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<mujoco model="XBot-L">
<compiler angle="radian" meshdir="../meshes/" eulerseq="zyx"/>
<option timestep='0.001' iterations='50' solver='PGS' gravity='0 0 -9.81'>
<flag sensornoise="enable" frictionloss="enable"/>
</option>
<size njmax="500" nconmax="100" />
<visual>
<quality shadowsize='4096'/>
<map znear='0.05'/>
</visual>
<default>
<joint limited='true'/>
<motor ctrllimited='true'/>
<geom condim='4' contype="1" conaffinity="15" solref='0.001 2' friction='0.9 0.2 0.2'/>
<equality solref='0.001 2'/>
<default class='visualgeom'>
<geom material='visualgeom' condim='1' contype='0' conaffinity='0'/>
</default>
<default class='visualgeom2'>
<geom material='visualgeom2' condim='1' contype='0' conaffinity='0'/>
</default>
<default class='obstacle'>
<geom material='obstacle' condim='3' contype='1' conaffinity='15'/>
</default>
<default class='neck_joint_param'>
<joint damping="0.01" frictionloss="0.01" armature="0.01"/>
</default>
<default class='waist_joint_param'>
<joint damping="2" frictionloss="2" armature="0.01"/>
</default>
<default class='leg_joint_param'>
<joint damping="0.01" frictionloss="0.01" armature="0.01"/>
</default>
<default class='arm_joint_param'>
<joint damping="1" frictionloss="1" armature="0.01"/>
</default>
<default class='finger_joint_param'>
<joint damping="0.00" frictionloss="0.00" armature="0.01"/>
</default>
</default>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<texture name="texplane2" type="2d" builtin="checker" rgb1="1 0.3137 0.1843" rgb2="0.0 0.30196 0.38039"
width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<material name="matplane" reflectance="0." texture="texplane" texrepeat="1 1" texuniform="true"/>
<material name="matplane2" reflectance="0.1" texture="texplane2" texrepeat="1 1" texuniform="true"/>
<material name='obstacle' rgba='0.9 0.6 0.2 1'/>
<material name='visualgeom' rgba='0.5 0.9 0.2 1'/>
<material name='visualgeom2' rgba='0.5 0.9 0.2 1'/>
<mesh name="base_link" file="base_link.STL"/>
<mesh name="neck_base_link" file="neck_base_link.STL"/>
<mesh name="neck_yaw_link" file="neck_yaw_link.STL"/>
<mesh name="neck_pitch_link" file="neck_pitch_link.STL"/>
<mesh name="realsense_link" file="realsense_link.STL"/>
<mesh name="left_arm_base_link" file="left_arm_base_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_arm_yaw_link" file="left_arm_yaw_link.STL"/>
<mesh name="left_elbow_pitch_link" file="left_elbow_pitch_link.STL"/>
<mesh name="left_elbow_yaw_link" file="left_elbow_yaw_link.STL"/>
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
<mesh name="right_arm_base_link" file="right_arm_base_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_arm_yaw_link" file="right_arm_yaw_link.STL"/>
<mesh name="right_elbow_pitch_link" file="right_elbow_pitch_link.STL"/>
<mesh name="right_elbow_yaw_link" file="right_elbow_yaw_link.STL"/>
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
<mesh name="waist_yaw_link" file="waist_yaw_link.STL"/>
<mesh name="waist_roll_link" file="waist_roll_link.STL"/>
<mesh name="left_leg_roll_link" file="left_leg_roll_link.STL"/>
<mesh name="left_leg_yaw_link" file="left_leg_yaw_link.STL"/>
<mesh name="left_leg_pitch_link" file="left_leg_pitch_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="left_foot_ee_link" file="left_foot_ee_link.STL"/>
<mesh name="left_ankle_pitch_motor1_link" file="left_ankle_pitch_motor1_link.STL"/>
<mesh name="left_ankle_pitch_linkage1_link" file="left_ankle_pitch_linkage1_link.STL"/>
<mesh name="left_ankle_pitch_motor2_link" file="left_ankle_pitch_motor2_link.STL"/>
<mesh name="left_ankle_pitch_linkage2_link" file="left_ankle_pitch_linkage2_link.STL"/>
<mesh name="left_knee_motor_link" file="left_knee_motor_link.STL"/>
<mesh name="left_knee_linkage_link" file="left_knee_linkage_link.STL"/>
<mesh name="right_leg_roll_link" file="right_leg_roll_link.STL"/>
<mesh name="right_leg_yaw_link" file="right_leg_yaw_link.STL"/>
<mesh name="right_leg_pitch_link" file="right_leg_pitch_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="right_foot_ee_link" file="right_foot_ee_link.STL"/>
<mesh name="right_ankle_pitch_motor1_link" file="right_ankle_pitch_motor1_link.STL"/>
<mesh name="right_ankle_pitch_linkage1_link" file="right_ankle_pitch_linkage1_link.STL"/>
<mesh name="right_ankle_pitch_motor2_link" file="right_ankle_pitch_motor2_link.STL"/>
<mesh name="right_ankle_pitch_linkage2_link" file="right_ankle_pitch_linkage2_link.STL"/>
<mesh name="right_knee_motor_link" file="right_knee_motor_link.STL"/>
<mesh name="right_knee_linkage_link" file="right_knee_linkage_link.STL"/>
<mesh name="left_hand_link" file="left_hand_link.STL"/>
<mesh name="left_hand_thumb_bend_link" file="left_hand_thumb_bend_link.STL"/>
<mesh name="left_hand_thumb_rota_link1" file="left_hand_thumb_rota_link1.STL"/>
<mesh name="left_hand_thumb_rota_link2" file="left_hand_thumb_rota_link2.STL"/>
<mesh name="left_hand_thumb_tip" file="left_hand_thumb_tip.STL"/>
<mesh name="left_hand_index_rota_link1" file="left_hand_index_rota_link1.STL"/>
<mesh name="left_hand_index_rota_link2" file="left_hand_index_rota_link2.STL"/>
<mesh name="left_hand_index_tip" file="left_hand_index_tip.STL"/>
<mesh name="left_hand_mid_link1" file="left_hand_mid_link1.STL"/>
<mesh name="left_hand_mid_link2" file="left_hand_mid_link2.STL"/>
<mesh name="left_hand_mid_tip" file="left_hand_mid_tip.STL"/>
<mesh name="left_hand_ring_link1" file="left_hand_ring_link1.STL"/>
<mesh name="left_hand_ring_link2" file="left_hand_ring_link2.STL"/>
<mesh name="left_hand_ring_tip" file="left_hand_ring_tip.STL"/>
<mesh name="left_hand_pinky_link1" file="left_hand_pinky_link1.STL"/>
<mesh name="left_hand_pinky_link2" file="left_hand_pinky_link2.STL"/>
<mesh name="left_hand_pinky_tip" file="left_hand_pinky_tip.STL"/>
<mesh name="left_hand_ee_link" file="left_hand_ee_link.STL"/>
<mesh name="right_hand_link" file="right_hand_link.STL"/>
<mesh name="right_hand_thumb_bend_link" file="right_hand_thumb_bend_link.STL"/>
<mesh name="right_hand_thumb_rota_link1" file="right_hand_thumb_rota_link1.STL"/>
<mesh name="right_hand_thumb_rota_link2" file="right_hand_thumb_rota_link2.STL"/>
<mesh name="right_hand_thumb_rota_tip" file="right_hand_thumb_rota_tip.STL"/>
<mesh name="right_hand_mid_link1" file="right_hand_mid_link1.STL"/>
<mesh name="right_hand_mid_link2" file="right_hand_mid_link2.STL"/>
<mesh name="right_hand_mid_tip" file="right_hand_mid_tip.STL"/>
<mesh name="right_hand_ring_link1" file="right_hand_ring_link1.STL"/>
<mesh name="right_hand_ring_link2" file="right_hand_ring_link2.STL"/>
<mesh name="right_hand_ring_tip" file="right_hand_ring_tip.STL"/>
<mesh name="right_hand_pinky_link1" file="right_hand_pinky_link1.STL"/>
<mesh name="right_hand_pinky_link2" file="right_hand_pinky_link2.STL"/>
<mesh name="right_hand_pinky_tip" file="right_hand_pinky_tip.STL"/>
<mesh name="right_hand_ee_link" file="right_hand_ee_link.STL"/>
<mesh name="right_hand_index_rota_link1" file="right_hand_index_rota_link1.STL"/>
<mesh name="right_hand_index_rota_link2" file="right_hand_index_rota_link2.STL"/>
<mesh name="right_hand_index_tip" file="right_hand_index_tip.STL"/>
<hfield name='hf0' nrow='200' ncol='200' size="10 5 0.2 .1"/>
<hfield file="../terrain/uneven.png" name="hf1" ncol="0" nrow="0" size="50 50 0.35 0.1" />
</asset>
<worldbody>
<light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
<light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
<geom name="ground" type="hfield" hfield="hf1" size="0 0 1" pos="0.001 0 0" quat="1 0 0 0" material="matplane" condim="1" conaffinity='15'/>
<body name="base_link" pos="0.0 0.0 0.88">
<!-- <body name="base_link" pos="0.0 0.0 0.92"> -->
<geom type="mesh" mesh="base_link" group="1" class="visualgeom"/>
<inertial pos="-0.0033599 -0.00084664 0.1336" mass="9.9576" diaginertia="0.089966 0.060002 0.056135" />
<joint type='slide' axis='1 0 0' limited='false' />
<joint type='slide' axis='0 1 0' limited='false' />
<joint type='slide' axis='0 0 1' limited='false' />
<joint type='ball' limited='false' />
<site name='imu' size='0.01' pos='0.0 0 0.0'/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="base_link"/>
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="base_link" class="visualgeom"/>
<geom pos="0 0 0.4" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.86667 0.86667 0.8902 1" mesh="neck_base_link"/>
<geom pos="0 0 0.4" type="mesh" rgba="0.86667 0.86667 0.8902 1" mesh="neck_base_link" class="visualgeom"/>
<geom pos="0 0 0.2885" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="left_arm_base_link"/>
<geom pos="0 0 0.2885" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="left_arm_base_link" class="visualgeom" />
<geom pos="0 0 0.2885" quat="0.499998 0.5 -0.5 0.500002" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="right_arm_base_link"/>
<geom pos="0 0 0.2885" quat="0.499998 0.5 -0.5 0.500002" type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="right_arm_base_link" class="visualgeom"/>
<body name="neck_yaw_link" pos="0 0 0.4">
<inertial pos="0.023237 0.004247 0.035877" quat="0.397005 0.586611 0.583833 0.396754" mass="0.64979" diaginertia="0.000560363 0.000386635 0.000329382"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.69804 0.69804 0.69804 1" mesh="neck_yaw_link" />
<geom type="mesh" rgba="0.69804 0.69804 0.69804 1" mesh="neck_yaw_link" class="visualgeom"/>
<body name="neck_pitch_link" pos="0.032 0 0.044" quat="0.707105 -0.707108 0 0">
<inertial pos="0.00116474 -0.0898836 0.000341624" quat="0.684515 0.684048 -0.178412 -0.178009" mass="1.39851" diaginertia="0.00709534 0.00537421 0.00502512"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="neck_pitch_link"/>
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="neck_pitch_link" class="visualgeom"/>
<geom pos="0.066371 -0.12536 0.0475" quat="0.696363 0.122789 0.696365 -0.122789" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.25098 0.25098 0.25098 1" mesh="realsense_link"/>
<geom pos="0.066371 -0.12536 0.0475" quat="0.696363 0.122789 0.696365 -0.122789" type="mesh" rgba="0.25098 0.25098 0.25098 1" mesh="realsense_link" class="visualgeom"/>
</body>
</body>
<body name="left_shoulder_pitch_link" pos="9.6789e-07 0.2635 0.2885" quat="0.499998 -0.5 -0.5 -0.500002">
<inertial pos="3.5013e-05 -0.0038729 -0.011871" quat="0.707671 0.0144006 0.0197268 0.70612" mass="0.90505" diaginertia="0.00103283 0.000712178 0.000519141"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="left_shoulder_pitch_link"/>
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="left_shoulder_pitch_link" class="visualgeom"/>
<body name="left_shoulder_roll_link" quat="0.499998 -0.5 -0.5 -0.500002">
<inertial pos="-5.3445e-05 -0.065465 0.00044459" quat="0.498057 0.498933 -0.501229 0.501772" mass="0.72803" diaginertia="0.000997766 0.000834775 0.000467249"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="left_shoulder_roll_link"/>
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="left_shoulder_roll_link" class="visualgeom"/>
<body name="left_arm_yaw_link" pos="0 -0.1905 0" quat="0.499998 0.5 -0.5 0.500002">
<inertial pos="-0.00064229 0.0042682 -0.011976" quat="0.709136 0.00963378 0.0103249 0.704931" mass="0.6767" diaginertia="0.000553305 0.000424897 0.000272458"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="left_arm_yaw_link"/>
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="left_arm_yaw_link" class="visualgeom" />
<body name="left_elbow_pitch_link" quat="0.707105 0.707108 0 0">
<inertial pos="-4.1786e-05 0.063355 0.00048573" quat="0.709351 0.70485 0.000874233 -0.00267526" mass="0.64825" diaginertia="0.000668423 0.00057032 0.000514677"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="left_elbow_pitch_link"/>
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="left_elbow_pitch_link" class="visualgeom"/>
<body name="left_elbow_yaw_link" pos="0 0.16 0" quat="0.707105 -0.707108 0 0">
<inertial pos="-0.0001806 0.0042708 -0.0077002" quat="0.707516 0.00490266 0.00707023 0.706645" mass="0.64989" diaginertia="0.000432682 0.000312927 0.000253541"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="left_elbow_yaw_link"/>
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="left_elbow_yaw_link" class="visualgeom"/>
<body name="left_wrist_roll_link" quat="0.707105 -0.707108 0 0">
<inertial pos="-5.7422e-05 -0.062427 -0.00035934" quat="0.680308 0.732906 0.00476002 -0.00266826" mass="0.63795" diaginertia="0.000618001 0.000528558 0.000498312"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="left_wrist_roll_link"/>
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="left_wrist_roll_link" class="visualgeom"/>
<body name="left_wrist_yaw_link" quat="0.707105 0.707108 0 0">
<inertial pos="-0.00039198 -0.00255567 0.165129" quat="0.771946 0.0479938 -0.00667939 0.633839" mass="0.711472" diaginertia="0.00134657 0.000935696 0.000684338"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="left_wrist_yaw_link"/>
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="left_wrist_yaw_link" class="visualgeom"/>
<geom pos="0 0 0.1135" quat="0 -1 2.67949e-08 2.67949e-08" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_link"/>
<geom pos="0 0 0.1135" quat="0 -1 2.67949e-08 2.67949e-08" type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_link"/>
<geom pos="4.28718e-09 0 0.1935" quat="-1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_ee_link"/>
<geom pos="4.28718e-09 0 0.1935" quat="-1 0 0 0" type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_ee_link"/>
<body name="left_hand_thumb_bend_link" pos="0.02503 0.013 0.14625" quat="0 -1 2.67949e-08 2.67949e-08">
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_thumb_bend_link"/>
<geom type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_thumb_bend_link"/>
<body name="left_hand_thumb_rota_link1" pos="0.032173 -0.0035045 0.00225">
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_thumb_rota_link1"/>
<geom type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_thumb_rota_link1"/>
<body name="left_hand_thumb_rota_link2" pos="0.06 0 0">
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_thumb_rota_link2"/>
<geom type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_thumb_rota_link2"/>
<geom pos="0.051457 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_thumb_tip"/>
<geom pos="0.051457 0 0" type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_thumb_tip"/>
</body>
</body>
</body>
<body name="left_hand_index_rota_link1" pos="0 0 -0.0087">
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_index_rota_link1"/>
<geom type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_index_rota_link1"/>
<body name="left_hand_index_rota_link2" pos="0 0 -0.06675">
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_index_rota_link2"/>
<geom type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_index_rota_link2"/>
<geom pos="0 0 -0.0532474" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_index_tip"/>
<geom pos="0 0 -0.0532474" type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_index_tip"/>
</body>
</body>
<!-- </body> -->
<body name="left_hand_mid_link1" pos="0.00533001 0.008 0.2207" quat="0 -1 2.67949e-08 2.67949e-08">
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_mid_link1"/>
<geom type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_mid_link1"/>
<body name="left_hand_mid_link2" pos="0 0 -0.06525">
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_mid_link2"/>
<geom type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_mid_link2"/>
<geom pos="0 0 -0.0532474" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_mid_tip"/>
<geom pos="0 0 -0.0532474" type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_mid_tip"/>
</body>
</body>
<body name="left_hand_ring_link1" pos="-0.01867 0.008 0.2167" quat="0 -1 2.67949e-08 2.67949e-08">
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_ring_link1"/>
<geom type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="left_hand_ring_link1"/>
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<!-- </body> -->
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<body name="right_leg_yaw_link" quat="-2.59734e-06 0.707105 2.59735e-06 0.707108">
<inertial pos="-0.0013541 -0.014654 0.077539" quat="0.694188 0.089687 -0.0718626 0.710559" mass="0.61483" diaginertia="0.00144386 0.00122472 0.000433274"/>
<joint name="right_leg_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.05 1.05" class="leg_joint_param"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="right_leg_yaw_link"/>
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="right_leg_yaw_link" class="visualgeom"/>
<body name="right_leg_pitch_link" pos="0 0 0.1455" quat="0.683011 0.683014 0.183013 -0.183013">
<inertial pos="-0.00145653 0.0840665 -0.00696826" quat="0.509055 0.479076 -0.531484 0.478407" mass="6.33083" diaginertia="0.0360879 0.0283825 0.00990778"/>
<joint name="right_leg_pitch_joint" pos="0 0 0" axis="0 0 -1" range="-1.31 1.57" class="leg_joint_param"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="right_leg_pitch_link"/>
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="right_leg_pitch_link" class="visualgeom"/>
<geom pos="-0.006 0.1401 0" quat="0.999762 0 0 -0.0218148" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="right_knee_motor_link"/>
<geom pos="-0.006 0.1401 0" quat="0.999762 0 0 -0.0218148" type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="right_knee_motor_link" class="visualgeom"/>
<geom pos="0.0389572 0.138137 0" quat="0.718792 0 0 0.695225" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="right_knee_linkage_link"/>
<geom pos="0.0389572 0.138137 0" quat="0.718792 0 0 0.695225" type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="right_knee_linkage_link" class="visualgeom"/>
<body name="right_knee_link" pos="0 0.32 0" quat="0.866025 0 0 0.500001">
<inertial pos="0.0128674 0.112364 -7.51069e-05" quat="0.446371 0.494396 -0.509902 0.544357" mass="2.41038" diaginertia="0.0111576 0.0108989 0.00195973"/>
<joint name="right_knee_joint" pos="0 0 0" axis="0 0 1" range="-1.1 1.05" class="leg_joint_param"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="right_knee_link"/>
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="right_knee_link" class="visualgeom"/>
<geom pos="0.015 0.052915 -0.023" quat="-3.76927e-07 0.102615 0.994721 -3.65381e-06" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="right_ankle_pitch_motor1_link"/>
<geom pos="0.015 0.052915 -0.023" quat="-3.76927e-07 0.102615 0.994721 -3.65381e-06" type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="right_ankle_pitch_motor1_link" class="visualgeom"/>
<geom pos="-0.0290523 0.0621016 -0.023" quat="1.98497e-06 0.700784 0.713373 -3.09068e-06" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="right_ankle_pitch_linkage1_link"/>
<geom pos="-0.0290523 0.0621016 -0.023" quat="1.98497e-06 0.700784 0.713373 -3.09068e-06" type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="right_ankle_pitch_linkage1_link" class="visualgeom"/>
<geom pos="0.0175 0.12287 0.023" quat="0.104157 0 0 0.994561" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="right_ankle_pitch_motor2_link"/>
<geom pos="0.0175 0.12287 0.023" quat="0.104157 0 0 0.994561" type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="right_ankle_pitch_motor2_link" class="visualgeom"/>
<geom pos="-0.0265236 0.132193 0.023" quat="0.693904 0 0 0.720068" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="right_ankle_pitch_linkage2_link"/>
<geom pos="-0.0265236 0.132193 0.023" quat="0.693904 0 0 0.720068" type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="right_ankle_pitch_linkage2_link" class="visualgeom"/>
<body name="right_ankle_pitch_link" pos="0 0.32 0" quat="-3.54804e-06 0.965926 -0.25882 9.50698e-07">
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.099" diaginertia="1.89085e-05 1.89085e-05 4.40457e-06"/>
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 0 1" range="-0.87 0.7" class="leg_joint_param" frictionloss="0.05"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="right_ankle_pitch_link"/>
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="right_ankle_pitch_link" class="visualgeom"/>
<body name="right_ankle_roll_link" quat="0.707105 0 0.707108 0">
<inertial pos="0.000662319 -0.0335772 0.0258065" quat="0.716923 0.00189951 -0.00795253 0.697104" mass="0.343505" diaginertia="0.000990197 0.000849186 0.000180894"/>
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="0 0 1" range="-0.44 0.44" class="leg_joint_param" frictionloss="0.05"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="right_ankle_roll_link"/>
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="right_ankle_roll_link" />
<geom pos="0 -0.056 0" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="right_foot_ee_link"/>
<geom pos="0 -0.056 0" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="right_foot_ee_link" class="visualgeom"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="left_leg_roll_joint" joint="left_leg_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="left_leg_yaw_joint" joint="left_leg_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="left_leg_pitch_joint" joint="left_leg_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="left_knee_joint" joint="left_knee_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="right_leg_roll_joint" joint="right_leg_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="right_leg_yaw_joint" joint="right_leg_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="right_leg_pitch_joint" joint="right_leg_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="right_knee_joint" joint="right_knee_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
</actuator>
<sensor>
<actuatorpos name='left_leg_roll_joint_p' actuator='left_leg_roll_joint' user='13'/>
<actuatorpos name='left_leg_yaw_joint_p' actuator='left_leg_yaw_joint' user='13'/>
<actuatorpos name='left_leg_pitch_joint_p' actuator='left_leg_pitch_joint' user='13'/>
<actuatorpos name='left_knee_joint_p' actuator='left_knee_joint' user='13'/>
<actuatorpos name='left_ankle_pitch_joint_p' actuator='left_ankle_pitch_joint' user='13'/>
<actuatorpos name='left_ankle_roll_joint_p' actuator='left_ankle_roll_joint' user='13'/>
<actuatorpos name='right_leg_roll_joint_p' actuator='right_leg_roll_joint' user='13'/>
<actuatorpos name='right_leg_yaw_joint_p' actuator='right_leg_yaw_joint' user='13'/>
<actuatorpos name='right_leg_pitch_joint_p' actuator='right_leg_pitch_joint' user='13'/>
<actuatorpos name='right_knee_joint_p' actuator='right_knee_joint' user='13'/>
<actuatorpos name='right_ankle_pitch_joint_p' actuator='right_ankle_pitch_joint' user='13'/>
<actuatorpos name='right_ankle_roll_joint_p' actuator='right_ankle_roll_joint' user='13'/>
<actuatorvel name='left_leg_roll_joint_v' actuator='left_leg_roll_joint' user='13'/>
<actuatorvel name='left_leg_yaw_joint_v' actuator='left_leg_yaw_joint' user='13'/>
<actuatorvel name='left_leg_pitch_joint_v' actuator='left_leg_pitch_joint' user='13'/>
<actuatorvel name='left_knee_joint_v' actuator='left_knee_joint' user='13'/>
<actuatorvel name='left_ankle_pitch_joint_v' actuator='left_ankle_pitch_joint' user='13'/>
<actuatorvel name='left_ankle_roll_joint_v' actuator='left_ankle_roll_joint' user='13'/>
<actuatorvel name='right_leg_roll_joint_v' actuator='right_leg_roll_joint' user='13'/>
<actuatorvel name='right_leg_yaw_joint_v' actuator='right_leg_yaw_joint' user='13'/>
<actuatorvel name='right_leg_pitch_joint_v' actuator='right_leg_pitch_joint' user='13'/>
<actuatorvel name='right_knee_joint_v' actuator='right_knee_joint' user='13'/>
<actuatorvel name='right_ankle_pitch_joint_v' actuator='right_ankle_pitch_joint' user='13'/>
<actuatorvel name='right_ankle_roll_joint_v' actuator='right_ankle_roll_joint' user='13'/>
<actuatorfrc name='left_leg_roll_joint_f' actuator='left_leg_roll_joint' user='13' noise='1e-3'/>
<actuatorfrc name='left_leg_yaw_joint_f' actuator='left_leg_yaw_joint' user='13' noise='1e-3'/>
<actuatorfrc name='left_leg_pitch_joint_f' actuator='left_leg_pitch_joint' user='13' noise='1e-3'/>
<actuatorfrc name='left_knee_joint_f' actuator='left_knee_joint' user='13' noise='1e-3'/>
<actuatorfrc name='left_ankle_pitch_joint_f' actuator='left_ankle_pitch_joint' user='13' noise='1e-3'/>
<actuatorfrc name='left_ankle_roll_joint_f' actuator='left_ankle_roll_joint' user='13' noise='1e-3'/>
<actuatorfrc name='right_leg_roll_joint_f' actuator='right_leg_roll_joint' user='13' noise='1e-3'/>
<actuatorfrc name='right_leg_yaw_joint_f' actuator='right_leg_yaw_joint' user='13' noise='1e-3'/>
<actuatorfrc name='right_leg_pitch_joint_f' actuator='right_leg_pitch_joint' user='13' noise='1e-3'/>
<actuatorfrc name='right_knee_joint_f' actuator='right_knee_joint' user='13' noise='1e-3'/>
<actuatorfrc name='right_ankle_pitch_joint_f' actuator='right_ankle_pitch_joint' user='13' noise='1e-3'/>
<actuatorfrc name='right_ankle_roll_joint_f' actuator='right_ankle_roll_joint' user='13' noise='1e-3'/>
<framequat name='orientation' objtype='site' noise='0.001' objname='imu'/>
<framepos name='position' objtype='site' noise='0.001' objname='imu'/>
<gyro name='angular-velocity' site='imu' noise='0.005' cutoff='34.9'/>
<velocimeter name='linear-velocity' site='imu' noise='0.001' cutoff='30'/>
<accelerometer name='linear-acceleration' site='imu' noise='0.005' cutoff='157'/>
<magnetometer name='magnetometer' site='imu'/>
</sensor>
</mujoco>
|
<mujoco model="XBot-L">
<compiler angle="radian" meshdir="../meshes/" eulerseq="zyx"/>
<option timestep='0.001' iterations='50' solver='PGS' gravity='0 0 -9.81'>
<flag sensornoise="enable" frictionloss="enable"/>
</option>
<size njmax="500" nconmax="100" />
<visual>
<quality shadowsize='4096'/>
<map znear='0.05'/>
</visual>
<default>
<joint limited='true'/>
<motor ctrllimited='true'/>
<geom condim='4' contype="1" conaffinity="15" solref='0.001 2' friction='0.9 0.2 0.2'/>
<equality solref='0.001 2'/>
<default class='visualgeom'>
<geom material='visualgeom' condim='1' contype='0' conaffinity='0'/>
</default>
<default class='visualgeom2'>
<geom material='visualgeom2' condim='1' contype='0' conaffinity='0'/>
</default>
<default class='obstacle'>
<geom material='obstacle' condim='3' contype='1' conaffinity='15'/>
</default>
<default class='neck_joint_param'>
<joint damping="0.01" frictionloss="0.01" armature="0.01"/>
</default>
<default class='waist_joint_param'>
<joint damping="2" frictionloss="2" armature="0.01"/>
</default>
<default class='leg_joint_param'>
<joint damping="0.01" frictionloss="0.01" armature="0.01"/>
</default>
<default class='arm_joint_param'>
<joint damping="1" frictionloss="1" armature="0.01"/>
</default>
<default class='finger_joint_param'>
<joint damping="0.00" frictionloss="0.00" armature="0.01"/>
</default>
</default>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<texture name="texplane2" type="2d" builtin="checker" rgb1="1 0.3137 0.1843" rgb2="0.0 0.30196 0.38039"
width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<material name="matplane" reflectance="0." texture="texplane" texrepeat="1 1" texuniform="true"/>
<material name="matplane2" reflectance="0.1" texture="texplane2" texrepeat="1 1" texuniform="true"/>
<material name='obstacle' rgba='0.9 0.6 0.2 1'/>
<material name='visualgeom' rgba='0.5 0.9 0.2 1'/>
<material name='visualgeom2' rgba='0.5 0.9 0.2 1'/>
<mesh name="base_link" file="base_link.STL"/>
<mesh name="neck_base_link" file="neck_base_link.STL"/>
<mesh name="neck_yaw_link" file="neck_yaw_link.STL"/>
<mesh name="neck_pitch_link" file="neck_pitch_link.STL"/>
<mesh name="realsense_link" file="realsense_link.STL"/>
<mesh name="left_arm_base_link" file="left_arm_base_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_arm_yaw_link" file="left_arm_yaw_link.STL"/>
<mesh name="left_elbow_pitch_link" file="left_elbow_pitch_link.STL"/>
<mesh name="left_elbow_yaw_link" file="left_elbow_yaw_link.STL"/>
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
<mesh name="right_arm_base_link" file="right_arm_base_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_arm_yaw_link" file="right_arm_yaw_link.STL"/>
<mesh name="right_elbow_pitch_link" file="right_elbow_pitch_link.STL"/>
<mesh name="right_elbow_yaw_link" file="right_elbow_yaw_link.STL"/>
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
<mesh name="waist_yaw_link" file="waist_yaw_link.STL"/>
<mesh name="waist_roll_link" file="waist_roll_link.STL"/>
<mesh name="left_leg_roll_link" file="left_leg_roll_link.STL"/>
<mesh name="left_leg_yaw_link" file="left_leg_yaw_link.STL"/>
<mesh name="left_leg_pitch_link" file="left_leg_pitch_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="left_foot_ee_link" file="left_foot_ee_link.STL"/>
<mesh name="left_ankle_pitch_motor1_link" file="left_ankle_pitch_motor1_link.STL"/>
<mesh name="left_ankle_pitch_linkage1_link" file="left_ankle_pitch_linkage1_link.STL"/>
<mesh name="left_ankle_pitch_motor2_link" file="left_ankle_pitch_motor2_link.STL"/>
<mesh name="left_ankle_pitch_linkage2_link" file="left_ankle_pitch_linkage2_link.STL"/>
<mesh name="left_knee_motor_link" file="left_knee_motor_link.STL"/>
<mesh name="left_knee_linkage_link" file="left_knee_linkage_link.STL"/>
<mesh name="right_leg_roll_link" file="right_leg_roll_link.STL"/>
<mesh name="right_leg_yaw_link" file="right_leg_yaw_link.STL"/>
<mesh name="right_leg_pitch_link" file="right_leg_pitch_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="right_foot_ee_link" file="right_foot_ee_link.STL"/>
<mesh name="right_ankle_pitch_motor1_link" file="right_ankle_pitch_motor1_link.STL"/>
<mesh name="right_ankle_pitch_linkage1_link" file="right_ankle_pitch_linkage1_link.STL"/>
<mesh name="right_ankle_pitch_motor2_link" file="right_ankle_pitch_motor2_link.STL"/>
<mesh name="right_ankle_pitch_linkage2_link" file="right_ankle_pitch_linkage2_link.STL"/>
<mesh name="right_knee_motor_link" file="right_knee_motor_link.STL"/>
<mesh name="right_knee_linkage_link" file="right_knee_linkage_link.STL"/>
<mesh name="left_hand_link" file="left_hand_link.STL"/>
<mesh name="left_hand_thumb_bend_link" file="left_hand_thumb_bend_link.STL"/>
<mesh name="left_hand_thumb_rota_link1" file="left_hand_thumb_rota_link1.STL"/>
<mesh name="left_hand_thumb_rota_link2" file="left_hand_thumb_rota_link2.STL"/>
<mesh name="left_hand_thumb_tip" file="left_hand_thumb_tip.STL"/>
<mesh name="left_hand_index_rota_link1" file="left_hand_index_rota_link1.STL"/>
<mesh name="left_hand_index_rota_link2" file="left_hand_index_rota_link2.STL"/>
<mesh name="left_hand_index_tip" file="left_hand_index_tip.STL"/>
<mesh name="left_hand_mid_link1" file="left_hand_mid_link1.STL"/>
<mesh name="left_hand_mid_link2" file="left_hand_mid_link2.STL"/>
<mesh name="left_hand_mid_tip" file="left_hand_mid_tip.STL"/>
<mesh name="left_hand_ring_link1" file="left_hand_ring_link1.STL"/>
<mesh name="left_hand_ring_link2" file="left_hand_ring_link2.STL"/>
<mesh name="left_hand_ring_tip" file="left_hand_ring_tip.STL"/>
<mesh name="left_hand_pinky_link1" file="left_hand_pinky_link1.STL"/>
<mesh name="left_hand_pinky_link2" file="left_hand_pinky_link2.STL"/>
<mesh name="left_hand_pinky_tip" file="left_hand_pinky_tip.STL"/>
<mesh name="left_hand_ee_link" file="left_hand_ee_link.STL"/>
<mesh name="right_hand_link" file="right_hand_link.STL"/>
<mesh name="right_hand_thumb_bend_link" file="right_hand_thumb_bend_link.STL"/>
<mesh name="right_hand_thumb_rota_link1" file="right_hand_thumb_rota_link1.STL"/>
<mesh name="right_hand_thumb_rota_link2" file="right_hand_thumb_rota_link2.STL"/>
<mesh name="right_hand_thumb_rota_tip" file="right_hand_thumb_rota_tip.STL"/>
<mesh name="right_hand_mid_link1" file="right_hand_mid_link1.STL"/>
<mesh name="right_hand_mid_link2" file="right_hand_mid_link2.STL"/>
<mesh name="right_hand_mid_tip" file="right_hand_mid_tip.STL"/>
<mesh name="right_hand_ring_link1" file="right_hand_ring_link1.STL"/>
<mesh name="right_hand_ring_link2" file="right_hand_ring_link2.STL"/>
<mesh name="right_hand_ring_tip" file="right_hand_ring_tip.STL"/>
<mesh name="right_hand_pinky_link1" file="right_hand_pinky_link1.STL"/>
<mesh name="right_hand_pinky_link2" file="right_hand_pinky_link2.STL"/>
<mesh name="right_hand_pinky_tip" file="right_hand_pinky_tip.STL"/>
<mesh name="right_hand_ee_link" file="right_hand_ee_link.STL"/>
<mesh name="right_hand_index_rota_link1" file="right_hand_index_rota_link1.STL"/>
<mesh name="right_hand_index_rota_link2" file="right_hand_index_rota_link2.STL"/>
<mesh name="right_hand_index_tip" file="right_hand_index_tip.STL"/>
<hfield name='hf0' nrow='200' ncol='200' size="10 5 0.2 .1"/>
</asset>
<worldbody>
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<light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="right_hand_ring_link1"/>
<geom type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="right_hand_ring_link1"/>
<body name="right_hand_ring_link2" pos="0 0 -0.06525">
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="right_hand_ring_link2"/>
<geom type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="right_hand_ring_link2"/>
<geom pos="0 0 -0.0532474" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="right_hand_ring_tip"/>
<geom pos="0 0 -0.0532474" type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="right_hand_ring_tip"/>
</body>
</body>
<body name="right_hand_pinky_link1" pos="-0.04267 -0.008 0.2127" quat="0 -1 2.67949e-08 2.67949e-08">
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="right_hand_pinky_link1"/>
<geom type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="right_hand_pinky_link1"/>
<body name="right_hand_pinky_link2" pos="0 0 -0.06525">
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="right_hand_pinky_link2"/>
<geom type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="right_hand_pinky_link2"/>
<geom pos="0 0 -0.053247" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="right_hand_pinky_tip"/>
<geom pos="0 0 -0.053247" type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="right_hand_pinky_tip"/>
</body>
</body>
<body name="right_hand_index_rota_link1" pos="0 0 -0.0087">
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="right_hand_index_rota_link1"/>
<geom type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="right_hand_index_rota_link1"/>
<body name="right_hand_index_rota_link2" pos="0 0 -0.06675">
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="right_hand_index_rota_link2"/>
<geom type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="right_hand_index_rota_link2"/>
<geom pos="0 0 -0.053247" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="right_hand_index_tip"/>
<geom pos="0 0 -0.053247" type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="right_hand_index_tip"/>
</body>
</body>
<!-- </body> -->
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="waist_yaw_link" pos="0 0 -0.0975">
<inertial pos="0.0018236 3.106e-08 0.015461" quat="0.489087 0.48906 -0.510705 0.51068" mass="1.9214" diaginertia="0.00436856 0.00326474 0.0027745"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="waist_yaw_link"/>
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="waist_yaw_link" class="visualgeom"/>
<body name="waist_roll_link" quat="0.499998 0.5 0.500002 0.5">
<inertial pos="-8.7577e-07 -0.020553 -0.088247" quat="-0.00133962 0.707094 -0.00133967 0.707117" mass="5.1053" diaginertia="0.014655 0.011425 0.0067829"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.25098 0.25098 0.25098 1" mesh="waist_roll_link" />
<geom type="mesh" rgba="0.25098 0.25098 0.25098 1" mesh="waist_roll_link" class="visualgeom"/>
<body name="left_leg_roll_link" pos="0.117 -0.032 0" quat="0.707105 0 0 -0.707108">
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<joint name="left_leg_roll_joint" pos="0 0 0" axis="0 0 1" range="-0.44 1.57" class="leg_joint_param"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="left_leg_roll_link" />
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="left_leg_roll_link" class="visualgeom"/>
<body name="left_leg_yaw_link" quat="-2.59734e-06 0.707105 2.59735e-06 0.707108">
<inertial pos="-0.0013538 0.014654 0.077538" quat="0.710561 -0.0718629 0.0896866 0.694186" mass="0.61484" diaginertia="0.00144386 0.00122472 0.000433274"/>
<joint name="left_leg_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.05 1.05" class="leg_joint_param"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="left_leg_yaw_link"/>
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="left_leg_yaw_link" class="visualgeom"/>
<body name="left_leg_pitch_link" pos="0 0 0.1455" quat="0.683011 -0.683014 0.183013 0.183013">
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<joint name="left_leg_pitch_joint" pos="0 0 0" axis="0 0 -1" range="-1.57 1.31" class="leg_joint_param"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="left_leg_pitch_link"/>
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="left_leg_pitch_link" class="visualgeom"/>
<geom pos="-0.006 -0.1401 0" quat="0.999762 0 0 0.0218148" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="left_knee_motor_link"/>
<geom pos="-0.006 -0.1401 0" quat="0.999762 0 0 0.0218148" type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="left_knee_motor_link" class="visualgeom"/>
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<body name="left_knee_link" pos="0 -0.32 0" quat="0.866025 0 0 -0.500001">
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<joint name="left_knee_joint" pos="0 0 0" axis="0 0 1" range="-1.05 1.1" class="leg_joint_param"/>
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<body name="left_ankle_pitch_link" pos="0 -0.32 0" quat="-3.54804e-06 0.965926 0.25882 -9.50698e-07">
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<joint name="left_ankle_roll_joint" pos="0 0 0" axis="0 0 1" range="-0.44 0.44" class="leg_joint_param" frictionloss="0.05"/>
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<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="left_ankle_roll_link" />
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<geom pos="0 -0.056 0" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="left_foot_ee_link" class="visualgeom"/>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_leg_roll_link" pos="-0.117 -0.032 0" quat="0.707105 0 0 -0.707108">
<inertial pos="-0.0048592 0.00012789 -0.0028082" quat="0.999888 -6.85124e-05 -0.014951 -0.000155902" mass="1.7968" diaginertia="0.00366104 0.0026951 0.00249986"/>
<joint name="right_leg_roll_joint" pos="0 0 0" axis="0 0 1" range="-1.57 0.44" class="leg_joint_param"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="right_leg_roll_link"/>
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="right_leg_roll_link" class="visualgeom"/>
<body name="right_leg_yaw_link" quat="-2.59734e-06 0.707105 2.59735e-06 0.707108">
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<joint name="right_leg_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.05 1.05" class="leg_joint_param"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="right_leg_yaw_link"/>
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<body name="right_leg_pitch_link" pos="0 0 0.1455" quat="0.683011 0.683014 0.183013 -0.183013">
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<joint name="right_leg_pitch_joint" pos="0 0 0" axis="0 0 -1" range="-1.31 1.57" class="leg_joint_param"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="right_leg_pitch_link"/>
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="right_leg_pitch_link" class="visualgeom"/>
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<body name="right_knee_link" pos="0 0.32 0" quat="0.866025 0 0 0.500001">
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<joint name="right_knee_joint" pos="0 0 0" axis="0 0 1" range="-1.1 1.05" class="leg_joint_param"/>
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<geom pos="0.015 0.052915 -0.023" quat="-3.76927e-07 0.102615 0.994721 -3.65381e-06" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="right_ankle_pitch_motor1_link"/>
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<body name="right_ankle_pitch_link" pos="0 0.32 0" quat="-3.54804e-06 0.965926 -0.25882 9.50698e-07">
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.099" diaginertia="1.89085e-05 1.89085e-05 4.40457e-06"/>
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 0 1" range="-0.87 0.7" class="leg_joint_param" frictionloss="0.05"/>
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<body name="right_ankle_roll_link" quat="0.707105 0 0.707108 0">
<inertial pos="0.000662319 -0.0335772 0.0258065" quat="0.716923 0.00189951 -0.00795253 0.697104" mass="0.343505" diaginertia="0.000990197 0.000849186 0.000180894"/>
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="0 0 1" range="-0.44 0.44" class="leg_joint_param" frictionloss="0.05"/>
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<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="right_ankle_roll_link" />
<geom pos="0 -0.056 0" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="right_foot_ee_link"/>
<geom pos="0 -0.056 0" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="right_foot_ee_link" class="visualgeom"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="left_leg_roll_joint" joint="left_leg_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="left_leg_yaw_joint" joint="left_leg_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="left_leg_pitch_joint" joint="left_leg_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="left_knee_joint" joint="left_knee_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="right_leg_roll_joint" joint="right_leg_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="right_leg_yaw_joint" joint="right_leg_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="right_leg_pitch_joint" joint="right_leg_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="right_knee_joint" joint="right_knee_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200"/>
</actuator>
<sensor>
<actuatorpos name='left_leg_roll_joint_p' actuator='left_leg_roll_joint' user='13'/>
<actuatorpos name='left_leg_yaw_joint_p' actuator='left_leg_yaw_joint' user='13'/>
<actuatorpos name='left_leg_pitch_joint_p' actuator='left_leg_pitch_joint' user='13'/>
<actuatorpos name='left_knee_joint_p' actuator='left_knee_joint' user='13'/>
<actuatorpos name='left_ankle_pitch_joint_p' actuator='left_ankle_pitch_joint' user='13'/>
<actuatorpos name='left_ankle_roll_joint_p' actuator='left_ankle_roll_joint' user='13'/>
<actuatorpos name='right_leg_roll_joint_p' actuator='right_leg_roll_joint' user='13'/>
<actuatorpos name='right_leg_yaw_joint_p' actuator='right_leg_yaw_joint' user='13'/>
<actuatorpos name='right_leg_pitch_joint_p' actuator='right_leg_pitch_joint' user='13'/>
<actuatorpos name='right_knee_joint_p' actuator='right_knee_joint' user='13'/>
<actuatorpos name='right_ankle_pitch_joint_p' actuator='right_ankle_pitch_joint' user='13'/>
<actuatorpos name='right_ankle_roll_joint_p' actuator='right_ankle_roll_joint' user='13'/>
<actuatorvel name='left_leg_roll_joint_v' actuator='left_leg_roll_joint' user='13'/>
<actuatorvel name='left_leg_yaw_joint_v' actuator='left_leg_yaw_joint' user='13'/>
<actuatorvel name='left_leg_pitch_joint_v' actuator='left_leg_pitch_joint' user='13'/>
<actuatorvel name='left_knee_joint_v' actuator='left_knee_joint' user='13'/>
<actuatorvel name='left_ankle_pitch_joint_v' actuator='left_ankle_pitch_joint' user='13'/>
<actuatorvel name='left_ankle_roll_joint_v' actuator='left_ankle_roll_joint' user='13'/>
<actuatorvel name='right_leg_roll_joint_v' actuator='right_leg_roll_joint' user='13'/>
<actuatorvel name='right_leg_yaw_joint_v' actuator='right_leg_yaw_joint' user='13'/>
<actuatorvel name='right_leg_pitch_joint_v' actuator='right_leg_pitch_joint' user='13'/>
<actuatorvel name='right_knee_joint_v' actuator='right_knee_joint' user='13'/>
<actuatorvel name='right_ankle_pitch_joint_v' actuator='right_ankle_pitch_joint' user='13'/>
<actuatorvel name='right_ankle_roll_joint_v' actuator='right_ankle_roll_joint' user='13'/>
<actuatorfrc name='left_leg_roll_joint_f' actuator='left_leg_roll_joint' user='13' noise='1e-3'/>
<actuatorfrc name='left_leg_yaw_joint_f' actuator='left_leg_yaw_joint' user='13' noise='1e-3'/>
<actuatorfrc name='left_leg_pitch_joint_f' actuator='left_leg_pitch_joint' user='13' noise='1e-3'/>
<actuatorfrc name='left_knee_joint_f' actuator='left_knee_joint' user='13' noise='1e-3'/>
<actuatorfrc name='left_ankle_pitch_joint_f' actuator='left_ankle_pitch_joint' user='13' noise='1e-3'/>
<actuatorfrc name='left_ankle_roll_joint_f' actuator='left_ankle_roll_joint' user='13' noise='1e-3'/>
<actuatorfrc name='right_leg_roll_joint_f' actuator='right_leg_roll_joint' user='13' noise='1e-3'/>
<actuatorfrc name='right_leg_yaw_joint_f' actuator='right_leg_yaw_joint' user='13' noise='1e-3'/>
<actuatorfrc name='right_leg_pitch_joint_f' actuator='right_leg_pitch_joint' user='13' noise='1e-3'/>
<actuatorfrc name='right_knee_joint_f' actuator='right_knee_joint' user='13' noise='1e-3'/>
<actuatorfrc name='right_ankle_pitch_joint_f' actuator='right_ankle_pitch_joint' user='13' noise='1e-3'/>
<actuatorfrc name='right_ankle_roll_joint_f' actuator='right_ankle_roll_joint' user='13' noise='1e-3'/>
<framequat name='orientation' objtype='site' noise='0.001' objname='imu'/>
<framepos name='position' objtype='site' noise='0.001' objname='imu'/>
<gyro name='angular-velocity' site='imu' noise='0.005' cutoff='34.9'/>
<velocimeter name='linear-velocity' site='imu' noise='0.001' cutoff='30'/>
<accelerometer name='linear-acceleration' site='imu' noise='0.005' cutoff='157'/>
<magnetometer name='magnetometer' site='imu'/>
</sensor>
</mujoco>
|
<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"/>
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<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"/>
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<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
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<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"/>
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<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
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<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"/>
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<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" actuatorfrcrange="-88 88"/>
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<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
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<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
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<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
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<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
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<body name="left_ankle_roll_link" pos="0 0 -0.017558">
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</body>
</body>
</body>
</body>
</body>
</body>
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<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" actuatorfrcrange="-139 139"/>
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<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
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<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" actuatorfrcrange="-50 50"/>
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<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">
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<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"/>
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</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>
|
<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> |
<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> |
"<mujoco model=\"g1_29dof\">\n <compiler angle=\"radian\" meshdir=\"meshes\"/>\n\n <asset>\n <m(...TRUNCATED) |
"<mujoco model=\"g1_29dof_lock_waist\">\n <compiler angle=\"radian\" meshdir=\"meshes\"/>\n\n <ass(...TRUNCATED) |
"<mujoco model=\"g1_29dof_lock_waist_rev_1_0\">\n <compiler angle=\"radian\" meshdir=\"meshes\"/>\n(...TRUNCATED) |
"<mujoco model=\"g1_29dof_rev_1_0\">\n <compiler angle=\"radian\" meshdir=\"meshes\"/>\n\n <asset>(...TRUNCATED) |
"<mujoco model=\"g1_29dof_with_hand\">\n <compiler angle=\"radian\" meshdir=\"meshes\"/>\n\n <asse(...TRUNCATED) |
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