500 lines
42 KiB
XML
500 lines
42 KiB
XML
<mujoco model="evt2">
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<compiler angle="radian" meshdir="../meshes_new/"/>
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<option integrator="implicitfast" timestep='0.001' iterations='100' solver='CG' gravity='0 0 -9.81'>
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<flag contact="enable" energy="enable"/>
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</option>
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<!-- 禁用位置传感器 -->
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<option actuatorgroupdisable="0 1 3"/>
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<default>
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<default class="large_actuator">
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<position kp="2000" kv="100" forcerange="-105 105"/>
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</default>
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<default class="small_actuator">
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<position kp="500" kv="50" forcerange="-52 52"/>
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</default>
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</default>
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<default>
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<default class="arm_motor">
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<joint damping="1" armature="0.1" frictionloss="0.1"/>
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</default>
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<default class="wrist_motor">
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<joint damping="1" armature="0.0236" frictionloss="0.1"/>
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</default>
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<default class="waist_motor">
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<joint damping="1" armature="0.17" frictionloss="0.1"/>
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</default>
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<default class="hip_pitch_motor">
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<joint damping="1" armature="0.24" frictionloss="0.1"/>
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</default>
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<default class="hip_roll_motor">
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<joint damping="1" armature="0.24" frictionloss="0.1"/>
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</default>
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<default class="hip_yaw_motor">
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<joint damping="1" armature="0.18" frictionloss="0.1"/>
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</default>
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<default class="knee_motor">
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<joint damping="1" armature="0.37" frictionloss="0.1"/>
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</default>
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<default class="ankle_motor">
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<joint damping="1" armature="0.032" frictionloss="0.1"/>
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</default>
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</default>
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<actuator>
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<!-- 位置控制器（pos_前缀） -->
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<!-- 左腿关节驱动器 -->
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<position class="large_actuator" name="pos_hip_pitch_l_joint" joint="hip_pitch_l_joint" ctrlrange="-3.14159 3.14159" group="0"/>
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<position class="large_actuator" name="pos_hip_roll_l_joint" joint="hip_roll_l_joint" ctrlrange="-0.5236 2.618" group="0"/>
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<position class="large_actuator" name="pos_hip_yaw_l_joint" joint="hip_yaw_l_joint" ctrlrange="-1.5708 4.5379" group="0"/>
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<position class="large_actuator" name="pos_knee_pitch_l_joint" joint="knee_pitch_l_joint" ctrlrange="-0.0873 2.4435" group="0"/>
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<position class="large_actuator" name="pos_ankle_pitch_l_joint" joint="ankle_pitch_l_joint" ctrlrange="-1.2217 0.5236" group="0"/>
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<position class="small_actuator" name="pos_ankle_roll_l_joint" joint="ankle_roll_l_joint" ctrlrange="-0.5236 0.5236" group="0"/>
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<!-- 右腿关节驱动器 -->
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<position class="large_actuator" name="pos_hip_pitch_r_joint" joint="hip_pitch_r_joint" ctrlrange="-3.14159 3.14159" group="0"/>
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<position class="large_actuator" name="pos_hip_roll_r_joint" joint="hip_roll_r_joint" ctrlrange="-2.618 0.5236" group="0"/>
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<position class="large_actuator" name="pos_hip_yaw_r_joint" joint="hip_yaw_r_joint" ctrlrange="-4.5379 1.5708" group="0"/>
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<position class="large_actuator" name="pos_knee_pitch_r_joint" joint="knee_pitch_r_joint" ctrlrange="-0.0873 2.4435" group="0"/>
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<position class="large_actuator" name="pos_ankle_pitch_r_joint" joint="ankle_pitch_r_joint" ctrlrange="-1.2217 0.5236" group="0"/>
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<position class="small_actuator" name="pos_ankle_roll_r_joint" joint="ankle_roll_r_joint" ctrlrange="-0.5236 0.5236" group="0"/>
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<!-- 腰部关节驱动器 -->
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<position class="large_actuator" name="pos_waist_yaw_joint" joint="waist_yaw_joint" ctrlrange="-2.9671 3.1416" group="1"/>
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<position class="large_actuator" name="pos_waist_roll_joint" joint="waist_roll_joint" ctrlrange="-0.5236 0.5236" group="1"/>
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<position class="large_actuator" name="pos_waist_pitch_joint" joint="waist_pitch_joint" ctrlrange="-0.5236 1.0472" group="1"/>
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<!-- 上肢关节驱动器 -->
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<position class="large_actuator" name="pos_shoulder_pitch_l_joint" joint="shoulder_pitch_l_joint" ctrlrange="-2.9671 2.9671" group="3"/>
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<position class="large_actuator" name="pos_shoulder_roll_l_joint" joint="shoulder_roll_l_joint" ctrlrange="-0.2618 3.4034" group="3"/>
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<position class="large_actuator" name="pos_shoulder_yaw_l_joint" joint="shoulder_yaw_l_joint" ctrlrange="-2.9671 2.9671" group="3" />
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<position class="large_actuator" name="pos_elbow_pitch_l_joint" joint="elbow_pitch_l_joint" ctrlrange="-2.618 0.2618" group="3"/>
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<position class="large_actuator" name="pos_elbow_yaw_l_joint" joint="elbow_yaw_l_joint" ctrlrange="-2.9671 2.9671" group="3"/>
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<position class="large_actuator" name="pos_wrist_pitch_l_joint" joint="wrist_pitch_l_joint" ctrlrange="-1.309 1.65806" group="3"/>
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<position class="small_actuator" name="pos_wrist_roll_l_joint" joint="wrist_roll_l_joint" ctrlrange="-1.0472 0.7854" group="3"/>
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<position class="large_actuator" name="pos_shoulder_pitch_r_joint" joint="shoulder_pitch_r_joint" ctrlrange="-2.9671 2.9671" group="3"/>
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<position class="large_actuator" name="pos_shoulder_roll_r_joint" joint="shoulder_roll_r_joint" ctrlrange="-3.4034 0.2618" group="3"/>
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<position class="large_actuator" name="pos_shoulder_yaw_r_joint" joint="shoulder_yaw_r_joint" ctrlrange="-2.9671 2.9671" group="3"/>
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<position class="large_actuator" name="pos_elbow_pitch_r_joint" joint="elbow_pitch_r_joint" ctrlrange="-2.618 0.2618" group="3"/>
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<position class="large_actuator" name="pos_elbow_yaw_r_joint" joint="elbow_yaw_r_joint" ctrlrange="-2.9671 2.9671" group="3"/>
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<position class="large_actuator" name="pos_wrist_pitch_r_joint" joint="wrist_pitch_r_joint" ctrlrange="-1.309 1.65806" group="3"/>
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<position class="small_actuator" name="pos_wrist_roll_r_joint" joint="wrist_roll_r_joint" ctrlrange="-0.7854 1.0472" group="3"/>
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<!-- 力控制器（motor_前缀） -->
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<!-- 左腿关节驱动器 -->
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<motor name="motor_hip_pitch_l_joint" joint="hip_pitch_l_joint" ctrlrange="-200 200" group="2"/>
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<motor name="motor_hip_roll_l_joint" joint="hip_roll_l_joint" ctrlrange="-200 200" group="2"/>
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<motor name="motor_hip_yaw_l_joint" joint="hip_yaw_l_joint" ctrlrange="-142 142" group="2"/>
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<motor name="motor_knee_pitch_l_joint" joint="knee_pitch_l_joint" ctrlrange="-330 330" group="2"/>
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<motor name="motor_ankle_pitch_l_joint" joint="ankle_pitch_l_joint" ctrlrange="-100 100" group="2"/>
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<motor name="motor_ankle_roll_l_joint" joint="ankle_roll_l_joint" ctrlrange="-50 50" group="2"/>
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<!-- 右腿关节驱动器 -->
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<motor name="motor_hip_pitch_r_joint" joint="hip_pitch_r_joint" ctrlrange="-200 200" group="2"/>
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<motor name="motor_hip_roll_r_joint" joint="hip_roll_r_joint" ctrlrange="-200 200" group="2"/>
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<motor name="motor_hip_yaw_r_joint" joint="hip_yaw_r_joint" ctrlrange="-142 142" group="2"/>
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<motor name="motor_knee_pitch_r_joint" joint="knee_pitch_r_joint" ctrlrange="-330 330" group="2"/>
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<motor name="motor_ankle_pitch_r_joint" joint="ankle_pitch_r_joint" ctrlrange="-100 100" group="2"/>
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<motor name="motor_ankle_roll_r_joint" joint="ankle_roll_r_joint" ctrlrange="-50 50" group="2"/>
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<!-- 腰部关节驱动器 -->
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<motor name="motor_waist_yaw_joint" joint="waist_yaw_joint" ctrlrange="-91 91" group="2"/>
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<motor name="motor_waist_roll_joint" joint="waist_roll_joint" ctrlrange="-91 91" group="2"/>
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<motor name="motor_waist_pitch_joint" joint="waist_pitch_joint" ctrlrange="-91 91" group="2"/>
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<!-- 上肢关节驱动器 -->
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<motor name="motor_shoulder_pitch_l_joint" joint="shoulder_pitch_l_joint" ctrlrange="-90 90" group="2"/>
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<motor name="motor_shoulder_roll_l_joint" joint="shoulder_roll_l_joint" ctrlrange="-60 60" group="2"/>
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<motor name="motor_shoulder_yaw_l_joint" joint="shoulder_yaw_l_joint" ctrlrange="-36 36" group="2"/>
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<motor name="motor_elbow_pitch_l_joint" joint="elbow_pitch_l_joint" ctrlrange="-60 60" group="2"/>
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<motor name="motor_elbow_yaw_l_joint" joint="elbow_yaw_l_joint" ctrlrange="-36 36" group="2"/>
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<motor name="motor_wrist_pitch_l_joint" joint="wrist_pitch_l_joint" ctrlrange="-36 36" group="2"/>
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<motor name="motor_wrist_roll_l_joint" joint="wrist_roll_l_joint" ctrlrange="-36 36" group="2"/>
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<motor name="motor_shoulder_pitch_r_joint" joint="shoulder_pitch_r_joint" ctrlrange="-90 90" group="2"/>
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<motor name="motor_shoulder_roll_r_joint" joint="shoulder_roll_r_joint" ctrlrange="-60 60" group="2"/>
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<motor name="motor_shoulder_yaw_r_joint" joint="shoulder_yaw_r_joint" ctrlrange="-36 36" group="2"/>
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<motor name="motor_elbow_pitch_r_joint" joint="elbow_pitch_r_joint" ctrlrange="-60 60" group="2"/>
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<motor name="motor_elbow_yaw_r_joint" joint="elbow_yaw_r_joint" ctrlrange="-36 36" group="2"/>
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<motor name="motor_wrist_pitch_r_joint" joint="wrist_pitch_r_joint" ctrlrange="-36 36" group="2"/>
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<motor name="motor_wrist_roll_r_joint" joint="wrist_roll_r_joint" ctrlrange="-36 36" group="2"/>
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</actuator>
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<sensor>
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<!-- 左腿关节传感器 -->
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<jointpos name="hip_pitch_l_joint_pos" joint="hip_pitch_l_joint"/>
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<jointpos name="hip_roll_l_joint_pos" joint="hip_roll_l_joint"/>
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<jointpos name="hip_yaw_l_joint_pos" joint="hip_yaw_l_joint"/>
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<jointpos name="knee_pitch_l_joint_pos" joint="knee_pitch_l_joint"/>
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<jointpos name="ankle_pitch_l_joint_pos" joint="ankle_pitch_l_joint"/>
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<jointpos name="ankle_roll_l_joint_pos" joint="ankle_roll_l_joint"/>
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<jointvel name="hip_pitch_l_joint_vel" joint="hip_pitch_l_joint"/>
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<jointvel name="hip_roll_l_joint_vel" joint="hip_roll_l_joint"/>
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<jointvel name="hip_yaw_l_joint_vel" joint="hip_yaw_l_joint"/>
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<jointvel name="knee_pitch_l_joint_vel" joint="knee_pitch_l_joint"/>
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<jointvel name="ankle_pitch_l_joint_vel" joint="ankle_pitch_l_joint"/>
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<jointvel name="ankle_roll_l_joint_vel" joint="ankle_roll_l_joint"/>
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<jointactuatorfrc name="hip_pitch_l_joint_torque" joint="hip_pitch_l_joint"/>
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<jointactuatorfrc name="hip_roll_l_joint_torque" joint="hip_roll_l_joint"/>
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<jointactuatorfrc name="hip_yaw_l_joint_torque" joint="hip_yaw_l_joint"/>
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<jointactuatorfrc name="knee_pitch_l_joint_torque" joint="knee_pitch_l_joint"/>
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<jointactuatorfrc name="ankle_pitch_l_joint_torque" joint="ankle_pitch_l_joint"/>
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<jointactuatorfrc name="ankle_roll_l_joint_torque" joint="ankle_roll_l_joint"/>
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<!-- 右腿关节传感器 -->
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<jointpos name="hip_pitch_r_joint_pos" joint="hip_pitch_r_joint"/>
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<jointpos name="hip_roll_r_joint_pos" joint="hip_roll_r_joint"/>
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<jointpos name="hip_yaw_r_joint_pos" joint="hip_yaw_r_joint"/>
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<jointpos name="knee_pitch_r_joint_pos" joint="knee_pitch_r_joint"/>
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<jointpos name="ankle_pitch_r_joint_pos" joint="ankle_pitch_r_joint"/>
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<jointpos name="ankle_roll_r_joint_pos" joint="ankle_roll_r_joint"/>
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<jointvel name="hip_pitch_r_joint_vel" joint="hip_pitch_r_joint"/>
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<jointvel name="hip_roll_r_joint_vel" joint="hip_roll_r_joint"/>
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<jointvel name="hip_yaw_r_joint_vel" joint="hip_yaw_r_joint"/>
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<jointvel name="knee_pitch_r_joint_vel" joint="knee_pitch_r_joint"/>
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<jointvel name="ankle_pitch_r_joint_vel" joint="ankle_pitch_r_joint"/>
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<jointvel name="ankle_roll_r_joint_vel" joint="ankle_roll_r_joint"/>
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<jointactuatorfrc name="hip_pitch_r_joint_torque" joint="hip_pitch_r_joint"/>
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<jointactuatorfrc name="hip_roll_r_joint_torque" joint="hip_roll_r_joint"/>
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<jointactuatorfrc name="hip_yaw_r_joint_torque" joint="hip_yaw_r_joint"/>
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<jointactuatorfrc name="knee_pitch_r_joint_torque" joint="knee_pitch_r_joint"/>
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<jointactuatorfrc name="ankle_pitch_r_joint_torque" joint="ankle_pitch_r_joint"/>
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<jointactuatorfrc name="ankle_roll_r_joint_torque" joint="ankle_roll_r_joint"/>
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<!-- 腰部关节传感器 -->
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<jointpos name="waist_yaw_joint_pos" joint="waist_yaw_joint"/>
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<jointpos name="waist_roll_joint_pos" joint="waist_roll_joint"/>
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<jointpos name="waist_pitch_joint_pos" joint="waist_pitch_joint"/>
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<jointvel name="waist_yaw_joint_vel" joint="waist_yaw_joint"/>
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<jointvel name="waist_roll_joint_vel" joint="waist_roll_joint"/>
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<jointvel name="waist_pitch_joint_vel" joint="waist_pitch_joint"/>
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<jointactuatorfrc name="waist_yaw_joint_torque" joint="waist_yaw_joint"/>
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<jointactuatorfrc name="waist_roll_joint_torque" joint="waist_roll_joint"/>
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<jointactuatorfrc name="waist_pitch_joint_torque" joint="waist_pitch_joint"/>
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<!-- 左臂关节传感器 -->
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<jointpos name="shoulder_pitch_l_joint_pos" joint="shoulder_pitch_l_joint"/>
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<jointpos name="shoulder_roll_l_joint_pos" joint="shoulder_roll_l_joint"/>
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<jointpos name="shoulder_yaw_l_joint_pos" joint="shoulder_yaw_l_joint"/>
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<jointpos name="elbow_pitch_l_joint_pos" joint="elbow_pitch_l_joint"/>
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<jointpos name="elbow_yaw_l_joint_pos" joint="elbow_yaw_l_joint"/>
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<jointpos name="wrist_pitch_l_joint_pos" joint="wrist_pitch_l_joint"/>
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<jointpos name="wrist_roll_l_joint_pos" joint="wrist_roll_l_joint"/>
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<jointvel name="shoulder_pitch_l_joint_vel" joint="shoulder_pitch_l_joint"/>
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<jointvel name="shoulder_roll_l_joint_vel" joint="shoulder_roll_l_joint"/>
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<jointvel name="shoulder_yaw_l_joint_vel" joint="shoulder_yaw_l_joint"/>
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<jointvel name="elbow_pitch_l_joint_vel" joint="elbow_pitch_l_joint"/>
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<jointvel name="elbow_yaw_l_joint_vel" joint="elbow_yaw_l_joint"/>
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<jointvel name="wrist_pitch_l_joint_vel" joint="wrist_pitch_l_joint"/>
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<jointvel name="wrist_roll_l_joint_vel" joint="wrist_roll_l_joint"/>
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<jointactuatorfrc name="shoulder_pitch_l_joint_torque" joint="shoulder_pitch_l_joint"/>
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<jointactuatorfrc name="shoulder_roll_l_joint_torque" joint="shoulder_roll_l_joint"/>
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<jointactuatorfrc name="shoulder_yaw_l_joint_torque" joint="shoulder_yaw_l_joint"/>
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<jointactuatorfrc name="elbow_pitch_l_joint_torque" joint="elbow_pitch_l_joint"/>
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<jointactuatorfrc name="elbow_yaw_l_joint_torque" joint="elbow_yaw_l_joint"/>
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<jointactuatorfrc name="wrist_pitch_l_joint_torque" joint="wrist_pitch_l_joint"/>
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<jointactuatorfrc name="wrist_roll_l_joint_torque" joint="wrist_roll_l_joint"/>
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<!-- 右臂关节传感器 -->
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<jointpos name="shoulder_pitch_r_joint_pos" joint="shoulder_pitch_r_joint"/>
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<jointpos name="shoulder_roll_r_joint_pos" joint="shoulder_roll_r_joint"/>
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<jointpos name="shoulder_yaw_r_joint_pos" joint="shoulder_yaw_r_joint"/>
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<jointpos name="elbow_pitch_r_joint_pos" joint="elbow_pitch_r_joint"/>
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<jointpos name="elbow_yaw_r_joint_pos" joint="elbow_yaw_r_joint"/>
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<jointpos name="wrist_pitch_r_joint_pos" joint="wrist_pitch_r_joint"/>
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<jointpos name="wrist_roll_r_joint_pos" joint="wrist_roll_r_joint"/>
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<jointvel name="shoulder_pitch_r_joint_vel" joint="shoulder_pitch_r_joint"/>
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<jointvel name="shoulder_roll_r_joint_vel" joint="shoulder_roll_r_joint"/>
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<jointvel name="shoulder_yaw_r_joint_vel" joint="shoulder_yaw_r_joint"/>
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<jointvel name="elbow_pitch_r_joint_vel" joint="elbow_pitch_r_joint"/>
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<jointvel name="elbow_yaw_r_joint_vel" joint="elbow_yaw_r_joint"/>
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<jointvel name="wrist_pitch_r_joint_vel" joint="wrist_pitch_r_joint"/>
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<jointvel name="wrist_roll_r_joint_vel" joint="wrist_roll_r_joint"/>
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<jointactuatorfrc name="shoulder_pitch_r_joint_torque" joint="shoulder_pitch_r_joint"/>
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<jointactuatorfrc name="shoulder_roll_r_joint_torque" joint="shoulder_roll_r_joint"/>
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<jointactuatorfrc name="shoulder_yaw_r_joint_torque" joint="shoulder_yaw_r_joint"/>
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<jointactuatorfrc name="elbow_pitch_r_joint_torque" joint="elbow_pitch_r_joint"/>
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<jointactuatorfrc name="elbow_yaw_r_joint_torque" joint="elbow_yaw_r_joint"/>
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<jointactuatorfrc name="wrist_pitch_r_joint_torque" joint="wrist_pitch_r_joint"/>
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<jointactuatorfrc name="wrist_roll_r_joint_torque" joint="wrist_roll_r_joint"/>
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<!-- imu -->
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<framequat name="orientation" objtype="site" objname="imu" />
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<gyro name="angular-velocity" site="imu" />
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<accelerometer name="linear-acceleration" site="imu" />
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<framepos name="position" objtype="site" objname="imu" />
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<framelinvel name="linear-velocity" objtype="site" objname="imu" />
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<magnetometer name='magnetometer' site='imu'/>
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</sensor>
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<asset>
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<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
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width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
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<texture name="texplane2" type="2d" builtin="checker" rgb1="1 0.3137 0.1843" rgb2="0.0 0.30196 0.38039"
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width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
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<material name="matplane" reflectance="0." texture="texplane" texrepeat="1 1" texuniform="true"/>
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<material name="matplane2" reflectance="0.1" texture="texplane2" texrepeat="1 1" texuniform="true"/>
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<mesh name="pelvis" file="pelvis.STL"/>
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<mesh name="hip_pitch_l_link" file="hip_pitch_l_link.STL"/>
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<mesh name="hip_roll_l_link" file="hip_roll_l_link.STL"/>
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<mesh name="hip_yaw_l_link" file="hip_yaw_l_link.STL"/>
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<mesh name="knee_pitch_l_link" file="knee_pitch_l_link.STL"/>
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<mesh name="ankle_pitch_l_link" file="ankle_pitch_l_link.STL"/>
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<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'/>
|
||
<body name="hip_pitch_l_link" pos="-0.00010305 0.076815 -0.11847" quat="0.996195 -0.0871543 -5.84587e-05 0.000668198">
|
||
<inertial pos="0.009589 0.069327 -0.024358" quat="0.868301 0.493294 -0.0452228 -0.0258879" mass="2.22138" diaginertia="0.00485603 0.0037213 0.00328367"/>
|
||
<joint name="hip_pitch_l_joint" class="hip_pitch_motor" pos="0 0 0" axis="0 1 0" range="-3.14159 2.87979" actuatorfrcrange="-235 235"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="hip_pitch_l_link"/>
|
||
<body name="hip_roll_l_link" pos="9.9595e-05 0.073992 -0.026966" quat="0.996195 0.0871543 0 0">
|
||
<inertial pos="-0.000767 -4.3e-05 -0.03918" quat="0.478756 0.521129 0.520225 0.478104" mass="0.560034" diaginertia="0.001743 0.00147771 0.00109729"/>
|
||
<joint name="hip_roll_l_joint" class="hip_roll_motor" pos="0 0 0" axis="1 0 0" range="-0.418879 2.61799" actuatorfrcrange="-235 235"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="hip_roll_l_link"/>
|
||
<!-- <geom size="0.07 0.05" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.752941 0.752941 0.752941 1"/> -->
|
||
<body name="hip_yaw_l_link" pos="0 0 -0.0785">
|
||
<inertial pos="0.001014 -0.022912 -0.125892" quat="0.997124 -0.028488 0.00651602 -0.0699284" mass="5.65816" diaginertia="0.0456692 0.0428675 0.0143123"/>
|
||
<joint name="hip_yaw_l_joint" class="hip_yaw_motor" pos="0 0 0" axis="0 0 1" range="-1.39626 4.53786" actuatorfrcrange="-150 150"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="hip_yaw_l_link"/>
|
||
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="hip_yaw_l_link"/>
|
||
<body name="knee_pitch_l_link" pos="-0.012927 9.9662e-05 -0.30599">
|
||
<inertial pos="0.02218 -0.000444 -0.151985" quat="0.634112 0.0235196 0.0364207 0.772025" mass="3.15858" diaginertia="0.0348599 0.0346942 0.00377596"/>
|
||
<joint name="knee_pitch_l_joint" class="knee_motor" pos="0 0 0" axis="0 1 0" range="-0.0872665 2.53073" actuatorfrcrange="-400 400"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="knee_pitch_l_link"/>
|
||
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="knee_pitch_l_link"/>
|
||
<body name="ankle_pitch_l_link" pos="0 0 -0.4">
|
||
<inertial pos="0 0 0" quat="0 0.707107 0 0.707107" mass="0.142658" diaginertia="4.9e-05 3.2e-05 2.3e-05"/>
|
||
<joint name="ankle_pitch_l_joint" class="ankle_motor" pos="0 0 0" axis="0 1 0" range="-1.22173 0.523599" actuatorfrcrange="-55 55"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="ankle_pitch_l_link"/>
|
||
<body name="ankle_roll_l_link">
|
||
<inertial pos="0.024536 -1.7e-05 -0.033593" quat="0.000973792 0.727447 0.00122134 0.686162" mass="0.888892" diaginertia="0.00514091 0.004839 0.000764092"/>
|
||
<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"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="ankle_roll_l_link"/>
|
||
<geom name="foot_left_front_outer" size="0.012 0.03" pos="0.085 -0.03 -0.046" quat="0.707105 0 0.707108 0" type="cylinder" rgba="0.752941 0.752941 0.752941 1"/>
|
||
<geom name="foot_left_front_inner" size="0.012 0.03" pos="0.085 0.03 -0.046" quat="0.707105 0 0.707108 0" type="cylinder" rgba="0.752941 0.752941 0.752941 1"/>
|
||
<geom name="foot_left_mid_outer" size="0.01 0.1" pos="0.045 -0.02 -0.046" quat="0.707105 0 -0.707108 0" type="cylinder" rgba="0.752941 0.752941 0.752941 1"/>
|
||
<geom name="foot_left_mid_inner" size="0.01 0.1" pos="0.045 0.02 -0.046" quat="0.707105 0 -0.707108 0" type="cylinder" rgba="0.752941 0.752941 0.752941 1"/>
|
||
<geom name="foot_left_strip_outer" size="0.012 0.11" pos="0.045 -0.01 -0.046" quat="0.707105 0 -0.707108 0" type="cylinder" rgba="0.752941 0.752941 0.752941 1"/>
|
||
<geom name="foot_left_strip_center" size="0.012 0.12" pos="0.045 0 -0.046" quat="0.707105 0 -0.707108 0" type="cylinder" rgba="0.752941 0.752941 0.752941 1"/>
|
||
<geom name="foot_left_strip_inner" size="0.012 0.11" pos="0.045 0.01 -0.046" quat="0.707105 0 -0.707108 0" type="cylinder" rgba="0.752941 0.752941 0.752941 1"/>
|
||
</body>
|
||
</body>
|
||
</body>
|
||
</body>
|
||
</body>
|
||
</body>
|
||
<body name="hip_pitch_r_link" pos="0.00010305 -0.076815 -0.11847" quat="0.996195 0.0871543 5.84587e-05 0.000668198">
|
||
<inertial pos="0.009589 -0.069327 -0.024358" quat="0.493294 0.868301 0.0258879 0.0452228" mass="2.22138" diaginertia="0.00485603 0.0037213 0.00328367"/>
|
||
<joint name="hip_pitch_r_joint" class="hip_pitch_motor" pos="0 0 0" axis="0 1 0" range="-3.14159 2.87979" actuatorfrcrange="-235 235"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="hip_pitch_r_link"/>
|
||
<body name="hip_roll_r_link" pos="9.9595e-05 -0.073992 -0.026966" quat="0.996195 -0.0871543 0 0">
|
||
<inertial pos="-0.000767 4.3e-05 -0.03918" quat="0.478104 0.520225 0.521129 0.478756" mass="0.560034" diaginertia="0.001743 0.00147771 0.00109729"/>
|
||
<joint name="hip_roll_r_joint" class="hip_roll_motor" pos="0 0 0" axis="1 0 0" range="-2.61799 0.418879" actuatorfrcrange="-235 235"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="hip_roll_r_link"/>
|
||
<!-- <geom size="0.07 0.05" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.752941 0.752941 0.752941 1"/> -->
|
||
<body name="hip_yaw_r_link" pos="0 0 -0.0785">
|
||
<inertial pos="0.001014 0.022912 -0.125892" quat="0.997124 0.028488 0.00651602 0.0699284" mass="5.65816" diaginertia="0.0456692 0.0428675 0.0143123"/>
|
||
<joint name="hip_yaw_r_joint" class="hip_yaw_motor" pos="0 0 0" axis="0 0 1" range="-4.53786 1.39626" actuatorfrcrange="-150 150"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="hip_yaw_r_link"/>
|
||
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="hip_yaw_r_link"/>
|
||
<body name="knee_pitch_r_link" pos="-0.012927 -9.9662e-05 -0.30599">
|
||
<inertial pos="0.02218 0.000444 -0.151985" quat="0.772025 0.0364207 0.0235196 0.634112" mass="3.15858" diaginertia="0.0348599 0.0346942 0.00377596"/>
|
||
<joint name="knee_pitch_r_joint" class="knee_motor" pos="0 0 0" axis="0 1 0" range="-0.0872665 2.53073" actuatorfrcrange="-400 400"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="knee_pitch_r_link"/>
|
||
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="knee_pitch_r_link"/>
|
||
<body name="ankle_pitch_r_link" pos="0 0 -0.4">
|
||
<inertial pos="0 0 0" quat="0 0.707107 0 0.707107" mass="0.142658" diaginertia="4.9e-05 3.2e-05 2.3e-05"/>
|
||
<joint name="ankle_pitch_r_joint" class="ankle_motor" pos="0 0 0" axis="0 1 0" range="-1.22173 0.523599" actuatorfrcrange="-55 55"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="ankle_pitch_r_link"/>
|
||
<body name="ankle_roll_r_link">
|
||
<inertial pos="0.024536 1.7e-05 -0.033593" quat="-0.000973792 0.727447 -0.00122134 0.686162" mass="0.888892" diaginertia="0.00514091 0.004839 0.000764092"/>
|
||
<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"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="ankle_roll_r_link"/>
|
||
<geom name="foot_right_front_outer" size="0.012 0.03" pos="0.085 -0.03 -0.046" quat="0.707105 0 0.707108 0" type="cylinder" rgba="0.752941 0.752941 0.752941 1"/>
|
||
<geom name="foot_right_front_inner" size="0.012 0.03" pos="0.085 0.03 -0.046" quat="0.707105 0 0.707108 0" type="cylinder" rgba="0.752941 0.752941 0.752941 1"/>
|
||
<geom name="foot_right_mid_outer" size="0.01 0.1" pos="0.045 -0.02 -0.046" quat="0.707105 0 -0.707108 0" type="cylinder" rgba="0.752941 0.752941 0.752941 1"/>
|
||
<geom name="foot_right_mid_inner" size="0.01 0.1" pos="0.045 0.02 -0.046" quat="0.707105 0 -0.707108 0" type="cylinder" rgba="0.752941 0.752941 0.752941 1"/>
|
||
<geom name="foot_right_strip_outer" size="0.012 0.11" pos="0.045 -0.01 -0.046" quat="0.707105 0 -0.707108 0" type="cylinder" rgba="0.752941 0.752941 0.752941 1"/>
|
||
<geom name="foot_right_strip_center" size="0.012 0.12" pos="0.045 0 -0.046" quat="0.707105 0 -0.707108 0" type="cylinder" rgba="0.752941 0.752941 0.752941 1"/>
|
||
<geom name="foot_right_strip_inner" size="0.012 0.11" pos="0.045 0.01 -0.046" quat="0.707105 0 -0.707108 0" type="cylinder" rgba="0.752941 0.752941 0.752941 1"/>
|
||
</body>
|
||
</body>
|
||
</body>
|
||
</body>
|
||
</body>
|
||
</body>
|
||
<body name="waist_yaw_link" quat="1 0 0 0.00067075">
|
||
<inertial pos="-0.001947 -0.000934 0.044217" quat="0.642825 -0.123511 -0.167177 0.737273" mass="1.68837" diaginertia="0.00247429 0.00229232 0.0018544"/>
|
||
<joint name="waist_yaw_joint" class="waist_motor" pos="0 0 0" axis="0 0 1" range="-2.74017 3.22886" actuatorfrcrange="-91 91"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="waist_yaw_link"/>
|
||
<body name="waist_roll_link" pos="0 0 0.0838">
|
||
<inertial pos="-0.006103 -0.006401 0.0721" quat="0.638305 0.66286 -0.234695 0.313212" mass="3.59519" diaginertia="0.0149204 0.0144797 0.00701787"/>
|
||
<joint name="waist_roll_joint" class="waist_motor" pos="0 0 0" axis="1 0 0" range="-0.436332 0.436332" actuatorfrcrange="-150 150"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="waist_roll_link"/>
|
||
<body name="waist_pitch_link" pos="0 0 0.078424">
|
||
<inertial pos="0.00047912 0.00141024 0.212505" quat="0.999945 -0.00130091 0.0101935 -0.00226087" mass="11.8972" diaginertia="0.25491 0.225892 0.0979488"/>
|
||
<joint name="waist_pitch_joint" class="waist_motor" pos="0 0 0" axis="0 1 0" range="-0.523599 0.959931" actuatorfrcrange="-150 150"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="waist_pitch_link"/>
|
||
<!-- <geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="waist_pitch_link"/> -->
|
||
<geom pos="0 0 0.43627" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="head_yaw_link"/>
|
||
<geom pos="0.0689 -7.7578e-05 0.43567" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="head_pitch_link"/>
|
||
<geom pos="0.08445 0.0111314 0.435546" quat="0.501222 -0.498774 0.498775 -0.501224" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="camera_head_link"/>
|
||
<geom pos="0 0 0.38177" quat="-3.67321e-06 -1 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="radar_head_link"/>
|
||
<geom pos="-0.057774 0 0.42677" quat="-2.59734e-06 -0.707105 0.707108 2.59735e-06" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="imu_head_link"/>
|
||
<geom pos="0.092709 -0.02375 0.039976" quat="0.21264 0.674376 0.674378 0.212641" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="camera_body_front_link"/>
|
||
<geom pos="0.092709 -0.02375 0.039976" quat="0.21264 0.674376 0.674378 0.212641" type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="camera_body_front_link"/>
|
||
<body name="shoulder_pitch_l_link" pos="0 0.14552 0.18664" quat="0.999048 0.0436192 0 0">
|
||
<inertial pos="0.006861 0.060647 -2.7e-05" quat="-0.102177 0.698772 0.102786 0.700509" mass="0.914808" diaginertia="0.001164 0.000926669 0.000748328"/>
|
||
<joint name="shoulder_pitch_l_joint" class="arm_motor" pos="0 0 0" axis="0 1 0" range="-2.96706 2.96706" actuatorfrcrange="-90 90"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="shoulder_pitch_l_link"/>
|
||
<body name="shoulder_roll_l_link" pos="0 0.0678 0">
|
||
<inertial pos="-0.000672 0 -0.043313" quat="0.707078 0.00642532 0.00642532 0.707078" mass="0.319153" diaginertia="0.000936 0.000764073 0.000543927"/>
|
||
<joint name="shoulder_roll_l_joint" class="arm_motor" pos="0 0 0" axis="1 0 0" range="-0.261799 3.40339" actuatorfrcrange="-90 90"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="shoulder_roll_l_link"/>
|
||
<body name="shoulder_yaw_l_link" pos="0 0 -0.1004">
|
||
<inertial pos="0.009141 0.003692 -0.094058" quat="0.996924 0.0324636 -0.0701011 -0.0132387" mass="1.50222" diaginertia="0.00793691 0.00755988 0.00117522"/>
|
||
<joint name="shoulder_yaw_l_joint" class="arm_motor" pos="0 0 0" axis="0 0 1" range="-2.96706 2.96706" actuatorfrcrange="-50 50"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="shoulder_yaw_l_link"/>
|
||
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="shoulder_yaw_l_link"/>
|
||
<body name="elbow_pitch_l_link" pos="0.02 0 -0.1596">
|
||
<inertial pos="-0.017311 0.000579 -0.066888" quat="0.996392 -0.023316 0.0810929 -0.00914165" mass="0.647211" diaginertia="0.00137312 0.00123605 0.000683824"/>
|
||
<joint name="elbow_pitch_l_joint" class="arm_motor" pos="0 0 0" axis="0 1 0" range="-2.61799 0.261799" actuatorfrcrange="-50 50"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="elbow_pitch_l_link"/>
|
||
<body name="elbow_yaw_l_link" pos="-0.02 0 -0.107">
|
||
<inertial pos="0.001113 0.005481 -0.05106" quat="0.998888 -0.0470326 0.00308357 0.000463667" mass="0.229689" diaginertia="0.000368006 0.000290755 0.000205239"/>
|
||
<joint name="elbow_yaw_l_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_l_link"/>
|
||
<body name="wrist_pitch_l_link" pos="0 0 -0.091">
|
||
<inertial pos="0.000815 0.001368 -0.031332" quat="0.703924 -0.0255071 0.00529546 0.709798" mass="0.931823" diaginertia="0.00155774 0.00154075 0.000635512"/>
|
||
<joint name="wrist_pitch_l_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_l_link"/>
|
||
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="wrist_pitch_l_link"/>
|
||
<body name="wrist_roll_l_link" pos="0 0 -0.062">
|
||
<inertial pos="0.00513346 -0.00203116 -0.0838367" quat="0.780783 0.043744 0.102158 0.61484" mass="0.577436" diaginertia="0.0012863 0.00114426 0.000499739"/>
|
||
<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"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="wrist_roll_l_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="left_tcp_link"/>
|
||
<geom pos="0 0 -0.045" quat="1 0 0 0" type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="left_tcp_link"/>
|
||
</body>
|
||
</body>
|
||
</body>
|
||
</body>
|
||
</body>
|
||
</body>
|
||
</body>
|
||
<body name="shoulder_pitch_r_link" pos="0 -0.14552 0.18664" quat="0.999048 -0.0436192 0 0">
|
||
<inertial pos="0.006861 -0.060647 -2.7e-05" quat="0.102177 0.698772 -0.102786 0.700509" mass="0.914808" diaginertia="0.001164 0.000926669 0.000748328"/>
|
||
<joint name="shoulder_pitch_r_joint" class="arm_motor" pos="0 0 0" axis="0 1 0" range="-2.96706 2.96706" actuatorfrcrange="-90 90"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="shoulder_pitch_r_link"/>
|
||
<body name="shoulder_roll_r_link" pos="0 -0.0678 0">
|
||
<inertial pos="-0.000672 0 -0.043313" quat="0.707078 0.00642532 0.00642532 0.707078" mass="0.319153" diaginertia="0.000936 0.000764073 0.000543927"/>
|
||
<joint name="shoulder_roll_r_joint" class="arm_motor" pos="0 0 0" axis="1 0 0" range="-3.40339 0.261799" actuatorfrcrange="-90 90"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="shoulder_roll_r_link"/>
|
||
<body name="shoulder_yaw_r_link" pos="0 0 -0.1004">
|
||
<inertial pos="0.009141 -0.003692 -0.094058" quat="0.996924 -0.0324636 -0.0701011 0.0132387" mass="1.50222" diaginertia="0.00793691 0.00755988 0.00117522"/>
|
||
<joint name="shoulder_yaw_r_joint" class="arm_motor" pos="0 0 0" axis="0 0 1" range="-2.96706 2.96706" actuatorfrcrange="-50 50"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="shoulder_yaw_r_link"/>
|
||
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="shoulder_yaw_r_link"/>
|
||
<body name="elbow_pitch_r_link" pos="0.02 0 -0.1596">
|
||
<inertial pos="-0.017311 -0.000579 -0.066888" quat="0.996392 0.023316 0.0810929 0.00914165" mass="0.647211" diaginertia="0.00137312 0.00123605 0.000683824"/>
|
||
<joint name="elbow_pitch_r_joint" class="arm_motor" pos="0 0 0" axis="0 1 0" range="-2.61799 0.261799" actuatorfrcrange="-50 50"/>
|
||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="elbow_pitch_r_link"/>
|
||
<body name="elbow_yaw_r_link" pos="-0.02 0 -0.107">
|
||
<inertial pos="0.001113 -0.005481 -0.05106" quat="0.998888 0.0470326 0.00308357 -0.000463667" mass="0.229689" diaginertia="0.000368006 0.000290755 0.000205239"/>
|
||
<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>
|