
<joint name="floating_base_joint" type="floating">
|
|
||||||
<parent link="world"/>
|
|
||||||
<child link="pelvis"/>
|
|
||||||
</joint> -->
|
|
||||||
|
|
||||||
<link name="pelvis">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 0 -0.07605" rpy="0 0 0"/>
|
|
||||||
<mass value="3.813"/>
|
|
||||||
<inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/pelvis.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
<link name="pelvis_contour_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<mass value="0.001"/>
|
|
||||||
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/pelvis_contour_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/pelvis_contour_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="pelvis_contour_joint" type="fixed">
|
|
||||||
<parent link="pelvis"/>
|
|
||||||
<child link="pelvis_contour_link"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- Legs -->
|
|
||||||
<link name="left_hip_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0"/>
|
|
||||||
<mass value="1.35"/>
|
|
||||||
<inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_hip_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_hip_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_hip_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0 0.064452 -0.1027" rpy="0 0 0"/>
|
|
||||||
<parent link="pelvis"/>
|
|
||||||
<child link="left_hip_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_hip_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0"/>
|
|
||||||
<mass value="1.52"/>
|
|
||||||
<inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_hip_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_hip_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_hip_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0"/>
|
|
||||||
<parent link="left_hip_pitch_link"/>
|
|
||||||
<child link="left_hip_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-0.5236" upper="2.9671" effort="139" velocity="20"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_hip_yaw_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0"/>
|
|
||||||
<mass value="1.702"/>
|
|
||||||
<inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_hip_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_hip_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_hip_yaw_joint" type="revolute">
|
|
||||||
<origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
|
|
||||||
<parent link="left_hip_roll_link"/>
|
|
||||||
<child link="left_hip_yaw_link"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_knee_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0"/>
|
|
||||||
<mass value="1.932"/>
|
|
||||||
<inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_knee_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_knee_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_knee_joint" type="revolute">
|
|
||||||
<origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0"/>
|
|
||||||
<parent link="left_hip_yaw_link"/>
|
|
||||||
<child link="left_knee_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_ankle_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
|
|
||||||
<mass value="0.074"/>
|
|
||||||
<inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_ankle_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_ankle_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_ankle_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0"/>
|
|
||||||
<parent link="left_knee_link"/>
|
|
||||||
<child link="left_ankle_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_ankle_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
|
|
||||||
<mass value="0.608"/>
|
|
||||||
<inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_ankle_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_ankle_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0 0 -0.017558" rpy="0 0 0"/>
|
|
||||||
<parent link="left_ankle_pitch_link"/>
|
|
||||||
<child link="left_ankle_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_hip_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0"/>
|
|
||||||
<mass value="1.35"/>
|
|
||||||
<inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_hip_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_hip_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_hip_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0 -0.064452 -0.1027" rpy="0 0 0"/>
|
|
||||||
<parent link="pelvis"/>
|
|
||||||
<child link="right_hip_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_hip_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0"/>
|
|
||||||
<mass value="1.52"/>
|
|
||||||
<inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_hip_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_hip_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_hip_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0"/>
|
|
||||||
<parent link="right_hip_pitch_link"/>
|
|
||||||
<child link="right_hip_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-2.9671" upper="0.5236" effort="139" velocity="20"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_hip_yaw_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0"/>
|
|
||||||
<mass value="1.702"/>
|
|
||||||
<inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_hip_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_hip_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_hip_yaw_joint" type="revolute">
|
|
||||||
<origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
|
|
||||||
<parent link="right_hip_roll_link"/>
|
|
||||||
<child link="right_hip_yaw_link"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_knee_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0"/>
|
|
||||||
<mass value="1.932"/>
|
|
||||||
<inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_knee_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_knee_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_knee_joint" type="revolute">
|
|
||||||
<origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0"/>
|
|
||||||
<parent link="right_hip_yaw_link"/>
|
|
||||||
<child link="right_knee_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_ankle_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
|
|
||||||
<mass value="0.074"/>
|
|
||||||
<inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_ankle_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_ankle_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_ankle_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0"/>
|
|
||||||
<parent link="right_knee_link"/>
|
|
||||||
<child link="right_ankle_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_ankle_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
|
|
||||||
<mass value="0.608"/>
|
|
||||||
<inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_ankle_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_ankle_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0 0 -0.017558" rpy="0 0 0"/>
|
|
||||||
<parent link="right_ankle_pitch_link"/>
|
|
||||||
<child link="right_ankle_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- Torso -->
|
|
||||||
<joint name="waist_yaw_joint" type="revolute">
|
|
||||||
<origin xyz="-0.0039635 0 0.044" rpy="0 0 0"/>
|
|
||||||
<parent link="pelvis"/>
|
|
||||||
<child link="torso_link"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit lower="-2.618" upper="2.618" effort="88" velocity="32"/>
|
|
||||||
</joint>
|
|
||||||
<link name="torso_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0"/>
|
|
||||||
<mass value="6.78"/>
|
|
||||||
<inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/torso_link_23dof_rev_1_0.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/torso_link_23dof_rev_1_0.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<!-- LOGO -->
|
|
||||||
<joint name="logo_joint" type="fixed">
|
|
||||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="logo_link"/>
|
|
||||||
</joint>
|
|
||||||
<link name="logo_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<mass value="0.001"/>
|
|
||||||
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/logo_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/logo_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<!-- Head -->
|
|
||||||
<link name="head_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0"/>
|
|
||||||
<mass value="1.036"/>
|
|
||||||
<inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/head_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/head_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="head_joint" type="fixed">
|
|
||||||
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="head_link"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
|
|
||||||
<!-- IMU -->
|
|
||||||
<link name="imu_in_torso"></link>
|
|
||||||
<joint name="imu_in_torso_joint" type="fixed">
|
|
||||||
<origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="imu_in_torso"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<link name="imu_in_pelvis"></link>
|
|
||||||
<joint name="imu_in_pelvis_joint" type="fixed">
|
|
||||||
<origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
|
|
||||||
<parent link="pelvis"/>
|
|
||||||
<child link="imu_in_pelvis"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- d435 -->
|
|
||||||
<link name="d435_link"></link>
|
|
||||||
<joint name="d435_joint" type="fixed">
|
|
||||||
<origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="d435_link"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- mid360 -->
|
|
||||||
<link name="mid360_link"></link>
|
|
||||||
<joint name="mid360_joint" type="fixed">
|
|
||||||
<origin xyz="0.0002835 0.00003 0.41618" rpy="0 0.04014257279586953 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="mid360_link"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- Arm -->
|
|
||||||
<link name="left_shoulder_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 0.035892 -0.011628" rpy="0 0 0"/>
|
|
||||||
<mass value="0.718"/>
|
|
||||||
<inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_shoulder_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder radius="0.03" length="0.05"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_shoulder_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="left_shoulder_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_shoulder_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0"/>
|
|
||||||
<mass value="0.643"/>
|
|
||||||
<inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_shoulder_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder radius="0.03" length="0.03"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_shoulder_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0"/>
|
|
||||||
<parent link="left_shoulder_pitch_link"/>
|
|
||||||
<child link="left_shoulder_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-1.5882" upper="2.2515" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_shoulder_yaw_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0"/>
|
|
||||||
<mass value="0.734"/>
|
|
||||||
<inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_shoulder_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_shoulder_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_shoulder_yaw_joint" type="revolute">
|
|
||||||
<origin xyz="0 0.00624 -0.1032" rpy="0 0 0"/>
|
|
||||||
<parent link="left_shoulder_roll_link"/>
|
|
||||||
<child link="left_shoulder_yaw_link"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_elbow_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0"/>
|
|
||||||
<mass value="0.6"/>
|
|
||||||
<inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_elbow_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_elbow_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_elbow_joint" type="revolute">
|
|
||||||
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
|
||||||
<parent link="left_shoulder_yaw_link"/>
|
|
||||||
<child link="left_elbow_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="left_wrist_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<parent link="left_elbow_link"/>
|
|
||||||
<child link="left_wrist_roll_rubber_hand"/>
|
|
||||||
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_wrist_roll_rubber_hand">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.10794656650 0.00163511945 0.00202244863" rpy="0 0 0"/>
|
|
||||||
<mass value="0.35692864"/>
|
|
||||||
<inertia ixx="0.00019613494735" ixy="-0.00000419816908" ixz="-0.00003950860580" iyy="0.00200280358206" iyz="0.00000249774203" izz="0.00194181412808"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_wrist_roll_rubber_hand.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_wrist_roll_rubber_hand.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<link name="right_shoulder_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 -0.035892 -0.011628" rpy="0 0 0"/>
|
|
||||||
<mass value="0.718"/>
|
|
||||||
<inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_shoulder_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder radius="0.03" length="0.05"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_shoulder_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="right_shoulder_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_shoulder_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0"/>
|
|
||||||
<mass value="0.643"/>
|
|
||||||
<inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_shoulder_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder radius="0.03" length="0.03"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_shoulder_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0"/>
|
|
||||||
<parent link="right_shoulder_pitch_link"/>
|
|
||||||
<child link="right_shoulder_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-2.2515" upper="1.5882" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_shoulder_yaw_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0"/>
|
|
||||||
<mass value="0.734"/>
|
|
||||||
<inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_shoulder_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_shoulder_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_shoulder_yaw_joint" type="revolute">
|
|
||||||
<origin xyz="0 -0.00624 -0.1032" rpy="0 0 0"/>
|
|
||||||
<parent link="right_shoulder_roll_link"/>
|
|
||||||
<child link="right_shoulder_yaw_link"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_elbow_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0"/>
|
|
||||||
<mass value="0.6"/>
|
|
||||||
<inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_elbow_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_elbow_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_elbow_joint" type="revolute">
|
|
||||||
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
|
||||||
<parent link="right_shoulder_yaw_link"/>
|
|
||||||
<child link="right_elbow_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="right_wrist_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<parent link="right_elbow_link"/>
|
|
||||||
<child link="right_wrist_roll_rubber_hand"/>
|
|
||||||
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_wrist_roll_rubber_hand">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.10794656650 -0.00163511945 0.00202244863" rpy="0 0 0"/>
|
|
||||||
<mass value="0.35692864"/>
|
|
||||||
<inertia ixx="0.00019613494735" ixy="0.00000419816908" ixz="-0.00003950860580" iyy="0.00200280358206" iyz="-0.00000249774203" izz="0.00194181412808"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_wrist_roll_rubber_hand.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_wrist_roll_rubber_hand.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
</robot>
|
|
||||||
@ -1,244 +0,0 @@
|
|||||||
<mujoco model="g1_23dof_rev_1_0">
|
|
||||||
<compiler angle="radian" meshdir="meshes"/>
|
|
||||||
|
|
||||||
<asset>
|
|
||||||
<mesh name="pelvis" file="pelvis.STL"/>
|
|
||||||
<mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
|
|
||||||
<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
|
|
||||||
<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
|
|
||||||
<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
|
|
||||||
<mesh name="left_knee_link" file="left_knee_link.STL"/>
|
|
||||||
<mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
|
|
||||||
<mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
|
|
||||||
<mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
|
|
||||||
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
|
||||||
<mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
|
|
||||||
<mesh name="right_knee_link" file="right_knee_link.STL"/>
|
|
||||||
<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
|
|
||||||
<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
|
|
||||||
<mesh name="torso_link_23dof_rev_1_0" file="torso_link_23dof_rev_1_0.STL"/>
|
|
||||||
<mesh name="logo_link" file="logo_link.STL"/>
|
|
||||||
<mesh name="head_link" file="head_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="left_elbow_link" file="left_elbow_link.STL"/>
|
|
||||||
<mesh name="left_wrist_roll_rubber_hand" file="left_wrist_roll_rubber_hand.STL"/>
|
|
||||||
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="right_elbow_link" file="right_elbow_link.STL"/>
|
|
||||||
<mesh name="right_wrist_roll_rubber_hand" file="right_wrist_roll_rubber_hand.STL"/>
|
|
||||||
</asset>
|
|
||||||
|
|
||||||
<worldbody>
|
|
||||||
<body name="pelvis" pos="0 0 0.793">
|
|
||||||
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
|
|
||||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
|
||||||
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
|
|
||||||
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
|
||||||
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
|
||||||
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
|
||||||
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
|
||||||
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
|
||||||
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
|
|
||||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
|
||||||
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
|
||||||
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
|
||||||
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
|
||||||
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
|
||||||
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
|
|
||||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="torso_link" pos="-0.0039635 0 0.044">
|
|
||||||
<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"/>
|
|
||||||
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link_23dof_rev_1_0"/>
|
|
||||||
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link_23dof_rev_1_0"/>
|
|
||||||
<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"/>
|
|
||||||
<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"/>
|
|
||||||
<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"/>
|
|
||||||
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
|
||||||
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
|
|
||||||
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
|
||||||
<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"/>
|
|
||||||
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<body name="left_wrist_roll_rubber_hand" pos="0.1 0.00188791 -0.01">
|
|
||||||
<inertial pos="0.107947 0.00163512 0.00202245" quat="0.494051 0.504265 0.48416 0.516933" mass="0.356929" diaginertia="0.00200292 0.0019426 0.000195232"/>
|
|
||||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_rubber_hand"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_rubber_hand"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
|
||||||
<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"/>
|
|
||||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<body name="right_wrist_roll_rubber_hand" pos="0.1 -0.00188791 -0.01">
|
|
||||||
<inertial pos="0.107947 -0.00163512 0.00202245" quat="0.516933 0.48416 0.504265 0.494051" mass="0.356929" diaginertia="0.00200292 0.0019426 0.000195232"/>
|
|
||||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_rubber_hand"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_rubber_hand"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</worldbody>
|
|
||||||
|
|
||||||
<actuator>
|
|
||||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
|
||||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
|
||||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
|
||||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
|
||||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
|
||||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
|
||||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
|
||||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
|
||||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
|
||||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
|
||||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
|
||||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
|
||||||
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
|
||||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
|
||||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
|
||||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
|
||||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
|
||||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
|
||||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
|
||||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
|
||||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
|
||||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
|
||||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
|
||||||
</actuator>
|
|
||||||
|
|
||||||
<sensor>
|
|
||||||
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
|
|
||||||
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
|
|
||||||
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
|
|
||||||
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
|
|
||||||
</sensor>
|
|
||||||
|
|
||||||
|
|
||||||
<!-- setup scene -->
|
|
||||||
<statistic center="1.0 0.7 1.0" extent="0.8"/>
|
|
||||||
<visual>
|
|
||||||
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
|
|
||||||
<rgba haze="0.15 0.25 0.35 1"/>
|
|
||||||
<global azimuth="-140" elevation="-20"/>
|
|
||||||
</visual>
|
|
||||||
<asset>
|
|
||||||
<texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
|
|
||||||
<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"/>
|
|
||||||
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
|
||||||
</asset>
|
|
||||||
<worldbody>
|
|
||||||
<light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
|
|
||||||
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
|
|
||||||
</worldbody>
|
|
||||||
</mujoco>
|
|
||||||
File diff suppressed because it is too large
Load Diff
@ -1,297 +0,0 @@
|
|||||||
<mujoco model="g1_29dof">
|
|
||||||
<compiler angle="radian" meshdir="meshes"/>
|
|
||||||
|
|
||||||
<asset>
|
|
||||||
<mesh name="pelvis" file="pelvis.STL"/>
|
|
||||||
<mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
|
|
||||||
<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
|
|
||||||
<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
|
|
||||||
<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
|
|
||||||
<mesh name="left_knee_link" file="left_knee_link.STL"/>
|
|
||||||
<mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
|
|
||||||
<mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
|
|
||||||
<mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
|
|
||||||
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
|
||||||
<mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
|
|
||||||
<mesh name="right_knee_link" file="right_knee_link.STL"/>
|
|
||||||
<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
|
|
||||||
<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
|
|
||||||
<mesh name="waist_yaw_link" file="waist_yaw_link.STL"/>
|
|
||||||
<mesh name="waist_roll_link" file="waist_roll_link.STL"/>
|
|
||||||
<mesh name="torso_link" file="torso_link.STL"/>
|
|
||||||
<mesh name="logo_link" file="logo_link.STL"/>
|
|
||||||
<mesh name="head_link" file="head_link.STL"/>
|
|
||||||
<mesh name="waist_support_link" file="waist_support_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="left_elbow_link" file="left_elbow_link.STL"/>
|
|
||||||
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
|
|
||||||
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
|
|
||||||
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
|
|
||||||
<mesh name="left_rubber_hand" file="left_rubber_hand.STL"/>
|
|
||||||
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="right_elbow_link" file="right_elbow_link.STL"/>
|
|
||||||
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
|
|
||||||
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
|
|
||||||
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
|
|
||||||
<mesh name="right_rubber_hand" file="right_rubber_hand.STL"/>
|
|
||||||
</asset>
|
|
||||||
|
|
||||||
<worldbody>
|
|
||||||
<body name="pelvis" pos="0 0 0.793">
|
|
||||||
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
|
|
||||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
|
||||||
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
|
|
||||||
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
|
||||||
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
|
||||||
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
|
||||||
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
|
||||||
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
|
||||||
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
|
|
||||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
|
||||||
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
|
||||||
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
|
||||||
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
|
||||||
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
|
||||||
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
|
|
||||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="waist_yaw_link">
|
|
||||||
<inertial pos="0.003964 0 0.018769" quat="-0.0178291 0.628464 0.0282471 0.777121" mass="0.244" diaginertia="0.000158561 0.000124229 9.67669e-05"/>
|
|
||||||
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
|
|
||||||
<body name="waist_roll_link" pos="-0.0039635 0 0.035">
|
|
||||||
<inertial pos="0 -0.000236 0.010111" quat="0.99979 0.020492 0 0" mass="0.047" diaginertia="7.515e-06 6.40206e-06 3.98394e-06"/>
|
|
||||||
<joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
|
|
||||||
<body name="torso_link" pos="0 0 0.019">
|
|
||||||
<inertial pos="0.00331658 0.000261533 0.179856" quat="0.999831 0.000376204 0.0179895 -0.00377704" mass="9.598" diaginertia="0.12407 0.111951 0.0325382"/>
|
|
||||||
<joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
|
||||||
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
|
|
||||||
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
|
||||||
<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"/>
|
|
||||||
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
|
||||||
<body name="left_wrist_pitch_link" pos="0.038 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
|
||||||
<body name="left_wrist_yaw_link" pos="0.046 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
|
||||||
<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"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
|
||||||
<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"/>
|
|
||||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
|
||||||
<body name="right_wrist_pitch_link" pos="0.038 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
|
||||||
<body name="right_wrist_yaw_link" pos="0.046 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
|
||||||
<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"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</worldbody>
|
|
||||||
|
|
||||||
<actuator>
|
|
||||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
|
||||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
|
||||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
|
||||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
|
||||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
|
||||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
|
||||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
|
||||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
|
||||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
|
||||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
|
||||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
|
||||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
|
||||||
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
|
||||||
<motor name="waist_roll_joint" joint="waist_roll_joint"/>
|
|
||||||
<motor name="waist_pitch_joint" joint="waist_pitch_joint"/>
|
|
||||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
|
||||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
|
||||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
|
||||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
|
||||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
|
||||||
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
|
|
||||||
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
|
|
||||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
|
||||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
|
||||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
|
||||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
|
||||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
|
||||||
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
|
|
||||||
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
|
|
||||||
</actuator>
|
|
||||||
|
|
||||||
<sensor>
|
|
||||||
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
|
|
||||||
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
|
|
||||||
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
|
|
||||||
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
|
|
||||||
</sensor>
|
|
||||||
|
|
||||||
|
|
||||||
<!-- setup scene -->
|
|
||||||
<statistic center="1.0 0.7 1.0" extent="0.8"/>
|
|
||||||
<visual>
|
|
||||||
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
|
|
||||||
<rgba haze="0.15 0.25 0.35 1"/>
|
|
||||||
<global azimuth="-140" elevation="-20"/>
|
|
||||||
</visual>
|
|
||||||
<asset>
|
|
||||||
<texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
|
|
||||||
<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"/>
|
|
||||||
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
|
||||||
</asset>
|
|
||||||
<worldbody>
|
|
||||||
<light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
|
|
||||||
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
|
|
||||||
</worldbody>
|
|
||||||
</mujoco>
|
|
||||||
File diff suppressed because it is too large
Load Diff
@ -1,293 +0,0 @@
|
|||||||
<mujoco model="g1_29dof_lock_waist">
|
|
||||||
<compiler angle="radian" meshdir="meshes"/>
|
|
||||||
|
|
||||||
<asset>
|
|
||||||
<mesh name="pelvis" file="pelvis.STL"/>
|
|
||||||
<mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
|
|
||||||
<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
|
|
||||||
<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
|
|
||||||
<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
|
|
||||||
<mesh name="left_knee_link" file="left_knee_link.STL"/>
|
|
||||||
<mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
|
|
||||||
<mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
|
|
||||||
<mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
|
|
||||||
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
|
||||||
<mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
|
|
||||||
<mesh name="right_knee_link" file="right_knee_link.STL"/>
|
|
||||||
<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
|
|
||||||
<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
|
|
||||||
<mesh name="waist_yaw_link" file="waist_yaw_link.STL"/>
|
|
||||||
<mesh name="waist_roll_link" file="waist_roll_link.STL"/>
|
|
||||||
<mesh name="torso_link" file="torso_link.STL"/>
|
|
||||||
<mesh name="logo_link" file="logo_link.STL"/>
|
|
||||||
<mesh name="head_link" file="head_link.STL"/>
|
|
||||||
<mesh name="waist_support_link" file="waist_support_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="left_elbow_link" file="left_elbow_link.STL"/>
|
|
||||||
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
|
|
||||||
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
|
|
||||||
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
|
|
||||||
<mesh name="left_rubber_hand" file="left_rubber_hand.STL"/>
|
|
||||||
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="right_elbow_link" file="right_elbow_link.STL"/>
|
|
||||||
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
|
|
||||||
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
|
|
||||||
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
|
|
||||||
<mesh name="right_rubber_hand" file="right_rubber_hand.STL"/>
|
|
||||||
</asset>
|
|
||||||
|
|
||||||
<worldbody>
|
|
||||||
<body name="pelvis" pos="0 0 0.793">
|
|
||||||
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
|
|
||||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
|
||||||
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
|
|
||||||
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
|
||||||
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
|
||||||
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
|
||||||
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
|
||||||
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
|
||||||
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
|
|
||||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
|
||||||
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
|
||||||
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
|
||||||
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
|
||||||
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
|
||||||
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
|
|
||||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="waist_yaw_link">
|
|
||||||
<inertial pos="0.003964 0 0.018769" quat="-0.0178291 0.628464 0.0282471 0.777121" mass="0.244" diaginertia="0.000158561 0.000124229 9.67669e-05"/>
|
|
||||||
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
|
|
||||||
<body name="waist_roll_link" pos="-0.0039635 0 0.035">
|
|
||||||
<inertial pos="0 -0.000236 0.010111" quat="0.99979 0.020492 0 0" mass="0.047" diaginertia="7.515e-06 6.40206e-06 3.98394e-06"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
|
|
||||||
<body name="torso_link" pos="0 0 0.019">
|
|
||||||
<inertial pos="0.00331658 0.000261533 0.179856" quat="0.999831 0.000376204 0.0179895 -0.00377704" mass="9.598" diaginertia="0.12407 0.111951 0.0325382"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
|
||||||
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
|
|
||||||
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
|
||||||
<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"/>
|
|
||||||
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
|
||||||
<body name="left_wrist_pitch_link" pos="0.038 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
|
||||||
<body name="left_wrist_yaw_link" pos="0.046 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
|
||||||
<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"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
|
||||||
<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"/>
|
|
||||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
|
||||||
<body name="right_wrist_pitch_link" pos="0.038 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
|
||||||
<body name="right_wrist_yaw_link" pos="0.046 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
|
||||||
<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"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</worldbody>
|
|
||||||
|
|
||||||
<actuator>
|
|
||||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
|
||||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
|
||||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
|
||||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
|
||||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
|
||||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
|
||||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
|
||||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
|
||||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
|
||||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
|
||||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
|
||||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
|
||||||
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
|
||||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
|
||||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
|
||||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
|
||||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
|
||||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
|
||||||
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
|
|
||||||
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
|
|
||||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
|
||||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
|
||||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
|
||||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
|
||||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
|
||||||
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
|
|
||||||
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
|
|
||||||
</actuator>
|
|
||||||
|
|
||||||
<sensor>
|
|
||||||
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
|
|
||||||
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
|
|
||||||
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
|
|
||||||
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
|
|
||||||
</sensor>
|
|
||||||
|
|
||||||
|
|
||||||
<!-- setup scene -->
|
|
||||||
<statistic center="1.0 0.7 1.0" extent="0.8"/>
|
|
||||||
<visual>
|
|
||||||
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
|
|
||||||
<rgba haze="0.15 0.25 0.35 1"/>
|
|
||||||
<global azimuth="-140" elevation="-20"/>
|
|
||||||
</visual>
|
|
||||||
<asset>
|
|
||||||
<texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
|
|
||||||
<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"/>
|
|
||||||
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
|
||||||
</asset>
|
|
||||||
<worldbody>
|
|
||||||
<light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
|
|
||||||
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
|
|
||||||
</worldbody>
|
|
||||||
</mujoco>
|
|
||||||
File diff suppressed because it is too large
Load Diff
@ -1,290 +0,0 @@
|
|||||||
<mujoco model="g1_29dof_lock_waist_rev_1_0">
|
|
||||||
<compiler angle="radian" meshdir="meshes"/>
|
|
||||||
|
|
||||||
<asset>
|
|
||||||
<mesh name="pelvis" file="pelvis.STL"/>
|
|
||||||
<mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
|
|
||||||
<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
|
|
||||||
<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
|
|
||||||
<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
|
|
||||||
<mesh name="left_knee_link" file="left_knee_link.STL"/>
|
|
||||||
<mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
|
|
||||||
<mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
|
|
||||||
<mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
|
|
||||||
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
|
||||||
<mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
|
|
||||||
<mesh name="right_knee_link" file="right_knee_link.STL"/>
|
|
||||||
<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
|
|
||||||
<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
|
|
||||||
<mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL"/>
|
|
||||||
<mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL"/>
|
|
||||||
<mesh name="torso_link" file="torso_link_rev_1_0.STL"/>
|
|
||||||
<mesh name="logo_link" file="logo_link.STL"/>
|
|
||||||
<mesh name="head_link" file="head_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="left_elbow_link" file="left_elbow_link.STL"/>
|
|
||||||
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
|
|
||||||
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
|
|
||||||
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
|
|
||||||
<mesh name="left_rubber_hand" file="left_rubber_hand.STL"/>
|
|
||||||
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="right_elbow_link" file="right_elbow_link.STL"/>
|
|
||||||
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
|
|
||||||
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
|
|
||||||
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
|
|
||||||
<mesh name="right_rubber_hand" file="right_rubber_hand.STL"/>
|
|
||||||
</asset>
|
|
||||||
|
|
||||||
<worldbody>
|
|
||||||
<body name="pelvis" pos="0 0 0.793">
|
|
||||||
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
|
|
||||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
|
||||||
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
|
|
||||||
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
|
||||||
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
|
||||||
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
|
||||||
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
|
||||||
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
|
||||||
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
|
|
||||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
|
||||||
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
|
||||||
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
|
||||||
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
|
||||||
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
|
||||||
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
|
|
||||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="waist_yaw_link">
|
|
||||||
<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"/>
|
|
||||||
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
|
|
||||||
<body name="waist_roll_link" pos="-0.0039635 0 0.044">
|
|
||||||
<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"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
|
|
||||||
<body name="torso_link">
|
|
||||||
<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"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
|
||||||
<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"/>
|
|
||||||
<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"/>
|
|
||||||
<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"/>
|
|
||||||
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
|
||||||
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
|
|
||||||
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
|
||||||
<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"/>
|
|
||||||
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
|
||||||
<body name="left_wrist_pitch_link" pos="0.038 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
|
||||||
<body name="left_wrist_yaw_link" pos="0.046 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
|
||||||
<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"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
|
||||||
<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"/>
|
|
||||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
|
||||||
<body name="right_wrist_pitch_link" pos="0.038 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
|
||||||
<body name="right_wrist_yaw_link" pos="0.046 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
|
||||||
<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"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</worldbody>
|
|
||||||
|
|
||||||
<actuator>
|
|
||||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
|
||||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
|
||||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
|
||||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
|
||||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
|
||||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
|
||||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
|
||||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
|
||||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
|
||||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
|
||||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
|
||||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
|
||||||
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
|
||||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
|
||||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
|
||||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
|
||||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
|
||||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
|
||||||
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
|
|
||||||
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
|
|
||||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
|
||||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
|
||||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
|
||||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
|
||||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
|
||||||
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
|
|
||||||
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
|
|
||||||
</actuator>
|
|
||||||
|
|
||||||
<sensor>
|
|
||||||
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
|
|
||||||
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
|
|
||||||
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
|
|
||||||
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
|
|
||||||
</sensor>
|
|
||||||
|
|
||||||
|
|
||||||
<!-- setup scene -->
|
|
||||||
<statistic center="1.0 0.7 1.0" extent="0.8"/>
|
|
||||||
<visual>
|
|
||||||
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
|
|
||||||
<rgba haze="0.15 0.25 0.35 1"/>
|
|
||||||
<global azimuth="-140" elevation="-20"/>
|
|
||||||
</visual>
|
|
||||||
<asset>
|
|
||||||
<texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
|
|
||||||
<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"/>
|
|
||||||
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
|
||||||
</asset>
|
|
||||||
<worldbody>
|
|
||||||
<light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
|
|
||||||
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
|
|
||||||
</worldbody>
|
|
||||||
</mujoco>
|
|
||||||
File diff suppressed because it is too large
Load Diff
@ -1,294 +0,0 @@
|
|||||||
<mujoco model="g1_29dof_rev_1_0">
|
|
||||||
<compiler angle="radian" meshdir="meshes"/>
|
|
||||||
|
|
||||||
<asset>
|
|
||||||
<mesh name="pelvis" file="pelvis.STL"/>
|
|
||||||
<mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
|
|
||||||
<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
|
|
||||||
<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
|
|
||||||
<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
|
|
||||||
<mesh name="left_knee_link" file="left_knee_link.STL"/>
|
|
||||||
<mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
|
|
||||||
<mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
|
|
||||||
<mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
|
|
||||||
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
|
||||||
<mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
|
|
||||||
<mesh name="right_knee_link" file="right_knee_link.STL"/>
|
|
||||||
<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
|
|
||||||
<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
|
|
||||||
<mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL"/>
|
|
||||||
<mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL"/>
|
|
||||||
<mesh name="torso_link" file="torso_link_rev_1_0.STL"/>
|
|
||||||
<mesh name="logo_link" file="logo_link.STL"/>
|
|
||||||
<mesh name="head_link" file="head_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="left_elbow_link" file="left_elbow_link.STL"/>
|
|
||||||
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
|
|
||||||
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
|
|
||||||
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
|
|
||||||
<mesh name="left_rubber_hand" file="left_rubber_hand.STL"/>
|
|
||||||
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="right_elbow_link" file="right_elbow_link.STL"/>
|
|
||||||
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
|
|
||||||
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
|
|
||||||
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
|
|
||||||
<mesh name="right_rubber_hand" file="right_rubber_hand.STL"/>
|
|
||||||
</asset>
|
|
||||||
|
|
||||||
<worldbody>
|
|
||||||
<body name="pelvis" pos="0 0 0.793">
|
|
||||||
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
|
|
||||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
|
||||||
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
|
|
||||||
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
|
||||||
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
|
||||||
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
|
||||||
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
|
||||||
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
|
||||||
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
|
|
||||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
|
||||||
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
|
||||||
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
|
||||||
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
|
||||||
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
|
||||||
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
|
|
||||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="waist_yaw_link">
|
|
||||||
<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"/>
|
|
||||||
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
|
|
||||||
<body name="waist_roll_link" pos="-0.0039635 0 0.044">
|
|
||||||
<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"/>
|
|
||||||
<joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
|
|
||||||
<body name="torso_link">
|
|
||||||
<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"/>
|
|
||||||
<joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
|
||||||
<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"/>
|
|
||||||
<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"/>
|
|
||||||
<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"/>
|
|
||||||
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
|
||||||
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
|
|
||||||
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
|
||||||
<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"/>
|
|
||||||
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
|
||||||
<body name="left_wrist_pitch_link" pos="0.038 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
|
||||||
<body name="left_wrist_yaw_link" pos="0.046 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
|
||||||
<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"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
|
||||||
<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"/>
|
|
||||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
|
||||||
<body name="right_wrist_pitch_link" pos="0.038 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
|
||||||
<body name="right_wrist_yaw_link" pos="0.046 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
|
||||||
<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"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</worldbody>
|
|
||||||
|
|
||||||
<actuator>
|
|
||||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
|
||||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
|
||||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
|
||||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
|
||||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
|
||||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
|
||||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
|
||||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
|
||||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
|
||||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
|
||||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
|
||||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
|
||||||
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
|
||||||
<motor name="waist_roll_joint" joint="waist_roll_joint"/>
|
|
||||||
<motor name="waist_pitch_joint" joint="waist_pitch_joint"/>
|
|
||||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
|
||||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
|
||||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
|
||||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
|
||||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
|
||||||
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
|
|
||||||
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
|
|
||||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
|
||||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
|
||||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
|
||||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
|
||||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
|
||||||
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
|
|
||||||
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
|
|
||||||
</actuator>
|
|
||||||
|
|
||||||
<sensor>
|
|
||||||
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
|
|
||||||
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
|
|
||||||
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
|
|
||||||
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
|
|
||||||
</sensor>
|
|
||||||
|
|
||||||
|
|
||||||
<!-- setup scene -->
|
|
||||||
<statistic center="1.0 0.7 1.0" extent="0.8"/>
|
|
||||||
<visual>
|
|
||||||
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
|
|
||||||
<rgba haze="0.15 0.25 0.35 1"/>
|
|
||||||
<global azimuth="-140" elevation="-20"/>
|
|
||||||
</visual>
|
|
||||||
<asset>
|
|
||||||
<texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
|
|
||||||
<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"/>
|
|
||||||
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
|
||||||
</asset>
|
|
||||||
<worldbody>
|
|
||||||
<light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
|
|
||||||
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
|
|
||||||
</worldbody>
|
|
||||||
</mujoco>
|
|
||||||
File diff suppressed because it is too large
Load Diff
@ -1,411 +0,0 @@
|
|||||||
<mujoco model="g1_29dof_with_hand">
|
|
||||||
<compiler angle="radian" meshdir="meshes"/>
|
|
||||||
|
|
||||||
<asset>
|
|
||||||
<mesh name="pelvis" file="pelvis.STL"/>
|
|
||||||
<mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
|
|
||||||
<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
|
|
||||||
<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
|
|
||||||
<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
|
|
||||||
<mesh name="left_knee_link" file="left_knee_link.STL"/>
|
|
||||||
<mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
|
|
||||||
<mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
|
|
||||||
<mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
|
|
||||||
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
|
||||||
<mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
|
|
||||||
<mesh name="right_knee_link" file="right_knee_link.STL"/>
|
|
||||||
<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
|
|
||||||
<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
|
|
||||||
<mesh name="waist_yaw_link" file="waist_yaw_link.STL"/>
|
|
||||||
<mesh name="waist_roll_link" file="waist_roll_link.STL"/>
|
|
||||||
<mesh name="torso_link" file="torso_link.STL"/>
|
|
||||||
<mesh name="logo_link" file="logo_link.STL"/>
|
|
||||||
<mesh name="head_link" file="head_link.STL"/>
|
|
||||||
<mesh name="waist_support_link" file="waist_support_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="left_elbow_link" file="left_elbow_link.STL"/>
|
|
||||||
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
|
|
||||||
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
|
|
||||||
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
|
|
||||||
<mesh name="left_hand_palm_link" file="left_hand_palm_link.STL"/>
|
|
||||||
<mesh name="left_hand_thumb_0_link" file="left_hand_thumb_0_link.STL"/>
|
|
||||||
<mesh name="left_hand_thumb_1_link" file="left_hand_thumb_1_link.STL"/>
|
|
||||||
<mesh name="left_hand_thumb_2_link" file="left_hand_thumb_2_link.STL"/>
|
|
||||||
<mesh name="left_hand_middle_0_link" file="left_hand_middle_0_link.STL"/>
|
|
||||||
<mesh name="left_hand_middle_1_link" file="left_hand_middle_1_link.STL"/>
|
|
||||||
<mesh name="left_hand_index_0_link" file="left_hand_index_0_link.STL"/>
|
|
||||||
<mesh name="left_hand_index_1_link" file="left_hand_index_1_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="right_elbow_link" file="right_elbow_link.STL"/>
|
|
||||||
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
|
|
||||||
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
|
|
||||||
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
|
|
||||||
<mesh name="right_hand_palm_link" file="right_hand_palm_link.STL"/>
|
|
||||||
<mesh name="right_hand_thumb_0_link" file="right_hand_thumb_0_link.STL"/>
|
|
||||||
<mesh name="right_hand_thumb_1_link" file="right_hand_thumb_1_link.STL"/>
|
|
||||||
<mesh name="right_hand_thumb_2_link" file="right_hand_thumb_2_link.STL"/>
|
|
||||||
<mesh name="right_hand_middle_0_link" file="right_hand_middle_0_link.STL"/>
|
|
||||||
<mesh name="right_hand_middle_1_link" file="right_hand_middle_1_link.STL"/>
|
|
||||||
<mesh name="right_hand_index_0_link" file="right_hand_index_0_link.STL"/>
|
|
||||||
<mesh name="right_hand_index_1_link" file="right_hand_index_1_link.STL"/>
|
|
||||||
</asset>
|
|
||||||
|
|
||||||
<worldbody>
|
|
||||||
<body name="pelvis" pos="0 0 0.793">
|
|
||||||
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
|
|
||||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
|
||||||
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
|
|
||||||
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
|
||||||
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
|
||||||
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
|
||||||
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
|
||||||
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
|
||||||
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
|
|
||||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
|
||||||
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
|
||||||
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
|
||||||
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
|
||||||
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
|
||||||
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
|
|
||||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="waist_yaw_link">
|
|
||||||
<inertial pos="0.003964 0 0.018769" quat="-0.0178291 0.628464 0.0282471 0.777121" mass="0.244" diaginertia="0.000158561 0.000124229 9.67669e-05"/>
|
|
||||||
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
|
|
||||||
<body name="waist_roll_link" pos="-0.0039635 0 0.035">
|
|
||||||
<inertial pos="0 -0.000236 0.010111" quat="0.99979 0.020492 0 0" mass="0.047" diaginertia="7.515e-06 6.40206e-06 3.98394e-06"/>
|
|
||||||
<joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
|
|
||||||
<body name="torso_link" pos="0 0 0.019">
|
|
||||||
<inertial pos="0.00331658 0.000261533 0.179856" quat="0.999831 0.000376204 0.0179895 -0.00377704" mass="9.598" diaginertia="0.12407 0.111951 0.0325382"/>
|
|
||||||
<joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
|
||||||
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
|
||||||
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
|
|
||||||
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
|
||||||
<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"/>
|
|
||||||
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
|
||||||
<body name="left_wrist_pitch_link" pos="0.038 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
|
||||||
<body name="left_wrist_yaw_link" pos="0.046 0 0">
|
|
||||||
<inertial pos="0.0885506 0.00212216 -0.000374562" quat="0.487149 0.493844 0.513241 0.505358" mass="0.457415" diaginertia="0.00105989 0.000895419 0.000323842"/>
|
|
||||||
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
|
||||||
<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_hand_palm_link"/>
|
|
||||||
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_palm_link"/>
|
|
||||||
<body name="left_hand_thumb_0_link" pos="0.067 0.003 0">
|
|
||||||
<inertial pos="-0.000884246 -0.00863407 0.000944293" quat="0.462991 0.643965 -0.460173 0.398986" mass="0.0862366" diaginertia="1.6546e-05 1.60058e-05 1.43741e-05"/>
|
|
||||||
<joint name="left_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link"/>
|
|
||||||
<body name="left_hand_thumb_1_link" pos="-0.0025 -0.0193 0">
|
|
||||||
<inertial pos="-0.000827888 -0.0354744 -0.0003809" quat="0.685598 0.705471 -0.15207 0.0956069" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
|
||||||
<joint name="left_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-0.724312 1.0472" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_1_link"/>
|
|
||||||
<geom size="0.01 0.015 0.01" pos="-0.001 -0.032 0" type="box" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="left_hand_thumb_2_link" pos="0 -0.0458 0">
|
|
||||||
<inertial pos="-0.00171735 -0.0262819 0.000107789" quat="0.703174 0.710977 -0.00017564 -0.00766553" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
|
||||||
<joint name="left_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="left_hand_middle_0_link" pos="0.1192 0.0046 -0.0285">
|
|
||||||
<inertial pos="0.0354744 0.000827888 0.0003809" quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
|
||||||
<joint name="left_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 0" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link"/>
|
|
||||||
<body name="left_hand_middle_1_link" pos="0.0458 0 0">
|
|
||||||
<inertial pos="0.0262819 0.00171735 -0.000107789" quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
|
||||||
<joint name="left_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="left_hand_index_0_link" pos="0.1192 0.0046 0.0285">
|
|
||||||
<inertial pos="0.0354744 0.000827888 0.0003809" quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
|
||||||
<joint name="left_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 0" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link"/>
|
|
||||||
<body name="left_hand_index_1_link" pos="0.0458 0 0">
|
|
||||||
<inertial pos="0.0262819 0.00171735 -0.000107789" quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
|
||||||
<joint name="left_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
|
||||||
<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"/>
|
|
||||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
|
||||||
<body name="right_wrist_pitch_link" pos="0.038 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
|
||||||
<body name="right_wrist_yaw_link" pos="0.046 0 0">
|
|
||||||
<inertial pos="0.0885506 -0.00212216 -0.000374562" quat="0.505358 0.513241 0.493844 0.487149" mass="0.457415" diaginertia="0.00105989 0.000895419 0.000323842"/>
|
|
||||||
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
|
||||||
<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_hand_palm_link"/>
|
|
||||||
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link"/>
|
|
||||||
<body name="right_hand_thumb_0_link" pos="0.067 -0.003 0">
|
|
||||||
<inertial pos="-0.000884246 0.00863407 0.000944293" quat="0.643965 0.462991 -0.398986 0.460173" mass="0.0862366" diaginertia="1.6546e-05 1.60058e-05 1.43741e-05"/>
|
|
||||||
<joint name="right_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link"/>
|
|
||||||
<body name="right_hand_thumb_1_link" pos="-0.0025 0.0193 0">
|
|
||||||
<inertial pos="-0.000827888 0.0354744 -0.0003809" quat="0.705471 0.685598 -0.0956069 0.15207" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
|
||||||
<joint name="right_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-1.0472 0.724312" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_1_link"/>
|
|
||||||
<geom size="0.01 0.015 0.01" pos="-0.001 0.032 0" type="box" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="right_hand_thumb_2_link" pos="0 0.0458 0">
|
|
||||||
<inertial pos="-0.00171735 0.0262819 0.000107789" quat="0.710977 0.703174 0.00766553 0.00017564" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
|
||||||
<joint name="right_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_2_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_2_link"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_hand_middle_0_link" pos="0.1192 -0.0046 -0.0285">
|
|
||||||
<inertial pos="0.0354744 -0.000827888 0.0003809" quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
|
||||||
<joint name="right_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="0 1.5708" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link"/>
|
|
||||||
<body name="right_hand_middle_1_link" pos="0.0458 0 0">
|
|
||||||
<inertial pos="0.0262819 -0.00171735 -0.000107789" quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
|
||||||
<joint name="right_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_hand_index_0_link" pos="0.1192 -0.0046 0.0285">
|
|
||||||
<inertial pos="0.0354744 -0.000827888 0.0003809" quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
|
||||||
<joint name="right_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="0 1.5708" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
|
|
||||||
<body name="right_hand_index_1_link" pos="0.0458 0 0">
|
|
||||||
<inertial pos="0.0262819 -0.00171735 -0.000107789" quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
|
||||||
<joint name="right_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</worldbody>
|
|
||||||
|
|
||||||
<actuator>
|
|
||||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
|
||||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
|
||||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
|
||||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
|
||||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
|
||||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
|
||||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
|
||||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
|
||||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
|
||||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
|
||||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
|
||||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
|
||||||
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
|
||||||
<motor name="waist_roll_joint" joint="waist_roll_joint"/>
|
|
||||||
<motor name="waist_pitch_joint" joint="waist_pitch_joint"/>
|
|
||||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
|
||||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
|
||||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
|
||||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
|
||||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
|
||||||
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
|
|
||||||
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
|
|
||||||
<motor name="left_hand_thumb_0_joint" joint="left_hand_thumb_0_joint"/>
|
|
||||||
<motor name="left_hand_thumb_1_joint" joint="left_hand_thumb_1_joint"/>
|
|
||||||
<motor name="left_hand_thumb_2_joint" joint="left_hand_thumb_2_joint"/>
|
|
||||||
<motor name="left_hand_middle_0_joint" joint="left_hand_middle_0_joint"/>
|
|
||||||
<motor name="left_hand_middle_1_joint" joint="left_hand_middle_1_joint"/>
|
|
||||||
<motor name="left_hand_index_0_joint" joint="left_hand_index_0_joint"/>
|
|
||||||
<motor name="left_hand_index_1_joint" joint="left_hand_index_1_joint"/>
|
|
||||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
|
||||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
|
||||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
|
||||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
|
||||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
|
||||||
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
|
|
||||||
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
|
|
||||||
<motor name="right_hand_thumb_0_joint" joint="right_hand_thumb_0_joint"/>
|
|
||||||
<motor name="right_hand_thumb_1_joint" joint="right_hand_thumb_1_joint"/>
|
|
||||||
<motor name="right_hand_thumb_2_joint" joint="right_hand_thumb_2_joint"/>
|
|
||||||
<motor name="right_hand_index_0_joint" joint="right_hand_index_0_joint"/>
|
|
||||||
<motor name="right_hand_index_1_joint" joint="right_hand_index_1_joint"/>
|
|
||||||
<motor name="right_hand_middle_0_joint" joint="right_hand_middle_0_joint"/>
|
|
||||||
<motor name="right_hand_middle_1_joint" joint="right_hand_middle_1_joint"/>
|
|
||||||
</actuator>
|
|
||||||
|
|
||||||
<sensor>
|
|
||||||
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
|
|
||||||
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
|
|
||||||
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
|
|
||||||
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
|
|
||||||
</sensor>
|
|
||||||
|
|
||||||
|
|
||||||
<!-- setup scene -->
|
|
||||||
<statistic center="1.0 0.7 1.0" extent="0.8"/>
|
|
||||||
<visual>
|
|
||||||
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
|
|
||||||
<rgba haze="0.15 0.25 0.35 1"/>
|
|
||||||
<global azimuth="-140" elevation="-20"/>
|
|
||||||
</visual>
|
|
||||||
<asset>
|
|
||||||
<texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
|
|
||||||
<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"/>
|
|
||||||
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
|
||||||
</asset>
|
|
||||||
<worldbody>
|
|
||||||
<light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
|
|
||||||
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
|
|
||||||
</worldbody>
|
|
||||||
</mujoco>
|
|
||||||
File diff suppressed because it is too large
Load Diff
@ -1,408 +0,0 @@
|
|||||||
<mujoco model="g1_29dof_with_hand_rev_1_0">
|
|
||||||
<compiler angle="radian" meshdir="meshes"/>
|
|
||||||
|
|
||||||
<asset>
|
|
||||||
<mesh name="pelvis" file="pelvis.STL"/>
|
|
||||||
<mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
|
|
||||||
<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
|
|
||||||
<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
|
|
||||||
<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
|
|
||||||
<mesh name="left_knee_link" file="left_knee_link.STL"/>
|
|
||||||
<mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
|
|
||||||
<mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
|
|
||||||
<mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
|
|
||||||
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
|
|
||||||
<mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
|
|
||||||
<mesh name="right_knee_link" file="right_knee_link.STL"/>
|
|
||||||
<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
|
|
||||||
<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
|
|
||||||
<mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL"/>
|
|
||||||
<mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL"/>
|
|
||||||
<mesh name="torso_link" file="torso_link_rev_1_0.STL"/>
|
|
||||||
<mesh name="logo_link" file="logo_link.STL"/>
|
|
||||||
<mesh name="head_link" file="head_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="left_elbow_link" file="left_elbow_link.STL"/>
|
|
||||||
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
|
|
||||||
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
|
|
||||||
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
|
|
||||||
<mesh name="left_hand_palm_link" file="left_hand_palm_link.STL"/>
|
|
||||||
<mesh name="left_hand_thumb_0_link" file="left_hand_thumb_0_link.STL"/>
|
|
||||||
<mesh name="left_hand_thumb_1_link" file="left_hand_thumb_1_link.STL"/>
|
|
||||||
<mesh name="left_hand_thumb_2_link" file="left_hand_thumb_2_link.STL"/>
|
|
||||||
<mesh name="left_hand_middle_0_link" file="left_hand_middle_0_link.STL"/>
|
|
||||||
<mesh name="left_hand_middle_1_link" file="left_hand_middle_1_link.STL"/>
|
|
||||||
<mesh name="left_hand_index_0_link" file="left_hand_index_0_link.STL"/>
|
|
||||||
<mesh name="left_hand_index_1_link" file="left_hand_index_1_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="right_elbow_link" file="right_elbow_link.STL"/>
|
|
||||||
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
|
|
||||||
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
|
|
||||||
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
|
|
||||||
<mesh name="right_hand_palm_link" file="right_hand_palm_link.STL"/>
|
|
||||||
<mesh name="right_hand_thumb_0_link" file="right_hand_thumb_0_link.STL"/>
|
|
||||||
<mesh name="right_hand_thumb_1_link" file="right_hand_thumb_1_link.STL"/>
|
|
||||||
<mesh name="right_hand_thumb_2_link" file="right_hand_thumb_2_link.STL"/>
|
|
||||||
<mesh name="right_hand_middle_0_link" file="right_hand_middle_0_link.STL"/>
|
|
||||||
<mesh name="right_hand_middle_1_link" file="right_hand_middle_1_link.STL"/>
|
|
||||||
<mesh name="right_hand_index_0_link" file="right_hand_index_0_link.STL"/>
|
|
||||||
<mesh name="right_hand_index_1_link" file="right_hand_index_1_link.STL"/>
|
|
||||||
</asset>
|
|
||||||
|
|
||||||
<worldbody>
|
|
||||||
<body name="pelvis" pos="0 0 0.793">
|
|
||||||
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
|
|
||||||
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
|
|
||||||
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
|
|
||||||
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
|
|
||||||
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
|
|
||||||
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
|
|
||||||
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
|
|
||||||
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
|
|
||||||
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
|
|
||||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
|
|
||||||
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
|
|
||||||
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
|
|
||||||
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
|
|
||||||
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
|
|
||||||
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
|
|
||||||
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="waist_yaw_link">
|
|
||||||
<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"/>
|
|
||||||
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
|
|
||||||
<body name="waist_roll_link" pos="-0.0039635 0 0.044">
|
|
||||||
<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"/>
|
|
||||||
<joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
|
|
||||||
<body name="torso_link">
|
|
||||||
<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"/>
|
|
||||||
<joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
|
||||||
<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"/>
|
|
||||||
<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"/>
|
|
||||||
<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"/>
|
|
||||||
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
|
||||||
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
|
|
||||||
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
|
||||||
<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"/>
|
|
||||||
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
|
||||||
<body name="left_wrist_pitch_link" pos="0.038 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
|
||||||
<body name="left_wrist_yaw_link" pos="0.046 0 0">
|
|
||||||
<inertial pos="0.0885506 0.00212216 -0.000374562" quat="0.487149 0.493844 0.513241 0.505358" mass="0.457415" diaginertia="0.00105989 0.000895419 0.000323842"/>
|
|
||||||
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
|
||||||
<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_hand_palm_link"/>
|
|
||||||
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_palm_link"/>
|
|
||||||
<body name="left_hand_thumb_0_link" pos="0.067 0.003 0">
|
|
||||||
<inertial pos="-0.000884246 -0.00863407 0.000944293" quat="0.462991 0.643965 -0.460173 0.398986" mass="0.0862366" diaginertia="1.6546e-05 1.60058e-05 1.43741e-05"/>
|
|
||||||
<joint name="left_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link"/>
|
|
||||||
<body name="left_hand_thumb_1_link" pos="-0.0025 -0.0193 0">
|
|
||||||
<inertial pos="-0.000827888 -0.0354744 -0.0003809" quat="0.685598 0.705471 -0.15207 0.0956069" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
|
||||||
<joint name="left_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-0.724312 1.0472" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_1_link"/>
|
|
||||||
<geom size="0.01 0.015 0.01" pos="-0.001 -0.032 0" type="box" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="left_hand_thumb_2_link" pos="0 -0.0458 0">
|
|
||||||
<inertial pos="-0.00171735 -0.0262819 0.000107789" quat="0.703174 0.710977 -0.00017564 -0.00766553" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
|
||||||
<joint name="left_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="left_hand_middle_0_link" pos="0.1192 0.0046 -0.0285">
|
|
||||||
<inertial pos="0.0354744 0.000827888 0.0003809" quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
|
||||||
<joint name="left_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 0" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link"/>
|
|
||||||
<body name="left_hand_middle_1_link" pos="0.0458 0 0">
|
|
||||||
<inertial pos="0.0262819 0.00171735 -0.000107789" quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
|
||||||
<joint name="left_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="left_hand_index_0_link" pos="0.1192 0.0046 0.0285">
|
|
||||||
<inertial pos="0.0354744 0.000827888 0.0003809" quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
|
||||||
<joint name="left_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 0" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link"/>
|
|
||||||
<body name="left_hand_index_1_link" pos="0.0458 0 0">
|
|
||||||
<inertial pos="0.0262819 0.00171735 -0.000107789" quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
|
||||||
<joint name="left_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
|
||||||
<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"/>
|
|
||||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
|
||||||
<body name="right_wrist_pitch_link" pos="0.038 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
|
||||||
<body name="right_wrist_yaw_link" pos="0.046 0 0">
|
|
||||||
<inertial pos="0.0885506 -0.00212216 -0.000374562" quat="0.505358 0.513241 0.493844 0.487149" mass="0.457415" diaginertia="0.00105989 0.000895419 0.000323842"/>
|
|
||||||
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
|
||||||
<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_hand_palm_link"/>
|
|
||||||
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link"/>
|
|
||||||
<body name="right_hand_thumb_0_link" pos="0.067 -0.003 0">
|
|
||||||
<inertial pos="-0.000884246 0.00863407 0.000944293" quat="0.643965 0.462991 -0.398986 0.460173" mass="0.0862366" diaginertia="1.6546e-05 1.60058e-05 1.43741e-05"/>
|
|
||||||
<joint name="right_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link"/>
|
|
||||||
<body name="right_hand_thumb_1_link" pos="-0.0025 0.0193 0">
|
|
||||||
<inertial pos="-0.000827888 0.0354744 -0.0003809" quat="0.705471 0.685598 -0.0956069 0.15207" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
|
||||||
<joint name="right_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-1.0472 0.724312" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_1_link"/>
|
|
||||||
<geom size="0.01 0.015 0.01" pos="-0.001 0.032 0" type="box" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="right_hand_thumb_2_link" pos="0 0.0458 0">
|
|
||||||
<inertial pos="-0.00171735 0.0262819 0.000107789" quat="0.710977 0.703174 0.00766553 0.00017564" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
|
||||||
<joint name="right_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_2_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_2_link"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_hand_middle_0_link" pos="0.1192 -0.0046 -0.0285">
|
|
||||||
<inertial pos="0.0354744 -0.000827888 0.0003809" quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
|
||||||
<joint name="right_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="0 1.5708" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link"/>
|
|
||||||
<body name="right_hand_middle_1_link" pos="0.0458 0 0">
|
|
||||||
<inertial pos="0.0262819 -0.00171735 -0.000107789" quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
|
||||||
<joint name="right_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_hand_index_0_link" pos="0.1192 -0.0046 0.0285">
|
|
||||||
<inertial pos="0.0354744 -0.000827888 0.0003809" quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
|
||||||
<joint name="right_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="0 1.5708" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
|
|
||||||
<body name="right_hand_index_1_link" pos="0.0458 0 0">
|
|
||||||
<inertial pos="0.0262819 -0.00171735 -0.000107789" quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
|
||||||
<joint name="right_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</worldbody>
|
|
||||||
|
|
||||||
<actuator>
|
|
||||||
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
|
|
||||||
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
|
|
||||||
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
|
|
||||||
<motor name="left_knee_joint" joint="left_knee_joint"/>
|
|
||||||
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
|
|
||||||
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
|
|
||||||
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
|
|
||||||
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
|
|
||||||
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
|
|
||||||
<motor name="right_knee_joint" joint="right_knee_joint"/>
|
|
||||||
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
|
|
||||||
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
|
|
||||||
<motor name="waist_yaw_joint" joint="waist_yaw_joint"/>
|
|
||||||
<motor name="waist_roll_joint" joint="waist_roll_joint"/>
|
|
||||||
<motor name="waist_pitch_joint" joint="waist_pitch_joint"/>
|
|
||||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
|
||||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
|
||||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
|
||||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
|
||||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
|
||||||
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
|
|
||||||
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
|
|
||||||
<motor name="left_hand_thumb_0_joint" joint="left_hand_thumb_0_joint"/>
|
|
||||||
<motor name="left_hand_thumb_1_joint" joint="left_hand_thumb_1_joint"/>
|
|
||||||
<motor name="left_hand_thumb_2_joint" joint="left_hand_thumb_2_joint"/>
|
|
||||||
<motor name="left_hand_middle_0_joint" joint="left_hand_middle_0_joint"/>
|
|
||||||
<motor name="left_hand_middle_1_joint" joint="left_hand_middle_1_joint"/>
|
|
||||||
<motor name="left_hand_index_0_joint" joint="left_hand_index_0_joint"/>
|
|
||||||
<motor name="left_hand_index_1_joint" joint="left_hand_index_1_joint"/>
|
|
||||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
|
||||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
|
||||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
|
||||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
|
||||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
|
||||||
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
|
|
||||||
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
|
|
||||||
<motor name="right_hand_thumb_0_joint" joint="right_hand_thumb_0_joint"/>
|
|
||||||
<motor name="right_hand_thumb_1_joint" joint="right_hand_thumb_1_joint"/>
|
|
||||||
<motor name="right_hand_thumb_2_joint" joint="right_hand_thumb_2_joint"/>
|
|
||||||
<motor name="right_hand_index_0_joint" joint="right_hand_index_0_joint"/>
|
|
||||||
<motor name="right_hand_index_1_joint" joint="right_hand_index_1_joint"/>
|
|
||||||
<motor name="right_hand_middle_0_joint" joint="right_hand_middle_0_joint"/>
|
|
||||||
<motor name="right_hand_middle_1_joint" joint="right_hand_middle_1_joint"/>
|
|
||||||
</actuator>
|
|
||||||
|
|
||||||
<sensor>
|
|
||||||
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
|
|
||||||
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
|
|
||||||
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
|
|
||||||
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
|
|
||||||
</sensor>
|
|
||||||
|
|
||||||
|
|
||||||
<!-- setup scene -->
|
|
||||||
<statistic center="1.0 0.7 1.0" extent="0.8"/>
|
|
||||||
<visual>
|
|
||||||
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
|
|
||||||
<rgba haze="0.15 0.25 0.35 1"/>
|
|
||||||
<global azimuth="-140" elevation="-20"/>
|
|
||||||
</visual>
|
|
||||||
<asset>
|
|
||||||
<texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
|
|
||||||
<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"/>
|
|
||||||
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
|
||||||
</asset>
|
|
||||||
<worldbody>
|
|
||||||
<light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
|
|
||||||
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
|
|
||||||
</worldbody>
|
|
||||||
</mujoco>
|
|
||||||
@ -1,650 +0,0 @@
|
|||||||
<robot name="g1_dual_arm">
|
|
||||||
<mujoco>
|
|
||||||
<compiler meshdir="meshes" discardvisual="false"/>
|
|
||||||
</mujoco>
|
|
||||||
|
|
||||||
<!-- [CAUTION] uncomment when convert to mujoco -->
|
|
||||||
<!-- <link name="world"></link>
|
|
||||||
<joint name="floating_base_joint" type="floating">
|
|
||||||
<parent link="world"/>
|
|
||||||
<child link="waist_yaw_link"/>
|
|
||||||
</joint> -->
|
|
||||||
|
|
||||||
<!-- Torso -->
|
|
||||||
<link name="waist_yaw_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.003964 0 0.018769" rpy="0 0 0"/>
|
|
||||||
<mass value="0.244"/>
|
|
||||||
<inertia ixx="9.9587E-05" ixy="-1.833E-06" ixz="-1.2617E-05" iyy="0.00012411" iyz="-1.18E-07" izz="0.00015586"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/waist_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
<link name="waist_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 -0.000236 0.010111" rpy="0 0 0"/>
|
|
||||||
<mass value="0.047"/>
|
|
||||||
<inertia ixx="7.515E-06" ixy="0" ixz="0" iyy="6.398E-06" iyz="9.9E-08" izz="3.988E-06"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/waist_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
<joint name="waist_roll_joint" type="fixed">
|
|
||||||
<origin xyz="-0.0039635 0 0.035" rpy="0 0 0"/>
|
|
||||||
<parent link="waist_yaw_link"/>
|
|
||||||
<child link="waist_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="torso_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.002601 0.000257 0.153719" rpy="0 0 0"/>
|
|
||||||
<mass value="8.562"/>
|
|
||||||
<inertia ixx="0.065674966" ixy="-8.597E-05" ixz="-0.001737252" iyy="0.053535188" iyz="8.6899E-05" izz="0.030808125"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/torso_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/torso_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="waist_pitch_joint" type="fixed">
|
|
||||||
<origin xyz="0 0 0.019" rpy="0 0 0"/>
|
|
||||||
<parent link="waist_roll_link"/>
|
|
||||||
<child link="torso_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- LOGO -->
|
|
||||||
<joint name="logo_joint" type="fixed">
|
|
||||||
<origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="logo_link"/>
|
|
||||||
</joint>
|
|
||||||
<link name="logo_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<mass value="0.001"/>
|
|
||||||
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/logo_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/logo_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<!-- Head -->
|
|
||||||
<link name="head_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0"/>
|
|
||||||
<mass value="1.036"/>
|
|
||||||
<inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/head_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="dark">
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/head_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="head_joint" type="fixed">
|
|
||||||
<origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="head_link"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- Waist Support -->
|
|
||||||
<link name="waist_support_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<mass value="0.001"/>
|
|
||||||
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/waist_support_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/waist_support_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="waist_support_joint" type="fixed">
|
|
||||||
<origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="waist_support_link"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- IMU -->
|
|
||||||
<link name="imu_in_torso"></link>
|
|
||||||
<joint name="imu_in_torso_joint" type="fixed">
|
|
||||||
<origin xyz="-0.03959 -0.00224 0.13792" rpy="0 0 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="imu_in_torso"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<link name="imu_in_pelvis"></link>
|
|
||||||
<joint name="imu_in_pelvis_joint" type="fixed">
|
|
||||||
<origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
|
|
||||||
<parent link="pelvis"/>
|
|
||||||
<child link="imu_in_pelvis"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- d435 -->
|
|
||||||
<link name="d435_link"></link>
|
|
||||||
<joint name="d435_joint" type="fixed">
|
|
||||||
<origin xyz="0.0576235 0.01753 0.41987" rpy="0 0.8307767239493009 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="d435_link"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- mid360 -->
|
|
||||||
<link name="mid360_link"></link>
|
|
||||||
<joint name="mid360_joint" type="fixed">
|
|
||||||
<origin xyz="0.0002835 0.00003 0.40618" rpy="0 0.04014257279586953 0"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="mid360_link"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- Arm -->
|
|
||||||
<link name="left_shoulder_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 0.035892 -0.011628" rpy="0 0 0"/>
|
|
||||||
<mass value="0.718"/>
|
|
||||||
<inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_shoulder_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder radius="0.03" length="0.05"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_shoulder_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0.0039563 0.10022 0.23778" rpy="0.27931 5.4949E-05 -0.00019159"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="left_shoulder_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_shoulder_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0"/>
|
|
||||||
<mass value="0.643"/>
|
|
||||||
<inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_shoulder_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder radius="0.03" length="0.03"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_shoulder_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0"/>
|
|
||||||
<parent link="left_shoulder_pitch_link"/>
|
|
||||||
<child link="left_shoulder_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-1.5882" upper="2.2515" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_shoulder_yaw_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0"/>
|
|
||||||
<mass value="0.734"/>
|
|
||||||
<inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_shoulder_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_shoulder_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_shoulder_yaw_joint" type="revolute">
|
|
||||||
<origin xyz="0 0.00624 -0.1032" rpy="0 0 0"/>
|
|
||||||
<parent link="left_shoulder_roll_link"/>
|
|
||||||
<child link="left_shoulder_yaw_link"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_elbow_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0"/>
|
|
||||||
<mass value="0.6"/>
|
|
||||||
<inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_elbow_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_elbow_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_elbow_joint" type="revolute">
|
|
||||||
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
|
||||||
<parent link="left_shoulder_yaw_link"/>
|
|
||||||
<child link="left_elbow_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="left_wrist_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<parent link="left_elbow_link"/>
|
|
||||||
<child link="left_wrist_roll_link"/>
|
|
||||||
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_wrist_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.01713944778 0.00053759094 0.00000048864" rpy="0 0 0"/>
|
|
||||||
<mass value="0.08544498"/>
|
|
||||||
<inertia ixx="0.00004821544023" ixy="-0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="-0.00000000123525" izz="0.00005482106541"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_wrist_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_wrist_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_wrist_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0.038 0 0" rpy="0 0 0"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<parent link="left_wrist_roll_link"/>
|
|
||||||
<child link="left_wrist_pitch_link"/>
|
|
||||||
<limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_wrist_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.02299989837 -0.00111685314 -0.00111658096" rpy="0 0 0"/>
|
|
||||||
<mass value="0.48404956"/>
|
|
||||||
<inertia ixx="0.00016579646273" ixy="-0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="0.00000081417712" izz="0.00042953697654"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_wrist_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_wrist_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_wrist_yaw_joint" type="revolute">
|
|
||||||
<origin xyz="0.046 0 0" rpy="0 0 0"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<parent link="left_wrist_pitch_link"/>
|
|
||||||
<child link="left_wrist_yaw_link"/>
|
|
||||||
<limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_wrist_yaw_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0 0 0"/>
|
|
||||||
<mass value="0.08457647"/>
|
|
||||||
<inertia ixx="0.00004929128828" ixy="-0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="0.00000043217198" izz="0.00003928083826"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_wrist_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_wrist_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="left_hand_palm_joint" type="fixed">
|
|
||||||
<origin xyz="0.0415 0.003 0" rpy="0 0 0"/>
|
|
||||||
<parent link="left_wrist_yaw_link"/>
|
|
||||||
<child link="left_rubber_hand"/>
|
|
||||||
</joint>
|
|
||||||
<link name="left_rubber_hand">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.05361310808 -0.00295905240 0.00215413091" rpy="0 0 0"/>
|
|
||||||
<mass value="0.170"/>
|
|
||||||
<inertia ixx="0.00010099485234748" ixy="0.00003618590790516" ixz="-0.00000074301518642" iyy="0.00028135871571621" iyz="0.00000330189743286" izz="0.00021894770413514"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/left_rubber_hand.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
<link name="right_shoulder_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0 -0.035892 -0.011628" rpy="0 0 0"/>
|
|
||||||
<mass value="0.718"/>
|
|
||||||
<inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_shoulder_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder radius="0.03" length="0.05"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_shoulder_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0.0039563 -0.10021 0.23778" rpy="-0.27931 5.4949E-05 0.00019159"/>
|
|
||||||
<parent link="torso_link"/>
|
|
||||||
<child link="right_shoulder_pitch_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_shoulder_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0"/>
|
|
||||||
<mass value="0.643"/>
|
|
||||||
<inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_shoulder_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder radius="0.03" length="0.03"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_shoulder_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0"/>
|
|
||||||
<parent link="right_shoulder_pitch_link"/>
|
|
||||||
<child link="right_shoulder_roll_link"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit lower="-2.2515" upper="1.5882" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_shoulder_yaw_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0"/>
|
|
||||||
<mass value="0.734"/>
|
|
||||||
<inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_shoulder_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_shoulder_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_shoulder_yaw_joint" type="revolute">
|
|
||||||
<origin xyz="0 -0.00624 -0.1032" rpy="0 0 0"/>
|
|
||||||
<parent link="right_shoulder_roll_link"/>
|
|
||||||
<child link="right_shoulder_yaw_link"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_elbow_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0"/>
|
|
||||||
<mass value="0.6"/>
|
|
||||||
<inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_elbow_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_elbow_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_elbow_joint" type="revolute">
|
|
||||||
<origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
|
|
||||||
<parent link="right_shoulder_yaw_link"/>
|
|
||||||
<child link="right_elbow_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="right_wrist_roll_joint" type="revolute">
|
|
||||||
<origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<parent link="right_elbow_link"/>
|
|
||||||
<child link="right_wrist_roll_link"/>
|
|
||||||
<limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_wrist_roll_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.01713944778 -0.00053759094 0.00000048864" rpy="0 0 0"/>
|
|
||||||
<mass value="0.08544498"/>
|
|
||||||
<inertia ixx="0.00004821544023" ixy="0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="0.00000000123525" izz="0.00005482106541"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_wrist_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_wrist_roll_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_wrist_pitch_joint" type="revolute">
|
|
||||||
<origin xyz="0.038 0 0" rpy="0 0 0"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<parent link="right_wrist_roll_link"/>
|
|
||||||
<child link="right_wrist_pitch_link"/>
|
|
||||||
<limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_wrist_pitch_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.02299989837 0.00111685314 -0.00111658096" rpy="0 0 0"/>
|
|
||||||
<mass value="0.48404956"/>
|
|
||||||
<inertia ixx="0.00016579646273" ixy="0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="-0.00000081417712" izz="0.00042953697654"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_wrist_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_wrist_pitch_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_wrist_yaw_joint" type="revolute">
|
|
||||||
<origin xyz="0.046 0 0" rpy="0 0 0"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<parent link="right_wrist_pitch_link"/>
|
|
||||||
<child link="right_wrist_yaw_link"/>
|
|
||||||
<limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_wrist_yaw_link">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.02200381568 -0.00049485096 0.00053861123" rpy="0 0 0"/>
|
|
||||||
<mass value="0.08457647"/>
|
|
||||||
<inertia ixx="0.00004929128828" ixy="0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="-0.00000043217198" izz="0.00003928083826"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_wrist_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_wrist_yaw_link.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="right_hand_palm_joint" type="fixed">
|
|
||||||
<origin xyz="0.0415 -0.003 0" rpy="0 0 0"/>
|
|
||||||
<parent link="right_wrist_yaw_link"/>
|
|
||||||
<child link="right_rubber_hand"/>
|
|
||||||
</joint>
|
|
||||||
<link name="right_rubber_hand">
|
|
||||||
<inertial>
|
|
||||||
<origin xyz="0.05361310808 0.00295905240 0.00215413091" rpy="0 0 0"/>
|
|
||||||
<mass value="0.170"/>
|
|
||||||
<inertia ixx="0.00010099485234748" ixy="-0.00003618590790516" ixz="-0.00000074301518642" iyy="0.00028135871571621" iyz="-0.00000330189743286" izz="0.00021894770413514"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/right_rubber_hand.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="white">
|
|
||||||
<color rgba="0.7 0.7 0.7 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
</link>
|
|
||||||
</robot>
|
|
||||||
@ -1,162 +0,0 @@
|
|||||||
<mujoco model="g1_dual_arm">
|
|
||||||
<compiler angle="radian" meshdir="meshes"/>
|
|
||||||
|
|
||||||
<asset>
|
|
||||||
<mesh name="waist_yaw_link" file="waist_yaw_link.STL"/>
|
|
||||||
<mesh name="waist_roll_link" file="waist_roll_link.STL"/>
|
|
||||||
<mesh name="torso_link" file="torso_link.STL"/>
|
|
||||||
<mesh name="logo_link" file="logo_link.STL"/>
|
|
||||||
<mesh name="head_link" file="head_link.STL"/>
|
|
||||||
<mesh name="waist_support_link" file="waist_support_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="left_elbow_link" file="left_elbow_link.STL"/>
|
|
||||||
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
|
|
||||||
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
|
|
||||||
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
|
|
||||||
<mesh name="left_rubber_hand" file="left_rubber_hand.STL"/>
|
|
||||||
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
|
|
||||||
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
|
|
||||||
<mesh name="right_elbow_link" file="right_elbow_link.STL"/>
|
|
||||||
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
|
|
||||||
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
|
|
||||||
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
|
|
||||||
<mesh name="right_rubber_hand" file="right_rubber_hand.STL"/>
|
|
||||||
</asset>
|
|
||||||
|
|
||||||
<worldbody>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
|
|
||||||
<geom pos="-0.0039635 0 0.035" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
|
|
||||||
<geom pos="-0.0039635 0 0.054" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
|
||||||
<geom pos="-0.0039635 0 0.054" type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
|
||||||
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
|
|
||||||
<body name="left_shoulder_pitch_link" pos="-7.2e-06 0.10022 0.29178" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
|
|
||||||
<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"/>
|
|
||||||
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
|
|
||||||
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
|
|
||||||
<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
|
|
||||||
<body name="left_wrist_pitch_link" pos="0.038 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
|
|
||||||
<body name="left_wrist_yaw_link" pos="0.046 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
|
||||||
<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"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
<body name="right_shoulder_pitch_link" pos="-7.2e-06 -0.10021 0.29178" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
|
|
||||||
<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"/>
|
|
||||||
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
|
|
||||||
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
|
|
||||||
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
|
|
||||||
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
|
|
||||||
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" actuatorfrcrange="-25 25"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
|
|
||||||
<body name="right_wrist_pitch_link" pos="0.038 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
|
||||||
<body name="right_wrist_yaw_link" pos="0.046 0 0">
|
|
||||||
<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"/>
|
|
||||||
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
|
||||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
|
||||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
|
||||||
<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"/>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</body>
|
|
||||||
</worldbody>
|
|
||||||
|
|
||||||
<actuator>
|
|
||||||
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
|
|
||||||
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
|
|
||||||
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
|
|
||||||
<motor name="left_elbow_joint" joint="left_elbow_joint"/>
|
|
||||||
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
|
|
||||||
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
|
|
||||||
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
|
|
||||||
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
|
|
||||||
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
|
|
||||||
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
|
|
||||||
<motor name="right_elbow_joint" joint="right_elbow_joint"/>
|
|
||||||
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
|
|
||||||
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
|
|
||||||
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
|
|
||||||
</actuator>
|
|
||||||
|
|
||||||
|
|
||||||
<!-- setup scene -->
|
|
||||||
<statistic center="1.0 0.7 1.0" extent="0.8"/>
|
|
||||||
<visual>
|
|
||||||
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
|
|
||||||
<rgba haze="0.15 0.25 0.35 1"/>
|
|
||||||
<global azimuth="-140" elevation="-20"/>
|
|
||||||
</visual>
|
|
||||||
<asset>
|
|
||||||
<texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
|
|
||||||
<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"/>
|
|
||||||
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
|
||||||
</asset>
|
|
||||||
<worldbody>
|
|
||||||
<light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
|
|
||||||
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
|
|
||||||
</worldbody>
|
|
||||||
</mujoco>
|
|
||||||
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Reference in New Issue
Block a user