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meiqi
2026-03-27 16:10:51 +08:00
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<mujoco model="evt2">
<compiler angle="radian" meshdir="../meshes_new/"/>
<option integrator="implicitfast" timestep='0.001' iterations='100' solver='CG' gravity='0 0 -9.81'>
<flag contact="enable" energy="enable"/>
</option>
<!-- 禁用位置传感器 -->
<option actuatorgroupdisable="0 1 3"/>
<default>
<default class="large_actuator">
<position kp="2000" kv="100" forcerange="-105 105"/>
</default>
<default class="small_actuator">
<position kp="500" kv="50" forcerange="-52 52"/>
</default>
</default>
<default>
<default class="arm_motor">
<joint damping="1" armature="0.1" frictionloss="0.1"/>
</default>
<default class="wrist_motor">
<joint damping="1" armature="0.0236" frictionloss="0.1"/>
</default>
<default class="waist_motor">
<joint damping="1" armature="0.17" frictionloss="0.1"/>
</default>
<default class="hip_pitch_motor">
<joint damping="1" armature="0.24" frictionloss="0.1"/>
</default>
<default class="hip_roll_motor">
<joint damping="1" armature="0.24" frictionloss="0.1"/>
</default>
<default class="hip_yaw_motor">
<joint damping="1" armature="0.18" frictionloss="0.1"/>
</default>
<default class="knee_motor">
<joint damping="1" armature="0.37" frictionloss="0.1"/>
</default>
<default class="ankle_motor">
<joint damping="1" armature="0.032" frictionloss="0.1"/>
</default>
</default>
<actuator>
<!-- 位置控制器（pos_前缀） -->
<!-- 左腿关节驱动器 -->
<position class="large_actuator" name="pos_hip_pitch_l_joint" joint="hip_pitch_l_joint" ctrlrange="-3.14159 3.14159" group="0"/>
<position class="large_actuator" name="pos_hip_roll_l_joint" joint="hip_roll_l_joint" ctrlrange="-0.5236 2.618" group="0"/>
<position class="large_actuator" name="pos_hip_yaw_l_joint" joint="hip_yaw_l_joint" ctrlrange="-1.5708 4.5379" group="0"/>
<position class="large_actuator" name="pos_knee_pitch_l_joint" joint="knee_pitch_l_joint" ctrlrange="-0.0873 2.4435" group="0"/>
<position class="large_actuator" name="pos_ankle_pitch_l_joint" joint="ankle_pitch_l_joint" ctrlrange="-1.2217 0.5236" group="0"/>
<position class="small_actuator" name="pos_ankle_roll_l_joint" joint="ankle_roll_l_joint" ctrlrange="-0.5236 0.5236" group="0"/>
<!-- 右腿关节驱动器 -->
<position class="large_actuator" name="pos_hip_pitch_r_joint" joint="hip_pitch_r_joint" ctrlrange="-3.14159 3.14159" group="0"/>
<position class="large_actuator" name="pos_hip_roll_r_joint" joint="hip_roll_r_joint" ctrlrange="-2.618 0.5236" group="0"/>
<position class="large_actuator" name="pos_hip_yaw_r_joint" joint="hip_yaw_r_joint" ctrlrange="-4.5379 1.5708" group="0"/>
<position class="large_actuator" name="pos_knee_pitch_r_joint" joint="knee_pitch_r_joint" ctrlrange="-0.0873 2.4435" group="0"/>
<position class="large_actuator" name="pos_ankle_pitch_r_joint" joint="ankle_pitch_r_joint" ctrlrange="-1.2217 0.5236" group="0"/>
<position class="small_actuator" name="pos_ankle_roll_r_joint" joint="ankle_roll_r_joint" ctrlrange="-0.5236 0.5236" group="0"/>
<!-- 腰部关节驱动器 -->
<position class="large_actuator" name="pos_waist_yaw_joint" joint="waist_yaw_joint" ctrlrange="-2.9671 3.1416" group="1"/>
<position class="large_actuator" name="pos_waist_roll_joint" joint="waist_roll_joint" ctrlrange="-0.5236 0.5236" group="1"/>
<position class="large_actuator" name="pos_waist_pitch_joint" joint="waist_pitch_joint" ctrlrange="-0.5236 1.0472" group="1"/>
<!-- 上肢关节驱动器 -->
<position class="large_actuator" name="pos_shoulder_pitch_l_joint" joint="shoulder_pitch_l_joint" ctrlrange="-2.9671 2.9671" group="3"/>
<position class="large_actuator" name="pos_shoulder_roll_l_joint" joint="shoulder_roll_l_joint" ctrlrange="-0.2618 3.4034" group="3"/>
<position class="large_actuator" name="pos_shoulder_yaw_l_joint" joint="shoulder_yaw_l_joint" ctrlrange="-2.9671 2.9671" group="3" />
<position class="large_actuator" name="pos_elbow_pitch_l_joint" joint="elbow_pitch_l_joint" ctrlrange="-2.618 0.2618" group="3"/>
<position class="large_actuator" name="pos_elbow_yaw_l_joint" joint="elbow_yaw_l_joint" ctrlrange="-2.9671 2.9671" group="3"/>
<position class="large_actuator" name="pos_wrist_pitch_l_joint" joint="wrist_pitch_l_joint" ctrlrange="-1.309 1.65806" group="3"/>
<position class="small_actuator" name="pos_wrist_roll_l_joint" joint="wrist_roll_l_joint" ctrlrange="-1.0472 0.7854" group="3"/>
<position class="large_actuator" name="pos_shoulder_pitch_r_joint" joint="shoulder_pitch_r_joint" ctrlrange="-2.9671 2.9671" group="3"/>
<position class="large_actuator" name="pos_shoulder_roll_r_joint" joint="shoulder_roll_r_joint" ctrlrange="-3.4034 0.2618" group="3"/>
<position class="large_actuator" name="pos_shoulder_yaw_r_joint" joint="shoulder_yaw_r_joint" ctrlrange="-2.9671 2.9671" group="3"/>
<position class="large_actuator" name="pos_elbow_pitch_r_joint" joint="elbow_pitch_r_joint" ctrlrange="-2.618 0.2618" group="3"/>
<position class="large_actuator" name="pos_elbow_yaw_r_joint" joint="elbow_yaw_r_joint" ctrlrange="-2.9671 2.9671" group="3"/>
<position class="large_actuator" name="pos_wrist_pitch_r_joint" joint="wrist_pitch_r_joint" ctrlrange="-1.309 1.65806" group="3"/>
<position class="small_actuator" name="pos_wrist_roll_r_joint" joint="wrist_roll_r_joint" ctrlrange="-0.7854 1.0472" group="3"/>
<!-- 力控制器（motor_前缀） -->
<!-- 左腿关节驱动器 -->
<motor name="motor_hip_pitch_l_joint" joint="hip_pitch_l_joint" ctrlrange="-200 200" group="2"/>
<motor name="motor_hip_roll_l_joint" joint="hip_roll_l_joint" ctrlrange="-200 200" group="2"/>
<motor name="motor_hip_yaw_l_joint" joint="hip_yaw_l_joint" ctrlrange="-142 142" group="2"/>
<motor name="motor_knee_pitch_l_joint" joint="knee_pitch_l_joint" ctrlrange="-330 330" group="2"/>
<motor name="motor_ankle_pitch_l_joint" joint="ankle_pitch_l_joint" ctrlrange="-100 100" group="2"/>
<motor name="motor_ankle_roll_l_joint" joint="ankle_roll_l_joint" ctrlrange="-50 50" group="2"/>
<!-- 右腿关节驱动器 -->
<motor name="motor_hip_pitch_r_joint" joint="hip_pitch_r_joint" ctrlrange="-200 200" group="2"/>
<motor name="motor_hip_roll_r_joint" joint="hip_roll_r_joint" ctrlrange="-200 200" group="2"/>
<motor name="motor_hip_yaw_r_joint" joint="hip_yaw_r_joint" ctrlrange="-142 142" group="2"/>
<motor name="motor_knee_pitch_r_joint" joint="knee_pitch_r_joint" ctrlrange="-330 330" group="2"/>
<motor name="motor_ankle_pitch_r_joint" joint="ankle_pitch_r_joint" ctrlrange="-100 100" group="2"/>
<motor name="motor_ankle_roll_r_joint" joint="ankle_roll_r_joint" ctrlrange="-50 50" group="2"/>
<!-- 腰部关节驱动器 -->
<motor name="motor_waist_yaw_joint" joint="waist_yaw_joint" ctrlrange="-91 91" group="2"/>
<motor name="motor_waist_roll_joint" joint="waist_roll_joint" ctrlrange="-91 91" group="2"/>
<motor name="motor_waist_pitch_joint" joint="waist_pitch_joint" ctrlrange="-91 91" group="2"/>
<!-- 上肢关节驱动器 -->
<motor name="motor_shoulder_pitch_l_joint" joint="shoulder_pitch_l_joint" ctrlrange="-90 90" group="2"/>
<motor name="motor_shoulder_roll_l_joint" joint="shoulder_roll_l_joint" ctrlrange="-60 60" group="2"/>
<motor name="motor_shoulder_yaw_l_joint" joint="shoulder_yaw_l_joint" ctrlrange="-36 36" group="2"/>
<motor name="motor_elbow_pitch_l_joint" joint="elbow_pitch_l_joint" ctrlrange="-60 60" group="2"/>
<motor name="motor_elbow_yaw_l_joint" joint="elbow_yaw_l_joint" ctrlrange="-36 36" group="2"/>
<motor name="motor_wrist_pitch_l_joint" joint="wrist_pitch_l_joint" ctrlrange="-36 36" group="2"/>
<motor name="motor_wrist_roll_l_joint" joint="wrist_roll_l_joint" ctrlrange="-36 36" group="2"/>
<motor name="motor_shoulder_pitch_r_joint" joint="shoulder_pitch_r_joint" ctrlrange="-90 90" group="2"/>
<motor name="motor_shoulder_roll_r_joint" joint="shoulder_roll_r_joint" ctrlrange="-60 60" group="2"/>
<motor name="motor_shoulder_yaw_r_joint" joint="shoulder_yaw_r_joint" ctrlrange="-36 36" group="2"/>
<motor name="motor_elbow_pitch_r_joint" joint="elbow_pitch_r_joint" ctrlrange="-60 60" group="2"/>
<motor name="motor_elbow_yaw_r_joint" joint="elbow_yaw_r_joint" ctrlrange="-36 36" group="2"/>
<motor name="motor_wrist_pitch_r_joint" joint="wrist_pitch_r_joint" ctrlrange="-36 36" group="2"/>
<motor name="motor_wrist_roll_r_joint" joint="wrist_roll_r_joint" ctrlrange="-36 36" group="2"/>
</actuator>
<sensor>
<!-- 左腿关节传感器 -->
<jointpos name="hip_pitch_l_joint_pos" joint="hip_pitch_l_joint"/>
<jointpos name="hip_roll_l_joint_pos" joint="hip_roll_l_joint"/>
<jointpos name="hip_yaw_l_joint_pos" joint="hip_yaw_l_joint"/>
<jointpos name="knee_pitch_l_joint_pos" joint="knee_pitch_l_joint"/>
<jointpos name="ankle_pitch_l_joint_pos" joint="ankle_pitch_l_joint"/>
<jointpos name="ankle_roll_l_joint_pos" joint="ankle_roll_l_joint"/>
<jointvel name="hip_pitch_l_joint_vel" joint="hip_pitch_l_joint"/>
<jointvel name="hip_roll_l_joint_vel" joint="hip_roll_l_joint"/>
<jointvel name="hip_yaw_l_joint_vel" joint="hip_yaw_l_joint"/>
<jointvel name="knee_pitch_l_joint_vel" joint="knee_pitch_l_joint"/>
<jointvel name="ankle_pitch_l_joint_vel" joint="ankle_pitch_l_joint"/>
<jointvel name="ankle_roll_l_joint_vel" joint="ankle_roll_l_joint"/>
<jointactuatorfrc name="hip_pitch_l_joint_torque" joint="hip_pitch_l_joint"/>
<jointactuatorfrc name="hip_roll_l_joint_torque" joint="hip_roll_l_joint"/>
<jointactuatorfrc name="hip_yaw_l_joint_torque" joint="hip_yaw_l_joint"/>
<jointactuatorfrc name="knee_pitch_l_joint_torque" joint="knee_pitch_l_joint"/>
<jointactuatorfrc name="ankle_pitch_l_joint_torque" joint="ankle_pitch_l_joint"/>
<jointactuatorfrc name="ankle_roll_l_joint_torque" joint="ankle_roll_l_joint"/>
<!-- 右腿关节传感器 -->
<jointpos name="hip_pitch_r_joint_pos" joint="hip_pitch_r_joint"/>
<jointpos name="hip_roll_r_joint_pos" joint="hip_roll_r_joint"/>
<jointpos name="hip_yaw_r_joint_pos" joint="hip_yaw_r_joint"/>
<jointpos name="knee_pitch_r_joint_pos" joint="knee_pitch_r_joint"/>
<jointpos name="ankle_pitch_r_joint_pos" joint="ankle_pitch_r_joint"/>
<jointpos name="ankle_roll_r_joint_pos" joint="ankle_roll_r_joint"/>
<jointvel name="hip_pitch_r_joint_vel" joint="hip_pitch_r_joint"/>
<jointvel name="hip_roll_r_joint_vel" joint="hip_roll_r_joint"/>
<jointvel name="hip_yaw_r_joint_vel" joint="hip_yaw_r_joint"/>
<jointvel name="knee_pitch_r_joint_vel" joint="knee_pitch_r_joint"/>
<jointvel name="ankle_pitch_r_joint_vel" joint="ankle_pitch_r_joint"/>
<jointvel name="ankle_roll_r_joint_vel" joint="ankle_roll_r_joint"/>
<jointactuatorfrc name="hip_pitch_r_joint_torque" joint="hip_pitch_r_joint"/>
<jointactuatorfrc name="hip_roll_r_joint_torque" joint="hip_roll_r_joint"/>
<jointactuatorfrc name="hip_yaw_r_joint_torque" joint="hip_yaw_r_joint"/>
<jointactuatorfrc name="knee_pitch_r_joint_torque" joint="knee_pitch_r_joint"/>
<jointactuatorfrc name="ankle_pitch_r_joint_torque" joint="ankle_pitch_r_joint"/>
<jointactuatorfrc name="ankle_roll_r_joint_torque" joint="ankle_roll_r_joint"/>
<!-- 腰部关节传感器 -->
<jointpos name="waist_yaw_joint_pos" joint="waist_yaw_joint"/>
<jointpos name="waist_roll_joint_pos" joint="waist_roll_joint"/>
<jointpos name="waist_pitch_joint_pos" joint="waist_pitch_joint"/>
<jointvel name="waist_yaw_joint_vel" joint="waist_yaw_joint"/>
<jointvel name="waist_roll_joint_vel" joint="waist_roll_joint"/>
<jointvel name="waist_pitch_joint_vel" joint="waist_pitch_joint"/>
<jointactuatorfrc name="waist_yaw_joint_torque" joint="waist_yaw_joint"/>
<jointactuatorfrc name="waist_roll_joint_torque" joint="waist_roll_joint"/>
<jointactuatorfrc name="waist_pitch_joint_torque" joint="waist_pitch_joint"/>
<!-- 左臂关节传感器 -->
<jointpos name="shoulder_pitch_l_joint_pos" joint="shoulder_pitch_l_joint"/>
<jointpos name="shoulder_roll_l_joint_pos" joint="shoulder_roll_l_joint"/>
<jointpos name="shoulder_yaw_l_joint_pos" joint="shoulder_yaw_l_joint"/>
<jointpos name="elbow_pitch_l_joint_pos" joint="elbow_pitch_l_joint"/>
<jointpos name="elbow_yaw_l_joint_pos" joint="elbow_yaw_l_joint"/>
<jointpos name="wrist_pitch_l_joint_pos" joint="wrist_pitch_l_joint"/>
<jointpos name="wrist_roll_l_joint_pos" joint="wrist_roll_l_joint"/>
<jointvel name="shoulder_pitch_l_joint_vel" joint="shoulder_pitch_l_joint"/>
<jointvel name="shoulder_roll_l_joint_vel" joint="shoulder_roll_l_joint"/>
<jointvel name="shoulder_yaw_l_joint_vel" joint="shoulder_yaw_l_joint"/>
<jointvel name="elbow_pitch_l_joint_vel" joint="elbow_pitch_l_joint"/>
<jointvel name="elbow_yaw_l_joint_vel" joint="elbow_yaw_l_joint"/>
<jointvel name="wrist_pitch_l_joint_vel" joint="wrist_pitch_l_joint"/>
<jointvel name="wrist_roll_l_joint_vel" joint="wrist_roll_l_joint"/>
<jointactuatorfrc name="shoulder_pitch_l_joint_torque" joint="shoulder_pitch_l_joint"/>
<jointactuatorfrc name="shoulder_roll_l_joint_torque" joint="shoulder_roll_l_joint"/>
<jointactuatorfrc name="shoulder_yaw_l_joint_torque" joint="shoulder_yaw_l_joint"/>
<jointactuatorfrc name="elbow_pitch_l_joint_torque" joint="elbow_pitch_l_joint"/>
<jointactuatorfrc name="elbow_yaw_l_joint_torque" joint="elbow_yaw_l_joint"/>
<jointactuatorfrc name="wrist_pitch_l_joint_torque" joint="wrist_pitch_l_joint"/>
<jointactuatorfrc name="wrist_roll_l_joint_torque" joint="wrist_roll_l_joint"/>
<!-- 右臂关节传感器 -->
<jointpos name="shoulder_pitch_r_joint_pos" joint="shoulder_pitch_r_joint"/>
<jointpos name="shoulder_roll_r_joint_pos" joint="shoulder_roll_r_joint"/>
<jointpos name="shoulder_yaw_r_joint_pos" joint="shoulder_yaw_r_joint"/>
<jointpos name="elbow_pitch_r_joint_pos" joint="elbow_pitch_r_joint"/>
<jointpos name="elbow_yaw_r_joint_pos" joint="elbow_yaw_r_joint"/>
<jointpos name="wrist_pitch_r_joint_pos" joint="wrist_pitch_r_joint"/>
<jointpos name="wrist_roll_r_joint_pos" joint="wrist_roll_r_joint"/>
<jointvel name="shoulder_pitch_r_joint_vel" joint="shoulder_pitch_r_joint"/>
<jointvel name="shoulder_roll_r_joint_vel" joint="shoulder_roll_r_joint"/>
<jointvel name="shoulder_yaw_r_joint_vel" joint="shoulder_yaw_r_joint"/>
<jointvel name="elbow_pitch_r_joint_vel" joint="elbow_pitch_r_joint"/>
<jointvel name="elbow_yaw_r_joint_vel" joint="elbow_yaw_r_joint"/>
<jointvel name="wrist_pitch_r_joint_vel" joint="wrist_pitch_r_joint"/>
<jointvel name="wrist_roll_r_joint_vel" joint="wrist_roll_r_joint"/>
<jointactuatorfrc name="shoulder_pitch_r_joint_torque" joint="shoulder_pitch_r_joint"/>
<jointactuatorfrc name="shoulder_roll_r_joint_torque" joint="shoulder_roll_r_joint"/>
<jointactuatorfrc name="shoulder_yaw_r_joint_torque" joint="shoulder_yaw_r_joint"/>
<jointactuatorfrc name="elbow_pitch_r_joint_torque" joint="elbow_pitch_r_joint"/>
<jointactuatorfrc name="elbow_yaw_r_joint_torque" joint="elbow_yaw_r_joint"/>
<jointactuatorfrc name="wrist_pitch_r_joint_torque" joint="wrist_pitch_r_joint"/>
<jointactuatorfrc name="wrist_roll_r_joint_torque" joint="wrist_roll_r_joint"/>
<!-- imu -->
<framequat name="orientation" objtype="site" objname="imu" />
<gyro name="angular-velocity" site="imu" />
<accelerometer name="linear-acceleration" site="imu" />
<framepos name="position" objtype="site" objname="imu" />
<framelinvel name="linear-velocity" objtype="site" objname="imu" />
<magnetometer name='magnetometer' site='imu'/>
</sensor>
<asset>
<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"/>
<mesh name="pelvis" file="pelvis.STL"/>
<mesh name="hip_pitch_l_link" file="hip_pitch_l_link.STL"/>
<mesh name="hip_roll_l_link" file="hip_roll_l_link.STL"/>
<mesh name="hip_yaw_l_link" file="hip_yaw_l_link.STL"/>
<mesh name="knee_pitch_l_link" file="knee_pitch_l_link.STL"/>
<mesh name="ankle_pitch_l_link" file="ankle_pitch_l_link.STL"/>
<mesh name="ankle_roll_l_link" file="ankle_roll_l_link.STL"/>
<mesh name="hip_pitch_r_link" file="hip_pitch_r_link.STL"/>
<mesh name="hip_roll_r_link" file="hip_roll_r_link.STL"/>
<mesh name="hip_yaw_r_link" file="hip_yaw_r_link.STL"/>
<mesh name="knee_pitch_r_link" file="knee_pitch_r_link.STL"/>
<mesh name="ankle_pitch_r_link" file="ankle_pitch_r_link.STL"/>
<mesh name="ankle_roll_r_link" file="ankle_roll_r_link.STL"/>
<mesh name="waist_yaw_link" file="waist_yaw_link.STL"/>
<mesh name="waist_roll_link" file="waist_roll_link.STL"/>
<mesh name="waist_pitch_link" file="waist_pitch_link.STL"/>
<mesh name="head_yaw_link" file="head_yaw_link.STL"/>
<mesh name="head_pitch_link" file="head_pitch_link.STL"/>
<mesh name="camera_head_link" file="camera_head_link.STL"/>
<mesh name="radar_head_link" file="radar_head_link.STL"/>
<mesh name="imu_head_link" file="imu_head_link.STL"/>
<mesh name="shoulder_pitch_l_link" file="shoulder_pitch_l_link.STL"/>
<mesh name="shoulder_roll_l_link" file="shoulder_roll_l_link.STL"/>
<mesh name="shoulder_yaw_l_link" file="shoulder_yaw_l_link.STL"/>
<mesh name="elbow_pitch_l_link" file="elbow_pitch_l_link.STL"/>
<mesh name="elbow_yaw_l_link" file="elbow_yaw_l_link.STL"/>
<mesh name="wrist_pitch_l_link" file="wrist_pitch_l_link.STL"/>
<mesh name="wrist_roll_l_link" file="wrist_roll_l_link.STL"/>
<mesh name="left_tcp_link" file="left_tcp_link.STL"/>
<mesh name="shoulder_pitch_r_link" file="shoulder_pitch_r_link.STL"/>
<mesh name="shoulder_roll_r_link" file="shoulder_roll_r_link.STL"/>
<mesh name="shoulder_yaw_r_link" file="shoulder_yaw_r_link.STL"/>
<mesh name="elbow_pitch_r_link" file="elbow_pitch_r_link.STL"/>
<mesh name="elbow_yaw_r_link" file="elbow_yaw_r_link.STL"/>
<mesh name="wrist_pitch_r_link" file="wrist_pitch_r_link.STL"/>
<mesh name="wrist_roll_r_link" file="wrist_roll_r_link.STL"/>
<mesh name="right_tcp_link" file="right_tcp_link.STL"/>
<mesh name="camera_body_front_link" file="camera_body_front_link.STL"/>
<mesh name="imu_waist_link" file="imu_waist_link.STL"/>
</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="plane" size="0 0 1" pos="0.001 0 0" quat="1 0 0 0" material="matplane" condim="1" conaffinity='15' friction="1.5 0.005 0.0001"/>
<body name="pelvis" pos="0 0 1">
<inertial pos="0.000708938 -0.000476035 -0.0603041" quat="0.995372 0.0929922 0.0239168 -0.00377104" mass="10.5873" diaginertia="0.0891022 0.0725256 0.0697952"/>
<joint name="pelvis_to_world_joint" type="free" limited="false" actuatorfrclimited="false"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="pelvis"/>
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="pelvis"/>
<geom pos="-0.081641 -0.00010952 -0.063057" quat="-2.59903e-06 -0.707565 0.706648 2.59566e-06" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="imu_waist_link"/>
<geom pos="-0.081641 -0.00010952 -0.063057" quat="-2.59903e-06 -0.707565 0.706648 2.59566e-06" type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="imu_waist_link"/>
<site name='imu' size='0.01' pos='0.0 0.0 0.0'/>
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<joint name="ankle_roll_l_joint" class="ankle_motor" pos="0 0 0" axis="1 0 0" range="-0.523599 0.523599" actuatorfrcrange="-55 55"/>
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<body name="ankle_pitch_r_link" pos="0 0 -0.4">
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<joint name="ankle_roll_r_joint" class="ankle_motor" pos="0 0 0" axis="1 0 0" range="-0.523599 0.523599" actuatorfrcrange="-55 55"/>
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<!-- <geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="waist_pitch_link"/> -->
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<joint name="wrist_roll_l_joint" class="wrist_motor" pos="0 0 0" axis="1 0 0" range="-1.39626 1.39626" actuatorfrcrange="-25 25"/>
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<joint name="elbow_yaw_r_joint" class="arm_motor" pos="0 0 0" axis="0 0 1" range="-2.96706 2.96706" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="elbow_yaw_r_link"/>
<body name="wrist_pitch_r_link" pos="0 0 -0.091">
<inertial pos="0.000815 -0.001368 -0.031332" quat="0.709798 0.00529546 -0.0255071 0.703924" mass="0.931823" diaginertia="0.00155774 0.00154075 0.000635512"/>
<joint name="wrist_pitch_r_joint" class="wrist_motor" pos="0 0 0" axis="0 1 0" range="-1.39626 1.39626" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="wrist_pitch_r_link"/>
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="wrist_pitch_r_link"/>
<body name="wrist_roll_r_link" pos="0 0 -0.062">
<inertial pos="0.00513346 0.00203116 -0.0838367" quat="0.61484 0.102158 0.043744 0.780783" mass="0.577436" diaginertia="0.0012863 0.00114426 0.000499739"/>
<joint name="wrist_roll_r_joint" class="wrist_motor" pos="0 0 0" axis="1 0 0" range="-1.39626 1.39626" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="wrist_roll_r_link"/>
<geom pos="0 0 -0.045" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="right_tcp_link"/>
<geom pos="0 0 -0.045" quat="1 0 0 0" type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="right_tcp_link"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
</mujoco>