Dataset Viewer
xml
stringlengths 865
18.4k
|
|---|
<mujoco model="panda hand">
<compiler angle="radian" meshdir="assets" autolimits="true"/>
<option integrator="implicitfast"/>
<default>
<default class="panda">
<material specular="0.5" shininess="0.25"/>
<joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
<general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
<default class="finger">
<joint axis="0 1 0" type="slide" range="0 0.04"/>
</default>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2"/>
</default>
<default class="collision">
<geom type="mesh" group="3"/>
<default class="fingertip_pad_collision_1">
<geom type="box" size="0.0085 0.004 0.0085" pos="0 0.0055 0.0445"/>
</default>
<default class="fingertip_pad_collision_2">
<geom type="box" size="0.003 0.002 0.003" pos="0.0055 0.002 0.05"/>
</default>
<default class="fingertip_pad_collision_3">
<geom type="box" size="0.003 0.002 0.003" pos="-0.0055 0.002 0.05"/>
</default>
<default class="fingertip_pad_collision_4">
<geom type="box" size="0.003 0.002 0.0035" pos="0.0055 0.002 0.0395"/>
</default>
<default class="fingertip_pad_collision_5">
<geom type="box" size="0.003 0.002 0.0035" pos="-0.0055 0.002 0.0395"/>
</default>
</default>
</default>
</default>
<asset>
<material class="panda" name="white" rgba="1 1 1 1"/>
<material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
<material class="panda" name="black" rgba="0.25 0.25 0.25 1"/>
<!-- Collision meshes -->
<mesh name="hand_c" file="hand.stl"/>
<!-- Visual meshes -->
<mesh file="hand_0.obj"/>
<mesh file="hand_1.obj"/>
<mesh file="hand_2.obj"/>
<mesh file="hand_3.obj"/>
<mesh file="hand_4.obj"/>
<mesh file="finger_0.obj"/>
<mesh file="finger_1.obj"/>
</asset>
<worldbody>
<body name="hand" childclass="panda" quat="0 0 0 1">
<inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/>
<geom mesh="hand_0" material="off_white" class="visual"/>
<geom mesh="hand_1" material="black" class="visual"/>
<geom mesh="hand_2" material="black" class="visual"/>
<geom mesh="hand_3" material="white" class="visual"/>
<geom mesh="hand_4" material="off_white" class="visual"/>
<geom mesh="hand_c" class="collision"/>
<body name="left_finger" pos="0 0 0.0584">
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
<joint name="finger_joint1" class="finger"/>
<geom mesh="finger_0" material="off_white" class="visual"/>
<geom mesh="finger_1" material="black" class="visual"/>
<geom mesh="finger_0" class="collision"/>
<geom class="fingertip_pad_collision_1"/>
<geom class="fingertip_pad_collision_2"/>
<geom class="fingertip_pad_collision_3"/>
<geom class="fingertip_pad_collision_4"/>
<geom class="fingertip_pad_collision_5"/>
</body>
<body name="right_finger" pos="0 0 0.0584" quat="0 0 0 1">
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
<joint name="finger_joint2" class="finger"/>
<geom mesh="finger_0" material="off_white" class="visual"/>
<geom mesh="finger_1" material="black" class="visual"/>
<geom mesh="finger_0" class="collision"/>
<geom class="fingertip_pad_collision_1"/>
<geom class="fingertip_pad_collision_2"/>
<geom class="fingertip_pad_collision_3"/>
<geom class="fingertip_pad_collision_4"/>
<geom class="fingertip_pad_collision_5"/>
</body>
</body>
</worldbody>
<contact>
<exclude body1="hand" body2="left_finger"/>
<exclude body1="hand" body2="right_finger"/>
</contact>
<tendon>
<fixed name="split">
<joint joint="finger_joint1" coef="0.5"/>
<joint joint="finger_joint2" coef="0.5"/>
</fixed>
</tendon>
<equality>
<joint joint1="finger_joint1" joint2="finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1"/>
</equality>
<actuator>
<!-- Remap original ctrlrange (0, 0.04) to (0, 255): 0.04 * 100 / 255 = 0.01568627451 -->
<general class="panda" name="actuator8" tendon="split" forcerange="-100 100" ctrlrange="0 255"
gainprm="0.01568627451 0 0" biasprm="0 -100 -10"/>
</actuator>
</mujoco>
|
<mujoco model="panda">
<compiler angle="radian" meshdir="assets" autolimits="true"/>
<default>
<default class="panda">
<material specular="0.5" shininess="0.25"/>
<joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
<general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
<position forcerange="-100 100"/>
<default class="finger">
<joint axis="0 1 0" type="slide" range="0 0.04"/>
</default>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2"/>
</default>
<default class="collision">
<geom group="3" type="mesh" contype="0" conaffinity="0"/>
<default class="primitive_collision">
<geom group="3" type="box" contype="0" conaffinity="0"
condim="3" solimp="0.99 0.995 0.01" solref="0.01 1" friction="1 0.005 0.0001"/>
<default class="fingertip_pad_collision_1">
<geom type="box" size="0.011 0.0075 0.01" pos="0 0.0185 0.011"/>
</default>
<default class="fingertip_pad_collision_2">
<geom type="box" size="0.011 0.0044 0.0019" pos="0 0.0068 0.0022"/>
</default>
<default class="fingertip_pad_collision_3">
<geom type="box" size="0.00875 0.0035 0.01175" pos="0 0.0159 0.02835" quat="1 0.25 0 0"/>
</default>
<default class="fingertip_pad_collision_4">
<geom type="box" size="0.00875 0.0076 0.00825" pos="0 0.00758 0.04525" conaffinity="3"/>
</default>
</default>
</default>
</default>
</default>
<asset>
<material class="panda" name="white" rgba="1 1 1 1"/>
<material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
<material class="panda" name="black" rgba="0.25 0.25 0.25 1"/>
<material class="panda" name="green" rgba="0 1 0 1"/>
<material class="panda" name="light_blue" rgba="0.039216 0.541176 0.780392 1"/>
<!-- Collision meshes -->
<mesh name="link0_c" file="link0.stl"/>
<mesh name="link1_c" file="link1.stl"/>
<mesh name="link2_c" file="link2.stl"/>
<mesh name="link3_c" file="link3.stl"/>
<mesh name="link4_c" file="link4.stl"/>
<mesh name="link5_c0" file="link5_collision_0.obj"/>
<mesh name="link5_c1" file="link5_collision_1.obj"/>
<mesh name="link5_c2" file="link5_collision_2.obj"/>
<mesh name="link6_c" file="link6.stl"/>
<mesh name="link7_c" file="link7.stl"/>
<mesh name="hand_c" file="hand.stl"/>
<!-- Visual meshes -->
<mesh file="link0_0.obj"/>
<mesh file="link0_1.obj"/>
<mesh file="link0_2.obj"/>
<mesh file="link0_3.obj"/>
<mesh file="link0_4.obj"/>
<mesh file="link0_5.obj"/>
<mesh file="link0_7.obj"/>
<mesh file="link0_8.obj"/>
<mesh file="link0_9.obj"/>
<mesh file="link0_10.obj"/>
<mesh file="link0_11.obj"/>
<mesh file="link1.obj"/>
<mesh file="link2.obj"/>
<mesh file="link3_0.obj"/>
<mesh file="link3_1.obj"/>
<mesh file="link3_2.obj"/>
<mesh file="link3_3.obj"/>
<mesh file="link4_0.obj"/>
<mesh file="link4_1.obj"/>
<mesh file="link4_2.obj"/>
<mesh file="link4_3.obj"/>
<mesh file="link5_0.obj"/>
<mesh file="link5_1.obj"/>
<mesh file="link5_2.obj"/>
<mesh file="link6_0.obj"/>
<mesh file="link6_1.obj"/>
<mesh file="link6_2.obj"/>
<mesh file="link6_3.obj"/>
<mesh file="link6_4.obj"/>
<mesh file="link6_5.obj"/>
<mesh file="link6_6.obj"/>
<mesh file="link6_7.obj"/>
<mesh file="link6_8.obj"/>
<mesh file="link6_9.obj"/>
<mesh file="link6_10.obj"/>
<mesh file="link6_11.obj"/>
<mesh file="link6_12.obj"/>
<mesh file="link6_13.obj"/>
<mesh file="link6_14.obj"/>
<mesh file="link6_15.obj"/>
<mesh file="link6_16.obj"/>
<mesh file="link7_0.obj"/>
<mesh file="link7_1.obj"/>
<mesh file="link7_2.obj"/>
<mesh file="link7_3.obj"/>
<mesh file="link7_4.obj"/>
<mesh file="link7_5.obj"/>
<mesh file="link7_6.obj"/>
<mesh file="link7_7.obj"/>
<mesh file="hand_0.obj"/>
<mesh file="hand_1.obj"/>
<mesh file="hand_2.obj"/>
<mesh file="hand_3.obj"/>
<mesh file="hand_4.obj"/>
<mesh file="finger_0.obj"/>
<mesh file="finger_1.obj"/>
</asset>
<worldbody>
<light name="top" pos="0 0 2" mode="trackcom"/>
<body name="link0" childclass="panda">
<inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6"/>
<geom mesh="link0_0" material="off_white" class="visual"/>
<geom mesh="link0_1" material="black" class="visual"/>
<geom mesh="link0_2" material="off_white" class="visual"/>
<geom mesh="link0_3" material="black" class="visual"/>
<geom mesh="link0_4" material="off_white" class="visual"/>
<geom mesh="link0_5" material="black" class="visual"/>
<geom mesh="link0_7" material="white" class="visual"/>
<geom mesh="link0_8" material="white" class="visual"/>
<geom mesh="link0_9" material="black" class="visual"/>
<geom mesh="link0_10" material="off_white" class="visual"/>
<geom mesh="link0_11" material="white" class="visual"/>
<geom mesh="link0_c" class="collision"/>
<body name="link1" pos="0 0 0.333">
<inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169"/>
<joint name="joint1" damping="40"/>
<geom material="white" mesh="link1" class="visual"/>
<geom mesh="link1_c" class="collision"/>
<body name="link2" quat="1 -1 0 0">
<inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495"
fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4"/>
<joint name="joint2" range="-1.7628 1.7628" damping="40"/>
<geom material="white" mesh="link2" class="visual"/>
<geom mesh="link2_c" class="collision"/>
<body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
<joint name="joint3" damping="40"/>
<inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2"
fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2"/>
<geom mesh="link3_0" material="white" class="visual"/>
<geom mesh="link3_1" material="white" class="visual"/>
<geom mesh="link3_2" material="white" class="visual"/>
<geom mesh="link3_3" material="black" class="visual"/>
<geom mesh="link3_c" class="collision"/>
<body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
<inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2"
fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3"/>
<joint name="joint4" range="-3.0718 -0.0698" damping="40"/>
<geom mesh="link4_0" material="white" class="visual"/>
<geom mesh="link4_1" material="white" class="visual"/>
<geom mesh="link4_2" material="black" class="visual"/>
<geom mesh="link4_3" material="white" class="visual"/>
<geom mesh="link4_c" class="collision"/>
<body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
<inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2"
fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4"/>
<joint name="joint5" damping="2"/>
<geom mesh="link5_0" material="black" class="visual"/>
<geom mesh="link5_1" material="white" class="visual"/>
<geom mesh="link5_2" material="white" class="visual"/>
<geom mesh="link5_c0" class="collision"/>
<geom mesh="link5_c1" class="collision"/>
<geom mesh="link5_c2" class="collision"/>
<body name="link6" quat="1 1 0 0">
<inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2"
fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4"/>
<joint name="joint6" range="-0.0175 3.7525" damping="2"/>
<geom mesh="link6_0" material="off_white" class="visual"/>
<geom mesh="link6_1" material="white" class="visual"/>
<geom mesh="link6_2" material="black" class="visual"/>
<geom mesh="link6_3" material="white" class="visual"/>
<geom mesh="link6_4" material="white" class="visual"/>
<geom mesh="link6_5" material="white" class="visual"/>
<geom mesh="link6_6" material="white" class="visual"/>
<geom mesh="link6_7" material="light_blue" class="visual"/>
<geom mesh="link6_8" material="light_blue" class="visual"/>
<geom mesh="link6_9" material="black" class="visual"/>
<geom mesh="link6_10" material="black" class="visual"/>
<geom mesh="link6_11" material="white" class="visual"/>
<geom mesh="link6_12" material="green" class="visual"/>
<geom mesh="link6_13" material="white" class="visual"/>
<geom mesh="link6_14" material="black" class="visual"/>
<geom mesh="link6_15" material="black" class="visual"/>
<geom mesh="link6_16" material="white" class="visual"/>
<geom mesh="link6_c" class="collision"/>
<body name="link7" pos="0.088 0 0" quat="1 1 0 0">
<inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2"
fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4"/>
<joint name="joint7" damping="2"/>
<geom mesh="link7_0" material="white" class="visual"/>
<geom mesh="link7_1" material="black" class="visual"/>
<geom mesh="link7_2" material="black" class="visual"/>
<geom mesh="link7_3" material="black" class="visual"/>
<geom mesh="link7_4" material="black" class="visual"/>
<geom mesh="link7_5" material="black" class="visual"/>
<geom mesh="link7_6" material="black" class="visual"/>
<geom mesh="link7_7" material="white" class="visual"/>
<geom mesh="link7_c" class="collision"/>
<body name="hand" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834">
<inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/>
<geom mesh="hand_0" material="off_white" class="visual"/>
<geom mesh="hand_1" material="black" class="visual"/>
<geom mesh="hand_2" material="black" class="visual"/>
<geom mesh="hand_3" material="white" class="visual"/>
<geom mesh="hand_4" material="off_white" class="visual"/>
<geom mesh="hand_c" class="collision"/>
<geom name="hand_capsule" type="capsule"
class="collision" conaffinity="1" size="0.04 0.06"
quat="1 1 0 0" pos="0 0 0.03"/>
<site name="gripper" pos="0 0 0.1"/>
<body name="left_finger" pos="0 0 0.0584">
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
<joint name="finger_joint1" class="finger" damping="10"/>
<geom mesh="finger_0" material="off_white" class="visual"/>
<geom mesh="finger_1" material="black" class="visual"/>
<geom mesh="finger_0" class="collision"/>
<geom class="fingertip_pad_collision_1"/>
<geom class="fingertip_pad_collision_2"/>
<geom class="fingertip_pad_collision_3"/>
<geom name="left_finger_pad" class="fingertip_pad_collision_4"/>
</body>
<body name="right_finger" pos="0 0 0.0584" quat="0 0 0 1">
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
<joint name="finger_joint2" class="finger" damping="10"/>
<geom mesh="finger_0" material="off_white" class="visual"/>
<geom mesh="finger_1" material="black" class="visual"/>
<geom mesh="finger_0" class="collision"/>
<geom class="fingertip_pad_collision_1"/>
<geom class="fingertip_pad_collision_2"/>
<geom class="fingertip_pad_collision_3"/>
<geom name="right_finger_pad" class="fingertip_pad_collision_4"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<equality>
<joint joint1="finger_joint1" joint2="finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1"/>
</equality>
<actuator>
<position class="panda" name="actuator1" joint="joint1" kp="1000" kv="20"
ctrlrange="-2.8973 2.8973"/>
<position class="panda" name="actuator2" joint="joint2" kp="1000" kv="20"
ctrlrange="-1.7628 1.7628"/>
<position class="panda" name="actuator3" joint="joint3" kp="750" kv="4"
ctrlrange="-2.8973 2.8973"/>
<position class="panda" name="actuator4" joint="joint4" kp="750" kv="4"
ctrlrange="-3.0718 -0.0698"/>
<position class="panda" name="actuator5" joint="joint5" kp="300" kv="2"
forcerange="-12 12" ctrlrange="-2.8973 2.8973"/>
<position class="panda" name="actuator6" joint="joint6" kp="300" kv="2" forcerange="-12 12"
ctrlrange="-0.0175 3.7525"/>
<position class="panda" name="actuator7" joint="joint7" kp="300" kv="2" forcerange="-12 12"/>
<general class="panda" name="actuator8" joint="finger_joint1"
ctrlrange="0 0.04" gainprm="350 0 0" biasprm="0 -350 -10" forcerange="-200 200"/>
</actuator>
</mujoco>
|
<mujoco model="panda scene">
<include file="mjx_panda.xml"/>
<statistic center="0.3 0 0.4" extent="1"/>
<option timestep="0.005" iterations="5" ls_iterations="8" integrator="implicitfast">
<flag eulerdamp="disable"/>
</option>
<custom>
<numeric data="12" name="max_contact_points"/>
</custom>
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="120" elevation="-20"/>
<scale contactwidth="0.075" contactheight="0.025" forcewidth="0.05" com="0.05" framewidth="0.01" framelength="0.2"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" 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="0 0 1.5" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" contype="1"/>
</worldbody>
</mujoco>
|
<mujoco model="panda scene">
<include file="mjx_scene.xml"/>
<worldbody>
<body name="box" pos="0.5 0 0.03">
<freejoint/>
<geom type="box" name="box" size="0.02 0.02 0.03" condim="3"
friction="1 .03 .003" rgba="0 1 0 1" contype="2" conaffinity="1" solref="0.01 1"/>
</body>
<body mocap="true" name="mocap_target">
<geom type="box" size="0.02 0.02 0.03" rgba="1 0 0 0.2" contype="0" conaffinity="0"/>
</body>
</worldbody>
<keyframe>
<key name="home"
qpos="0 0.3 0 -1.57079 0 2.0 -0.7853 0.04 0.04 0.7 0 0.03 1 0 0 0"
ctrl="0 0.3 0 -1.57079 0 2.0 -0.7853 0.04"/>
<key name="pickup"
qpos="0.2897 0.50732 -0.140016 -2.176 -0.0310497 2.51592 -0.49251 0.04 0.0399982 0.511684 0.0645413 0.0298665 0.665781 2.76848e-17 -2.27527e-17 -0.746147"
ctrl="0.2897 0.423 -0.144392 -2.13105 -0.0291743 2.52586 -0.492492 0.04"/>
<key name="pickup1"
qpos='0.2897 0.496673 -0.142836 -2.14746 -0.0295746 2.52378 -0.492496 0.04 0.0399988 0.529553 0.0731702 0.0299388 0.94209 8.84613e-06 -4.97524e-06 -0.335361'
ctrl="0.2897 0.458 -0.144392 -2.13105 -0.0291743 2.52586 -0.492492 0.04"/>
</keyframe>
</mujoco>
|
<mujoco model="franka">
<compiler angle="radian" meshdir="assets" autolimits="true"/>
<option integrator="implicitfast"/>
<default>
<default class="panda">
<material specular="0.5" shininess="0.25"/>
<joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
<general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
<default class="finger">
<joint axis="0 1 0" type="slide" range="0 0.04"/>
</default>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2"/>
</default>
<default class="collision">
<geom type="mesh" group="3"/>
<default class="fingertip_pad_collision_1">
<geom type="box" size="0.0085 0.004 0.0085" pos="0 0.0055 0.0445"/>
</default>
<default class="fingertip_pad_collision_2">
<geom type="box" size="0.003 0.002 0.003" pos="0.0055 0.002 0.05"/>
</default>
<default class="fingertip_pad_collision_3">
<geom type="box" size="0.003 0.002 0.003" pos="-0.0055 0.002 0.05"/>
</default>
<default class="fingertip_pad_collision_4">
<geom type="box" size="0.003 0.002 0.0035" pos="0.0055 0.002 0.0395"/>
</default>
<default class="fingertip_pad_collision_5">
<geom type="box" size="0.003 0.002 0.0035" pos="-0.0055 0.002 0.0395"/>
</default>
</default>
</default>
</default>
<asset>
<material class="panda" name="white" rgba="1 1 1 1"/>
<material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
<material class="panda" name="black" rgba="0.25 0.25 0.25 1"/>
<material class="panda" name="green" rgba="0 1 0 1"/>
<material class="panda" name="light_blue" rgba="0.039216 0.541176 0.780392 1"/>
<!-- Collision meshes -->
<mesh name="link0_c" file="link0.stl"/>
<mesh name="link1_c" file="link1.stl"/>
<mesh name="link2_c" file="link2.stl"/>
<mesh name="link3_c" file="link3.stl"/>
<mesh name="link4_c" file="link4.stl"/>
<mesh name="link5_c0" file="link5_collision_0.obj"/>
<mesh name="link5_c1" file="link5_collision_1.obj"/>
<mesh name="link5_c2" file="link5_collision_2.obj"/>
<mesh name="link6_c" file="link6.stl"/>
<mesh name="link7_c" file="link7.stl"/>
<mesh name="hand_c" file="hand.stl"/>
<!-- Visual meshes -->
<mesh file="link0_0.obj"/>
<mesh file="link0_1.obj"/>
<mesh file="link0_2.obj"/>
<mesh file="link0_3.obj"/>
<mesh file="link0_4.obj"/>
<mesh file="link0_5.obj"/>
<mesh file="link0_7.obj"/>
<mesh file="link0_8.obj"/>
<mesh file="link0_9.obj"/>
<mesh file="link0_10.obj"/>
<mesh file="link0_11.obj"/>
<mesh file="link1.obj"/>
<mesh file="link2.obj"/>
<mesh file="link3_0.obj"/>
<mesh file="link3_1.obj"/>
<mesh file="link3_2.obj"/>
<mesh file="link3_3.obj"/>
<mesh file="link4_0.obj"/>
<mesh file="link4_1.obj"/>
<mesh file="link4_2.obj"/>
<mesh file="link4_3.obj"/>
<mesh file="link5_0.obj"/>
<mesh file="link5_1.obj"/>
<mesh file="link5_2.obj"/>
<mesh file="link6_0.obj"/>
<mesh file="link6_1.obj"/>
<mesh file="link6_2.obj"/>
<mesh file="link6_3.obj"/>
<mesh file="link6_4.obj"/>
<mesh file="link6_5.obj"/>
<mesh file="link6_6.obj"/>
<mesh file="link6_7.obj"/>
<mesh file="link6_8.obj"/>
<mesh file="link6_9.obj"/>
<mesh file="link6_10.obj"/>
<mesh file="link6_11.obj"/>
<mesh file="link6_12.obj"/>
<mesh file="link6_13.obj"/>
<mesh file="link6_14.obj"/>
<mesh file="link6_15.obj"/>
<mesh file="link6_16.obj"/>
<mesh file="link7_0.obj"/>
<mesh file="link7_1.obj"/>
<mesh file="link7_2.obj"/>
<mesh file="link7_3.obj"/>
<mesh file="link7_4.obj"/>
<mesh file="link7_5.obj"/>
<mesh file="link7_6.obj"/>
<mesh file="link7_7.obj"/>
<mesh file="hand_0.obj"/>
<mesh file="hand_1.obj"/>
<mesh file="hand_2.obj"/>
<mesh file="hand_3.obj"/>
<mesh file="hand_4.obj"/>
<mesh file="finger_0.obj"/>
<mesh file="finger_1.obj"/>
</asset>
<worldbody>
<light name="top" pos="0 0 2" mode="trackcom"/>
<body name="panda_link0" childclass="panda">
<inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6"/>
<geom mesh="link0_0" material="off_white" class="visual"/>
<geom mesh="link0_1" material="black" class="visual"/>
<geom mesh="link0_2" material="off_white" class="visual"/>
<geom mesh="link0_3" material="black" class="visual"/>
<geom mesh="link0_4" material="off_white" class="visual"/>
<geom mesh="link0_5" material="black" class="visual"/>
<geom mesh="link0_7" material="white" class="visual"/>
<geom mesh="link0_8" material="white" class="visual"/>
<geom mesh="link0_9" material="black" class="visual"/>
<geom mesh="link0_10" material="off_white" class="visual"/>
<geom mesh="link0_11" material="white" class="visual"/>
<geom mesh="link0_c" class="collision"/>
<body name="panda_link1" pos="0 0 0.333">
<inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169"/>
<joint name="panda_joint1"/>
<geom material="white" mesh="link1" class="visual"/>
<geom mesh="link1_c" class="collision"/>
<body name="panda_link2" quat="1 -1 0 0">
<inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495"
fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4"/>
<joint name="panda_joint2" range="-1.7628 1.7628"/>
<geom material="white" mesh="link2" class="visual"/>
<geom mesh="link2_c" class="collision"/>
<body name="panda_link3" pos="0 -0.316 0" quat="1 1 0 0">
<joint name="panda_joint3"/>
<inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2"
fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2"/>
<geom mesh="link3_0" material="white" class="visual"/>
<geom mesh="link3_1" material="white" class="visual"/>
<geom mesh="link3_2" material="white" class="visual"/>
<geom mesh="link3_3" material="black" class="visual"/>
<geom mesh="link3_c" class="collision"/>
<body name="panda_link4" pos="0.0825 0 0" quat="1 1 0 0">
<inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2"
fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3"/>
<joint name="panda_joint4" range="-3.0718 -0.0698"/>
<geom mesh="link4_0" material="white" class="visual"/>
<geom mesh="link4_1" material="white" class="visual"/>
<geom mesh="link4_2" material="black" class="visual"/>
<geom mesh="link4_3" material="white" class="visual"/>
<geom mesh="link4_c" class="collision"/>
<body name="panda_link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
<inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2"
fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4"/>
<joint name="panda_joint5"/>
<geom mesh="link5_0" material="black" class="visual"/>
<geom mesh="link5_1" material="white" class="visual"/>
<geom mesh="link5_2" material="white" class="visual"/>
<geom mesh="link5_c0" class="collision"/>
<geom mesh="link5_c1" class="collision"/>
<geom mesh="link5_c2" class="collision"/>
<body name="panda_link6" quat="1 1 0 0">
<inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2"
fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4"/>
<joint name="panda_joint6" range="-0.0175 3.7525"/>
<geom mesh="link6_0" material="off_white" class="visual"/>
<geom mesh="link6_1" material="white" class="visual"/>
<geom mesh="link6_2" material="black" class="visual"/>
<geom mesh="link6_3" material="white" class="visual"/>
<geom mesh="link6_4" material="white" class="visual"/>
<geom mesh="link6_5" material="white" class="visual"/>
<geom mesh="link6_6" material="white" class="visual"/>
<geom mesh="link6_7" material="light_blue" class="visual"/>
<geom mesh="link6_8" material="light_blue" class="visual"/>
<geom mesh="link6_9" material="black" class="visual"/>
<geom mesh="link6_10" material="black" class="visual"/>
<geom mesh="link6_11" material="white" class="visual"/>
<geom mesh="link6_12" material="green" class="visual"/>
<geom mesh="link6_13" material="white" class="visual"/>
<geom mesh="link6_14" material="black" class="visual"/>
<geom mesh="link6_15" material="black" class="visual"/>
<geom mesh="link6_16" material="white" class="visual"/>
<geom mesh="link6_c" class="collision"/>
<body name="panda_link7" pos="0.088 0 0" quat="1 1 0 0">
<inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2"
fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4"/>
<joint name="panda_joint7"/>
<geom mesh="link7_0" material="white" class="visual"/>
<geom mesh="link7_1" material="black" class="visual"/>
<geom mesh="link7_2" material="black" class="visual"/>
<geom mesh="link7_3" material="black" class="visual"/>
<geom mesh="link7_4" material="black" class="visual"/>
<geom mesh="link7_5" material="black" class="visual"/>
<geom mesh="link7_6" material="black" class="visual"/>
<geom mesh="link7_7" material="white" class="visual"/>
<geom mesh="link7_c" class="collision"/>
<body name="panda_hand" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834">
<inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/>
<geom mesh="hand_0" material="off_white" class="visual"/>
<geom mesh="hand_1" material="black" class="visual"/>
<geom mesh="hand_2" material="black" class="visual"/>
<geom mesh="hand_3" material="white" class="visual"/>
<geom mesh="hand_4" material="off_white" class="visual"/>
<geom mesh="hand_c" class="collision"/>
<body name="panda_leftfinger" pos="0 0 0.0584">
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
<joint name="panda_finger_joint1" class="finger"/>
<geom mesh="finger_0" material="off_white" class="visual"/>
<geom mesh="finger_1" material="black" class="visual"/>
<geom mesh="finger_0" class="collision"/>
<geom class="fingertip_pad_collision_1"/>
<geom class="fingertip_pad_collision_2"/>
<geom class="fingertip_pad_collision_3"/>
<geom class="fingertip_pad_collision_4"/>
<geom class="fingertip_pad_collision_5"/>
</body>
<body name="panda_rightfinger" pos="0 0 0.0584" quat="0 0 0 1">
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
<joint name="panda_finger_joint2" class="finger"/>
<geom mesh="finger_0" material="off_white" class="visual"/>
<geom mesh="finger_1" material="black" class="visual"/>
<geom mesh="finger_0" class="collision"/>
<geom class="fingertip_pad_collision_1"/>
<geom class="fingertip_pad_collision_2"/>
<geom class="fingertip_pad_collision_3"/>
<geom class="fingertip_pad_collision_4"/>
<geom class="fingertip_pad_collision_5"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<tendon>
<fixed name="split">
<joint joint="panda_finger_joint1" coef="0.5"/>
<joint joint="panda_finger_joint2" coef="0.5"/>
</fixed>
</tendon>
<actuator>
<general name="panda_joint1" joint="panda_joint1" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" forcerange="-40 40"/>
<general name="panda_joint2" joint="panda_joint2" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" ctrlrange="-1.7628 1.7628" forcerange="-40 40"/>
<general name="panda_joint3" joint="panda_joint3" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" forcerange="-40 40"/>
<general name="panda_joint4" joint="panda_joint4" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" ctrlrange="-3.0718 -0.0698" forcerange="-40 40"/>
<general name="panda_joint5" joint="panda_joint5" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" forcerange="-40 40"/>
<general name="panda_joint6" joint="panda_joint6" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" ctrlrange="-0.0175 3.7525" forcerange="-40 40"/>
<general name="panda_joint7" joint="panda_joint7" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" forcerange="-40 40"/>
<general name="panda_finger_joint1" joint="panda_finger_joint1" biastype="affine" forcerange="-100 100" gainprm="250" biasprm="-5"/>
<general name="panda_finger_joint2" joint="panda_finger_joint2" biastype="affine" forcerange="-100 100" gainprm="250" biasprm="-5"/>
</actuator>
</mujoco>
|
<mujoco model="panda nohand">
<compiler angle="radian" meshdir="assets" autolimits="true"/>
<option integrator="implicitfast" impratio="10"/>
<default>
<default class="panda">
<material specular="0.5" shininess="0.25"/>
<joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
<general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
<default class="finger">
<joint axis="0 1 0" type="slide" range="0 0.04"/>
</default>
<default class="panda/visual">
<geom type="mesh" contype="0" conaffinity="0" group="2"/>
</default>
<default class="panda/collision">
<geom type="mesh" group="3"/>
</default>
<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
</default>
</default>
<asset>
<material class="panda" name="white" rgba="1 1 1 1"/>
<material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
<material class="panda" name="dark_grey" rgba="0.25 0.25 0.25 1"/>
<material class="panda" name="green" rgba="0 1 0 1"/>
<material class="panda" name="light_blue" rgba="0.039216 0.541176 0.780392 1"/>
<!-- Collision meshes -->
<mesh name="link0_c" file="link0.stl"/>
<mesh name="link1_c" file="link1.stl"/>
<mesh name="link2_c" file="link2.stl"/>
<mesh name="link3_c" file="link3.stl"/>
<mesh name="link4_c" file="link4.stl"/>
<mesh name="link5_c0" file="link5_collision_0.obj"/>
<mesh name="link5_c1" file="link5_collision_1.obj"/>
<mesh name="link5_c2" file="link5_collision_2.obj"/>
<mesh name="link6_c" file="link6.stl"/>
<mesh name="link7_c" file="link7.stl"/>
<!-- Visual meshes -->
<mesh file="link0_0.obj"/>
<mesh file="link0_1.obj"/>
<mesh file="link0_2.obj"/>
<mesh file="link0_3.obj"/>
<mesh file="link0_4.obj"/>
<mesh file="link0_5.obj"/>
<mesh file="link0_7.obj"/>
<mesh file="link0_8.obj"/>
<mesh file="link0_9.obj"/>
<mesh file="link0_10.obj"/>
<mesh file="link0_11.obj"/>
<mesh file="link1.obj"/>
<mesh file="link2.obj"/>
<mesh file="link3_0.obj"/>
<mesh file="link3_1.obj"/>
<mesh file="link3_2.obj"/>
<mesh file="link3_3.obj"/>
<mesh file="link4_0.obj"/>
<mesh file="link4_1.obj"/>
<mesh file="link4_2.obj"/>
<mesh file="link4_3.obj"/>
<mesh file="link5_0.obj"/>
<mesh file="link5_1.obj"/>
<mesh file="link5_2.obj"/>
<mesh file="link6_0.obj"/>
<mesh file="link6_1.obj"/>
<mesh file="link6_2.obj"/>
<mesh file="link6_3.obj"/>
<mesh file="link6_4.obj"/>
<mesh file="link6_5.obj"/>
<mesh file="link6_6.obj"/>
<mesh file="link6_7.obj"/>
<mesh file="link6_8.obj"/>
<mesh file="link6_9.obj"/>
<mesh file="link6_10.obj"/>
<mesh file="link6_11.obj"/>
<mesh file="link6_12.obj"/>
<mesh file="link6_13.obj"/>
<mesh file="link6_14.obj"/>
<mesh file="link6_15.obj"/>
<mesh file="link6_16.obj"/>
<mesh file="link7_0.obj"/>
<mesh file="link7_1.obj"/>
<mesh file="link7_2.obj"/>
<mesh file="link7_3.obj"/>
<mesh file="link7_4.obj"/>
<mesh file="link7_5.obj"/>
<mesh file="link7_6.obj"/>
<mesh file="link7_7.obj"/>
</asset>
<worldbody>
<light name="top" pos="0 0 2" mode="trackcom"/>
<body name="link0" childclass="panda">
<inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6"/>
<geom mesh="link0_0" material="off_white" class="panda/visual"/>
<geom mesh="link0_1" material="dark_grey" class="panda/visual"/>
<geom mesh="link0_2" material="off_white" class="panda/visual"/>
<geom mesh="link0_3" material="dark_grey" class="panda/visual"/>
<geom mesh="link0_4" material="off_white" class="panda/visual"/>
<geom mesh="link0_5" material="dark_grey" class="panda/visual"/>
<geom mesh="link0_7" material="white" class="panda/visual"/>
<geom mesh="link0_8" material="white" class="panda/visual"/>
<geom mesh="link0_9" material="dark_grey" class="panda/visual"/>
<geom mesh="link0_10" material="off_white" class="panda/visual"/>
<geom mesh="link0_11" material="white" class="panda/visual"/>
<geom mesh="link0_c" class="panda/collision"/>
<body name="link1" pos="0 0 0.333">
<inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169"/>
<joint name="joint1"/>
<geom material="white" mesh="link1" class="panda/visual"/>
<geom mesh="link1_c" class="panda/collision"/>
<body name="link2" quat="1 -1 0 0">
<inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495"
fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4"/>
<joint name="joint2" range="-1.7628 1.7628"/>
<geom material="white" mesh="link2" class="panda/visual"/>
<geom mesh="link2_c" class="panda/collision"/>
<body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
<joint name="joint3"/>
<inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2"
fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2"/>
<geom mesh="link3_0" material="white" class="panda/visual"/>
<geom mesh="link3_1" material="white" class="panda/visual"/>
<geom mesh="link3_2" material="white" class="panda/visual"/>
<geom mesh="link3_3" material="dark_grey" class="panda/visual"/>
<geom mesh="link3_c" class="panda/collision"/>
<body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
<inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2"
fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3"/>
<joint name="joint4" range="-3.0718 -0.0698"/>
<geom mesh="link4_0" material="white" class="panda/visual"/>
<geom mesh="link4_1" material="white" class="panda/visual"/>
<geom mesh="link4_2" material="dark_grey" class="panda/visual"/>
<geom mesh="link4_3" material="white" class="panda/visual"/>
<geom mesh="link4_c" class="panda/collision"/>
<body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
<inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2"
fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4"/>
<joint name="joint5"/>
<geom mesh="link5_0" material="dark_grey" class="panda/visual"/>
<geom mesh="link5_1" material="white" class="panda/visual"/>
<geom mesh="link5_2" material="white" class="panda/visual"/>
<geom mesh="link5_c0" class="panda/collision"/>
<geom mesh="link5_c1" class="panda/collision"/>
<geom mesh="link5_c2" class="panda/collision"/>
<body name="link6" quat="1 1 0 0">
<inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2"
fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4"/>
<joint name="joint6" range="-0.0175 3.7525"/>
<geom mesh="link6_0" material="off_white" class="panda/visual"/>
<geom mesh="link6_1" material="white" class="panda/visual"/>
<geom mesh="link6_2" material="dark_grey" class="panda/visual"/>
<geom mesh="link6_3" material="white" class="panda/visual"/>
<geom mesh="link6_4" material="white" class="panda/visual"/>
<geom mesh="link6_5" material="white" class="panda/visual"/>
<geom mesh="link6_6" material="white" class="panda/visual"/>
<geom mesh="link6_7" material="light_blue" class="panda/visual"/>
<geom mesh="link6_8" material="light_blue" class="panda/visual"/>
<geom mesh="link6_9" material="dark_grey" class="panda/visual"/>
<geom mesh="link6_10" material="dark_grey" class="panda/visual"/>
<geom mesh="link6_11" material="white" class="panda/visual"/>
<geom mesh="link6_12" material="green" class="panda/visual"/>
<geom mesh="link6_13" material="white" class="panda/visual"/>
<geom mesh="link6_14" material="dark_grey" class="panda/visual"/>
<geom mesh="link6_15" material="dark_grey" class="panda/visual"/>
<geom mesh="link6_16" material="white" class="panda/visual"/>
<geom mesh="link6_c" class="panda/collision"/>
<body name="link7" pos="0.088 0 0" quat="1 1 0 0">
<inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2"
fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4"/>
<joint name="joint7"/>
<geom mesh="link7_0" material="white" class="panda/visual"/>
<geom mesh="link7_1" material="dark_grey" class="panda/visual"/>
<geom mesh="link7_2" material="dark_grey" class="panda/visual"/>
<geom mesh="link7_3" material="dark_grey" class="panda/visual"/>
<geom mesh="link7_4" material="dark_grey" class="panda/visual"/>
<geom mesh="link7_5" material="dark_grey" class="panda/visual"/>
<geom mesh="link7_6" material="dark_grey" class="panda/visual"/>
<geom mesh="link7_7" material="white" class="panda/visual"/>
<geom mesh="link7_c" class="panda/collision"/>
<body name="attachment" pos="0 0 0.107" quat="0.3826834 0 0 0.9238795">
<site name="attachment_site"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450"/>
<general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450"
ctrlrange="-1.7628 1.7628"/>
<general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350"/>
<general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350"
ctrlrange="-3.0718 -0.0698"/>
<general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12"/>
<general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12"
ctrlrange="-0.0175 3.7525"/>
<general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12"/>
</actuator>
<keyframe>
<key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853"/>
</keyframe>
</mujoco>
|
<mujoco model="panda scene">
<include file="panda.xml"/>
<statistic center="0.3 0 0.4" extent="1"/>
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="120" elevation="-20"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" 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="0 0 1.5" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
</worldbody>
</mujoco>
|
<mujoco model="left_ankle_link_collision">
<geom class="collision" type="mesh" mesh="left_ankle_link_part_0" />
<geom class="collision" type="mesh" mesh="left_ankle_link_part_1" />
<geom class="collision" type="mesh" mesh="left_ankle_link_part_2" />
<geom class="collision" type="mesh" mesh="left_ankle_link_part_3" />
<geom class="collision" type="mesh" mesh="left_ankle_link_part_4" />
<geom class="collision" type="mesh" mesh="left_ankle_link_part_5" />
<geom class="collision" type="mesh" mesh="left_ankle_link_part_6" />
<geom class="collision" type="mesh" mesh="left_ankle_link_part_7" />
<geom class="collision" type="mesh" mesh="left_ankle_link_part_8" />
<geom class="collision" type="mesh" mesh="left_ankle_link_part_9" />
<geom class="collision" type="mesh" mesh="left_ankle_link_part_10" />
<geom class="collision" type="mesh" mesh="left_ankle_link_part_11" />
<geom class="collision" type="mesh" mesh="left_ankle_link_part_12" />
<geom class="collision" type="mesh" mesh="left_ankle_link_part_13" />
<geom class="collision" type="mesh" mesh="left_ankle_link_part_14" />
<geom class="collision" type="mesh" mesh="left_ankle_link_part_15" />
</mujoco> |
<mujoco model="left_ankle_link_collision_assets">
<mesh file="../h1/assets/left_ankle_link_split/left_ankle_link_part_0.obj" />
<mesh file="../h1/assets/left_ankle_link_split/left_ankle_link_part_1.obj" />
<mesh file="../h1/assets/left_ankle_link_split/left_ankle_link_part_2.obj" />
<mesh file="../h1/assets/left_ankle_link_split/left_ankle_link_part_3.obj" />
<mesh file="../h1/assets/left_ankle_link_split/left_ankle_link_part_4.obj" />
<mesh file="../h1/assets/left_ankle_link_split/left_ankle_link_part_5.obj" />
<mesh file="../h1/assets/left_ankle_link_split/left_ankle_link_part_6.obj" />
<mesh file="../h1/assets/left_ankle_link_split/left_ankle_link_part_7.obj" />
<mesh file="../h1/assets/left_ankle_link_split/left_ankle_link_part_8.obj" />
<mesh file="../h1/assets/left_ankle_link_split/left_ankle_link_part_9.obj" />
<mesh file="../h1/assets/left_ankle_link_split/left_ankle_link_part_10.obj" />
<mesh file="../h1/assets/left_ankle_link_split/left_ankle_link_part_11.obj" />
<mesh file="../h1/assets/left_ankle_link_split/left_ankle_link_part_12.obj" />
<mesh file="../h1/assets/left_ankle_link_split/left_ankle_link_part_13.obj" />
<mesh file="../h1/assets/left_ankle_link_split/left_ankle_link_part_14.obj" />
<mesh file="../h1/assets/left_ankle_link_split/left_ankle_link_part_15.obj" />
</mujoco> |
<mujoco model="left_elbow_link_collision">
<geom class="collision" type="mesh" mesh="left_elbow_link_part_0" />
<geom class="collision" type="mesh" mesh="left_elbow_link_part_1" />
<geom class="collision" type="mesh" mesh="left_elbow_link_part_2" />
<geom class="collision" type="mesh" mesh="left_elbow_link_part_3" />
<geom class="collision" type="mesh" mesh="left_elbow_link_part_4" />
<geom class="collision" type="mesh" mesh="left_elbow_link_part_5" />
<geom class="collision" type="mesh" mesh="left_elbow_link_part_6" />
<geom class="collision" type="mesh" mesh="left_elbow_link_part_7" />
<geom class="collision" type="mesh" mesh="left_elbow_link_part_8" />
<geom class="collision" type="mesh" mesh="left_elbow_link_part_9" />
<geom class="collision" type="mesh" mesh="left_elbow_link_part_10" />
<geom class="collision" type="mesh" mesh="left_elbow_link_part_11" />
<geom class="collision" type="mesh" mesh="left_elbow_link_part_12" />
<geom class="collision" type="mesh" mesh="left_elbow_link_part_13" />
<geom class="collision" type="mesh" mesh="left_elbow_link_part_14" />
<geom class="collision" type="mesh" mesh="left_elbow_link_part_15" />
</mujoco> |
<mujoco model="left_elbow_link_collision_assets">
<mesh file="../h1/assets/left_elbow_link_split/left_elbow_link_part_0.obj" />
<mesh file="../h1/assets/left_elbow_link_split/left_elbow_link_part_1.obj" />
<mesh file="../h1/assets/left_elbow_link_split/left_elbow_link_part_2.obj" />
<mesh file="../h1/assets/left_elbow_link_split/left_elbow_link_part_3.obj" />
<mesh file="../h1/assets/left_elbow_link_split/left_elbow_link_part_4.obj" />
<mesh file="../h1/assets/left_elbow_link_split/left_elbow_link_part_5.obj" />
<mesh file="../h1/assets/left_elbow_link_split/left_elbow_link_part_6.obj" />
<mesh file="../h1/assets/left_elbow_link_split/left_elbow_link_part_7.obj" />
<mesh file="../h1/assets/left_elbow_link_split/left_elbow_link_part_8.obj" />
<mesh file="../h1/assets/left_elbow_link_split/left_elbow_link_part_9.obj" />
<mesh file="../h1/assets/left_elbow_link_split/left_elbow_link_part_10.obj" />
<mesh file="../h1/assets/left_elbow_link_split/left_elbow_link_part_11.obj" />
<mesh file="../h1/assets/left_elbow_link_split/left_elbow_link_part_12.obj" />
<mesh file="../h1/assets/left_elbow_link_split/left_elbow_link_part_13.obj" />
<mesh file="../h1/assets/left_elbow_link_split/left_elbow_link_part_14.obj" />
<mesh file="../h1/assets/left_elbow_link_split/left_elbow_link_part_15.obj" />
</mujoco>
|
<mujoco model="left_hip_pitch_link_collision">
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_0" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_1" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_2" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_3" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_4" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_5" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_6" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_7" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_8" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_9" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_10" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_11" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_12" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_13" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_14" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_15" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_16" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_17" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_18" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_19" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_20" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_21" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_22" />
<geom class="collision" type="mesh" mesh="left_hip_pitch_link_part_23" />
</mujoco> |
<mujoco model="left_hip_pitch_link_collision_assets">
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_0.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_1.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_2.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_3.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_4.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_5.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_6.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_7.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_8.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_9.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_10.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_11.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_12.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_13.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_14.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_15.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_16.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_17.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_18.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_19.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_20.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_21.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_22.obj" />
<mesh file="../h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_23.obj" />
</mujoco>
|
<mujoco model="left_hip_roll_link_collision">
<geom class="collision" type="mesh" mesh="left_hip_roll_link_part_0" />
<geom class="collision" type="mesh" mesh="left_hip_roll_link_part_1" />
<geom class="collision" type="mesh" mesh="left_hip_roll_link_part_2" />
<geom class="collision" type="mesh" mesh="left_hip_roll_link_part_3" />
<geom class="collision" type="mesh" mesh="left_hip_roll_link_part_4" />
<geom class="collision" type="mesh" mesh="left_hip_roll_link_part_5" />
<geom class="collision" type="mesh" mesh="left_hip_roll_link_part_6" />
<geom class="collision" type="mesh" mesh="left_hip_roll_link_part_7" />
<geom class="collision" type="mesh" mesh="left_hip_roll_link_part_8" />
<geom class="collision" type="mesh" mesh="left_hip_roll_link_part_9" />
<geom class="collision" type="mesh" mesh="left_hip_roll_link_part_10" />
<geom class="collision" type="mesh" mesh="left_hip_roll_link_part_11" />
<geom class="collision" type="mesh" mesh="left_hip_roll_link_part_12" />
<geom class="collision" type="mesh" mesh="left_hip_roll_link_part_13" />
<geom class="collision" type="mesh" mesh="left_hip_roll_link_part_14" />
<geom class="collision" type="mesh" mesh="left_hip_roll_link_part_15" />
</mujoco> |
<mujoco model="left_hip_roll_link_collision_assets">
<mesh file="../h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_0.obj" />
<mesh file="../h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_1.obj" />
<mesh file="../h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_2.obj" />
<mesh file="../h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_3.obj" />
<mesh file="../h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_4.obj" />
<mesh file="../h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_5.obj" />
<mesh file="../h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_6.obj" />
<mesh file="../h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_7.obj" />
<mesh file="../h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_8.obj" />
<mesh file="../h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_9.obj" />
<mesh file="../h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_10.obj" />
<mesh file="../h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_11.obj" />
<mesh file="../h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_12.obj" />
<mesh file="../h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_13.obj" />
<mesh file="../h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_14.obj" />
<mesh file="../h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_15.obj" />
</mujoco>
|
<mujoco model="left_hip_yaw_link_collision">
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_0" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_1" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_2" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_3" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_4" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_5" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_6" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_7" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_8" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_9" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_10" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_11" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_12" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_13" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_14" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_15" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_16" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_17" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_18" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_19" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_20" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_21" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_22" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_23" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_24" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_25" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_26" />
<geom class="collision" type="mesh" mesh="left_hip_yaw_link_part_27" />
</mujoco> |
<mujoco model="left_hip_yaw_link_collision_assets">
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_0.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_1.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_2.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_3.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_4.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_5.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_6.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_7.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_8.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_9.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_10.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_11.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_12.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_13.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_14.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_15.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_16.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_17.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_18.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_19.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_20.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_21.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_22.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_23.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_24.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_25.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_26.obj" />
<mesh file="../h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_27.obj" />
</mujoco>
|
<mujoco model="left_knee_link_collision">
<geom class="collision" type="mesh" mesh="left_knee_link_part_0" />
<geom class="collision" type="mesh" mesh="left_knee_link_part_1" />
<geom class="collision" type="mesh" mesh="left_knee_link_part_2" />
<geom class="collision" type="mesh" mesh="left_knee_link_part_3" />
<geom class="collision" type="mesh" mesh="left_knee_link_part_4" />
<geom class="collision" type="mesh" mesh="left_knee_link_part_5" />
<geom class="collision" type="mesh" mesh="left_knee_link_part_6" />
<geom class="collision" type="mesh" mesh="left_knee_link_part_7" />
<geom class="collision" type="mesh" mesh="left_knee_link_part_8" />
<geom class="collision" type="mesh" mesh="left_knee_link_part_9" />
<geom class="collision" type="mesh" mesh="left_knee_link_part_10" />
<geom class="collision" type="mesh" mesh="left_knee_link_part_11" />
<geom class="collision" type="mesh" mesh="left_knee_link_part_12" />
<geom class="collision" type="mesh" mesh="left_knee_link_part_13" />
</mujoco> |
<mujoco model="left_knee_link_collision_assets">
<mesh file="../h1/assets/left_knee_link_split/left_knee_link_part_0.obj" />
<mesh file="../h1/assets/left_knee_link_split/left_knee_link_part_1.obj" />
<mesh file="../h1/assets/left_knee_link_split/left_knee_link_part_2.obj" />
<mesh file="../h1/assets/left_knee_link_split/left_knee_link_part_3.obj" />
<mesh file="../h1/assets/left_knee_link_split/left_knee_link_part_4.obj" />
<mesh file="../h1/assets/left_knee_link_split/left_knee_link_part_5.obj" />
<mesh file="../h1/assets/left_knee_link_split/left_knee_link_part_6.obj" />
<mesh file="../h1/assets/left_knee_link_split/left_knee_link_part_7.obj" />
<mesh file="../h1/assets/left_knee_link_split/left_knee_link_part_8.obj" />
<mesh file="../h1/assets/left_knee_link_split/left_knee_link_part_9.obj" />
<mesh file="../h1/assets/left_knee_link_split/left_knee_link_part_10.obj" />
<mesh file="../h1/assets/left_knee_link_split/left_knee_link_part_11.obj" />
<mesh file="../h1/assets/left_knee_link_split/left_knee_link_part_12.obj" />
<mesh file="../h1/assets/left_knee_link_split/left_knee_link_part_13.obj" />
</mujoco>
|
<mujoco model="left_shoulder_pitch_link_collision">
<geom class="collision" type="mesh" mesh="left_shoulder_pitch_link_part_0" />
<geom class="collision" type="mesh" mesh="left_shoulder_pitch_link_part_1" />
<geom class="collision" type="mesh" mesh="left_shoulder_pitch_link_part_2" />
<geom class="collision" type="mesh" mesh="left_shoulder_pitch_link_part_3" />
<geom class="collision" type="mesh" mesh="left_shoulder_pitch_link_part_4" />
<geom class="collision" type="mesh" mesh="left_shoulder_pitch_link_part_5" />
<geom class="collision" type="mesh" mesh="left_shoulder_pitch_link_part_6" />
<geom class="collision" type="mesh" mesh="left_shoulder_pitch_link_part_7" />
<geom class="collision" type="mesh" mesh="left_shoulder_pitch_link_part_8" />
<geom class="collision" type="mesh" mesh="left_shoulder_pitch_link_part_9" />
<geom class="collision" type="mesh" mesh="left_shoulder_pitch_link_part_10" />
<geom class="collision" type="mesh" mesh="left_shoulder_pitch_link_part_11" />
<geom class="collision" type="mesh" mesh="left_shoulder_pitch_link_part_12" />
<geom class="collision" type="mesh" mesh="left_shoulder_pitch_link_part_13" />
<geom class="collision" type="mesh" mesh="left_shoulder_pitch_link_part_14" />
<geom class="collision" type="mesh" mesh="left_shoulder_pitch_link_part_15" />
</mujoco> |
<mujoco model="left_shoulder_pitch_link_collision_assets">
<mesh file="../h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_0.obj" />
<mesh file="../h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_1.obj" />
<mesh file="../h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_2.obj" />
<mesh file="../h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_3.obj" />
<mesh file="../h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_4.obj" />
<mesh file="../h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_5.obj" />
<mesh file="../h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_6.obj" />
<mesh file="../h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_7.obj" />
<mesh file="../h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_8.obj" />
<mesh file="../h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_9.obj" />
<mesh file="../h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_10.obj" />
<mesh file="../h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_11.obj" />
<mesh file="../h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_12.obj" />
<mesh file="../h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_13.obj" />
<mesh file="../h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_14.obj" />
<mesh file="../h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_15.obj" />
</mujoco>
|
<mujoco model="left_shoulder_roll_link_collision">
<geom class="collision" type="mesh" mesh="left_shoulder_roll_link_part_0" />
<geom class="collision" type="mesh" mesh="left_shoulder_roll_link_part_1" />
<geom class="collision" type="mesh" mesh="left_shoulder_roll_link_part_2" />
<geom class="collision" type="mesh" mesh="left_shoulder_roll_link_part_3" />
<geom class="collision" type="mesh" mesh="left_shoulder_roll_link_part_4" />
<geom class="collision" type="mesh" mesh="left_shoulder_roll_link_part_5" />
<geom class="collision" type="mesh" mesh="left_shoulder_roll_link_part_6" />
<geom class="collision" type="mesh" mesh="left_shoulder_roll_link_part_7" />
<geom class="collision" type="mesh" mesh="left_shoulder_roll_link_part_8" />
<geom class="collision" type="mesh" mesh="left_shoulder_roll_link_part_9" />
<geom class="collision" type="mesh" mesh="left_shoulder_roll_link_part_10" />
<geom class="collision" type="mesh" mesh="left_shoulder_roll_link_part_11" />
<geom class="collision" type="mesh" mesh="left_shoulder_roll_link_part_12" />
<geom class="collision" type="mesh" mesh="left_shoulder_roll_link_part_13" />
<geom class="collision" type="mesh" mesh="left_shoulder_roll_link_part_14" />
<geom class="collision" type="mesh" mesh="left_shoulder_roll_link_part_15" />
<geom class="collision" type="mesh" mesh="left_shoulder_roll_link_part_16" />
<geom class="collision" type="mesh" mesh="left_shoulder_roll_link_part_17" />
</mujoco> |
<mujoco model="left_shoulder_roll_link_collision_assets">
<mesh file="../h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_0.obj" />
<mesh file="../h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_1.obj" />
<mesh file="../h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_2.obj" />
<mesh file="../h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_3.obj" />
<mesh file="../h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_4.obj" />
<mesh file="../h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_5.obj" />
<mesh file="../h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_6.obj" />
<mesh file="../h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_7.obj" />
<mesh file="../h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_8.obj" />
<mesh file="../h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_9.obj" />
<mesh file="../h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_10.obj" />
<mesh file="../h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_11.obj" />
<mesh file="../h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_12.obj" />
<mesh file="../h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_13.obj" />
<mesh file="../h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_14.obj" />
<mesh file="../h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_15.obj" />
<mesh file="../h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_16.obj" />
<mesh file="../h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_17.obj" />
</mujoco>
|
<mujoco model="left_shoulder_yaw_link_collision">
<geom class="collision" type="mesh" mesh="left_shoulder_yaw_link_part_0" />
<geom class="collision" type="mesh" mesh="left_shoulder_yaw_link_part_1" />
<geom class="collision" type="mesh" mesh="left_shoulder_yaw_link_part_2" />
<geom class="collision" type="mesh" mesh="left_shoulder_yaw_link_part_3" />
<geom class="collision" type="mesh" mesh="left_shoulder_yaw_link_part_4" />
<geom class="collision" type="mesh" mesh="left_shoulder_yaw_link_part_5" />
<geom class="collision" type="mesh" mesh="left_shoulder_yaw_link_part_6" />
<geom class="collision" type="mesh" mesh="left_shoulder_yaw_link_part_7" />
<geom class="collision" type="mesh" mesh="left_shoulder_yaw_link_part_8" />
<geom class="collision" type="mesh" mesh="left_shoulder_yaw_link_part_9" />
<geom class="collision" type="mesh" mesh="left_shoulder_yaw_link_part_10" />
<geom class="collision" type="mesh" mesh="left_shoulder_yaw_link_part_11" />
<geom class="collision" type="mesh" mesh="left_shoulder_yaw_link_part_12" />
<geom class="collision" type="mesh" mesh="left_shoulder_yaw_link_part_13" />
<geom class="collision" type="mesh" mesh="left_shoulder_yaw_link_part_14" />
<geom class="collision" type="mesh" mesh="left_shoulder_yaw_link_part_15" />
</mujoco> |
<mujoco model="left_shoulder_yaw_link_collision_assets">
<mesh file="../h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_0.obj" />
<mesh file="../h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_1.obj" />
<mesh file="../h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_2.obj" />
<mesh file="../h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_3.obj" />
<mesh file="../h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_4.obj" />
<mesh file="../h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_5.obj" />
<mesh file="../h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_6.obj" />
<mesh file="../h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_7.obj" />
<mesh file="../h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_8.obj" />
<mesh file="../h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_9.obj" />
<mesh file="../h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_10.obj" />
<mesh file="../h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_11.obj" />
<mesh file="../h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_12.obj" />
<mesh file="../h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_13.obj" />
<mesh file="../h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_14.obj" />
<mesh file="../h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_15.obj" />
</mujoco>
|
<mujoco model="pelvis_collision">
<geom class="collision" type="mesh" mesh="pelvis_part_0" />
<geom class="collision" type="mesh" mesh="pelvis_part_1" />
<geom class="collision" type="mesh" mesh="pelvis_part_2" />
<geom class="collision" type="mesh" mesh="pelvis_part_3" />
<geom class="collision" type="mesh" mesh="pelvis_part_4" />
<geom class="collision" type="mesh" mesh="pelvis_part_5" />
<geom class="collision" type="mesh" mesh="pelvis_part_6" />
<geom class="collision" type="mesh" mesh="pelvis_part_7" />
<geom class="collision" type="mesh" mesh="pelvis_part_8" />
<geom class="collision" type="mesh" mesh="pelvis_part_9" />
<geom class="collision" type="mesh" mesh="pelvis_part_10" />
<geom class="collision" type="mesh" mesh="pelvis_part_11" />
<geom class="collision" type="mesh" mesh="pelvis_part_12" />
<geom class="collision" type="mesh" mesh="pelvis_part_13" />
<geom class="collision" type="mesh" mesh="pelvis_part_14" />
<geom class="collision" type="mesh" mesh="pelvis_part_15" />
</mujoco> |
<mujoco model="pelvis_collision_assets">
<mesh file="../h1/assets/pelvis_split/pelvis_part_0.obj" />
<mesh file="../h1/assets/pelvis_split/pelvis_part_1.obj" />
<mesh file="../h1/assets/pelvis_split/pelvis_part_2.obj" />
<mesh file="../h1/assets/pelvis_split/pelvis_part_3.obj" />
<mesh file="../h1/assets/pelvis_split/pelvis_part_4.obj" />
<mesh file="../h1/assets/pelvis_split/pelvis_part_5.obj" />
<mesh file="../h1/assets/pelvis_split/pelvis_part_6.obj" />
<mesh file="../h1/assets/pelvis_split/pelvis_part_7.obj" />
<mesh file="../h1/assets/pelvis_split/pelvis_part_8.obj" />
<mesh file="../h1/assets/pelvis_split/pelvis_part_9.obj" />
<mesh file="../h1/assets/pelvis_split/pelvis_part_10.obj" />
<mesh file="../h1/assets/pelvis_split/pelvis_part_11.obj" />
<mesh file="../h1/assets/pelvis_split/pelvis_part_12.obj" />
<mesh file="../h1/assets/pelvis_split/pelvis_part_13.obj" />
<mesh file="../h1/assets/pelvis_split/pelvis_part_14.obj" />
<mesh file="../h1/assets/pelvis_split/pelvis_part_15.obj" />
</mujoco>
|
<mujoco model="right_ankle_link_collision">
<geom class="collision" type="mesh" mesh="right_ankle_link_part_0" />
<geom class="collision" type="mesh" mesh="right_ankle_link_part_1" />
<geom class="collision" type="mesh" mesh="right_ankle_link_part_2" />
<geom class="collision" type="mesh" mesh="right_ankle_link_part_3" />
<geom class="collision" type="mesh" mesh="right_ankle_link_part_4" />
<geom class="collision" type="mesh" mesh="right_ankle_link_part_5" />
<geom class="collision" type="mesh" mesh="right_ankle_link_part_6" />
<geom class="collision" type="mesh" mesh="right_ankle_link_part_7" />
<geom class="collision" type="mesh" mesh="right_ankle_link_part_8" />
<geom class="collision" type="mesh" mesh="right_ankle_link_part_9" />
<geom class="collision" type="mesh" mesh="right_ankle_link_part_10" />
<geom class="collision" type="mesh" mesh="right_ankle_link_part_11" />
<geom class="collision" type="mesh" mesh="right_ankle_link_part_12" />
<geom class="collision" type="mesh" mesh="right_ankle_link_part_13" />
<geom class="collision" type="mesh" mesh="right_ankle_link_part_14" />
<geom class="collision" type="mesh" mesh="right_ankle_link_part_15" />
</mujoco> |
<mujoco model="right_ankle_link_collision_assets">
<mesh file="../h1/assets/right_ankle_link_split/right_ankle_link_part_0.obj" />
<mesh file="../h1/assets/right_ankle_link_split/right_ankle_link_part_1.obj" />
<mesh file="../h1/assets/right_ankle_link_split/right_ankle_link_part_2.obj" />
<mesh file="../h1/assets/right_ankle_link_split/right_ankle_link_part_3.obj" />
<mesh file="../h1/assets/right_ankle_link_split/right_ankle_link_part_4.obj" />
<mesh file="../h1/assets/right_ankle_link_split/right_ankle_link_part_5.obj" />
<mesh file="../h1/assets/right_ankle_link_split/right_ankle_link_part_6.obj" />
<mesh file="../h1/assets/right_ankle_link_split/right_ankle_link_part_7.obj" />
<mesh file="../h1/assets/right_ankle_link_split/right_ankle_link_part_8.obj" />
<mesh file="../h1/assets/right_ankle_link_split/right_ankle_link_part_9.obj" />
<mesh file="../h1/assets/right_ankle_link_split/right_ankle_link_part_10.obj" />
<mesh file="../h1/assets/right_ankle_link_split/right_ankle_link_part_11.obj" />
<mesh file="../h1/assets/right_ankle_link_split/right_ankle_link_part_12.obj" />
<mesh file="../h1/assets/right_ankle_link_split/right_ankle_link_part_13.obj" />
<mesh file="../h1/assets/right_ankle_link_split/right_ankle_link_part_14.obj" />
<mesh file="../h1/assets/right_ankle_link_split/right_ankle_link_part_15.obj" />
</mujoco> |
<mujoco model="right_elbow_link_collision">
<geom class="collision" type="mesh" mesh="right_elbow_link_part_0" />
<geom class="collision" type="mesh" mesh="right_elbow_link_part_1" />
<geom class="collision" type="mesh" mesh="right_elbow_link_part_2" />
<geom class="collision" type="mesh" mesh="right_elbow_link_part_3" />
<geom class="collision" type="mesh" mesh="right_elbow_link_part_4" />
<geom class="collision" type="mesh" mesh="right_elbow_link_part_5" />
<geom class="collision" type="mesh" mesh="right_elbow_link_part_6" />
<geom class="collision" type="mesh" mesh="right_elbow_link_part_7" />
<geom class="collision" type="mesh" mesh="right_elbow_link_part_8" />
<geom class="collision" type="mesh" mesh="right_elbow_link_part_9" />
<geom class="collision" type="mesh" mesh="right_elbow_link_part_10" />
<geom class="collision" type="mesh" mesh="right_elbow_link_part_11" />
<geom class="collision" type="mesh" mesh="right_elbow_link_part_12" />
<geom class="collision" type="mesh" mesh="right_elbow_link_part_13" />
<geom class="collision" type="mesh" mesh="right_elbow_link_part_14" />
<geom class="collision" type="mesh" mesh="right_elbow_link_part_15" />
</mujoco> |
<mujoco model="right_elbow_link_collision_assets">
<mesh file="../h1/assets/right_elbow_link_split/right_elbow_link_part_0.obj" />
<mesh file="../h1/assets/right_elbow_link_split/right_elbow_link_part_1.obj" />
<mesh file="../h1/assets/right_elbow_link_split/right_elbow_link_part_2.obj" />
<mesh file="../h1/assets/right_elbow_link_split/right_elbow_link_part_3.obj" />
<mesh file="../h1/assets/right_elbow_link_split/right_elbow_link_part_4.obj" />
<mesh file="../h1/assets/right_elbow_link_split/right_elbow_link_part_5.obj" />
<mesh file="../h1/assets/right_elbow_link_split/right_elbow_link_part_6.obj" />
<mesh file="../h1/assets/right_elbow_link_split/right_elbow_link_part_7.obj" />
<mesh file="../h1/assets/right_elbow_link_split/right_elbow_link_part_8.obj" />
<mesh file="../h1/assets/right_elbow_link_split/right_elbow_link_part_9.obj" />
<mesh file="../h1/assets/right_elbow_link_split/right_elbow_link_part_10.obj" />
<mesh file="../h1/assets/right_elbow_link_split/right_elbow_link_part_11.obj" />
<mesh file="../h1/assets/right_elbow_link_split/right_elbow_link_part_12.obj" />
<mesh file="../h1/assets/right_elbow_link_split/right_elbow_link_part_13.obj" />
<mesh file="../h1/assets/right_elbow_link_split/right_elbow_link_part_14.obj" />
<mesh file="../h1/assets/right_elbow_link_split/right_elbow_link_part_15.obj" />
</mujoco>
|
<mujoco model="right_hip_pitch_link_collision">
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_0" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_1" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_2" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_3" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_4" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_5" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_6" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_7" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_8" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_9" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_10" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_11" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_12" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_13" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_14" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_15" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_16" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_17" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_18" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_19" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_20" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_21" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_22" />
<geom class="collision" type="mesh" mesh="right_hip_pitch_link_part_23" />
</mujoco> |
<mujoco model="right_hip_pitch_link_collision_assets">
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_0.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_1.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_2.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_3.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_4.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_5.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_6.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_7.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_8.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_9.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_10.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_11.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_12.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_13.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_14.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_15.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_16.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_17.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_18.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_19.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_20.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_21.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_22.obj" />
<mesh file="../h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_23.obj" />
</mujoco>
|
<mujoco model="right_hip_roll_link_collision">
<geom class="collision" type="mesh" mesh="right_hip_roll_link_part_0" />
<geom class="collision" type="mesh" mesh="right_hip_roll_link_part_1" />
<geom class="collision" type="mesh" mesh="right_hip_roll_link_part_2" />
<geom class="collision" type="mesh" mesh="right_hip_roll_link_part_3" />
<geom class="collision" type="mesh" mesh="right_hip_roll_link_part_4" />
<geom class="collision" type="mesh" mesh="right_hip_roll_link_part_5" />
<geom class="collision" type="mesh" mesh="right_hip_roll_link_part_6" />
<geom class="collision" type="mesh" mesh="right_hip_roll_link_part_7" />
<geom class="collision" type="mesh" mesh="right_hip_roll_link_part_8" />
<geom class="collision" type="mesh" mesh="right_hip_roll_link_part_9" />
<geom class="collision" type="mesh" mesh="right_hip_roll_link_part_10" />
<geom class="collision" type="mesh" mesh="right_hip_roll_link_part_11" />
<geom class="collision" type="mesh" mesh="right_hip_roll_link_part_12" />
<geom class="collision" type="mesh" mesh="right_hip_roll_link_part_13" />
<geom class="collision" type="mesh" mesh="right_hip_roll_link_part_14" />
<geom class="collision" type="mesh" mesh="right_hip_roll_link_part_15" />
</mujoco> |
<mujoco model="right_hip_roll_link_collision_assets">
<mesh file="../h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_0.obj" />
<mesh file="../h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_1.obj" />
<mesh file="../h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_2.obj" />
<mesh file="../h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_3.obj" />
<mesh file="../h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_4.obj" />
<mesh file="../h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_5.obj" />
<mesh file="../h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_6.obj" />
<mesh file="../h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_7.obj" />
<mesh file="../h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_8.obj" />
<mesh file="../h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_9.obj" />
<mesh file="../h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_10.obj" />
<mesh file="../h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_11.obj" />
<mesh file="../h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_12.obj" />
<mesh file="../h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_13.obj" />
<mesh file="../h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_14.obj" />
<mesh file="../h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_15.obj" />
</mujoco>
|
<mujoco model="right_hip_yaw_link_collision">
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_0" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_1" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_2" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_3" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_4" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_5" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_6" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_7" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_8" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_9" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_10" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_11" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_12" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_13" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_14" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_15" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_16" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_17" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_18" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_19" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_20" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_21" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_22" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_23" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_24" />
<geom class="collision" type="mesh" mesh="right_hip_yaw_link_part_25" />
</mujoco> |
<mujoco model="right_hip_yaw_link_collision_assets">
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_0.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_1.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_2.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_3.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_4.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_5.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_6.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_7.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_8.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_9.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_10.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_11.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_12.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_13.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_14.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_15.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_16.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_17.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_18.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_19.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_20.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_21.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_22.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_23.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_24.obj" />
<mesh file="../h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_25.obj" />
</mujoco>
|
<mujoco model="right_knee_link_collision">
<geom class="collision" type="mesh" mesh="right_knee_link_part_0" />
<geom class="collision" type="mesh" mesh="right_knee_link_part_1" />
<geom class="collision" type="mesh" mesh="right_knee_link_part_2" />
<geom class="collision" type="mesh" mesh="right_knee_link_part_3" />
<geom class="collision" type="mesh" mesh="right_knee_link_part_4" />
<geom class="collision" type="mesh" mesh="right_knee_link_part_5" />
<geom class="collision" type="mesh" mesh="right_knee_link_part_6" />
<geom class="collision" type="mesh" mesh="right_knee_link_part_7" />
<geom class="collision" type="mesh" mesh="right_knee_link_part_8" />
<geom class="collision" type="mesh" mesh="right_knee_link_part_9" />
<geom class="collision" type="mesh" mesh="right_knee_link_part_10" />
<geom class="collision" type="mesh" mesh="right_knee_link_part_11" />
<geom class="collision" type="mesh" mesh="right_knee_link_part_12" />
<geom class="collision" type="mesh" mesh="right_knee_link_part_13" />
</mujoco> |
<mujoco model="right_knee_link_collision_assets">
<mesh file="../h1/assets/right_knee_link_split/right_knee_link_part_0.obj" />
<mesh file="../h1/assets/right_knee_link_split/right_knee_link_part_1.obj" />
<mesh file="../h1/assets/right_knee_link_split/right_knee_link_part_2.obj" />
<mesh file="../h1/assets/right_knee_link_split/right_knee_link_part_3.obj" />
<mesh file="../h1/assets/right_knee_link_split/right_knee_link_part_4.obj" />
<mesh file="../h1/assets/right_knee_link_split/right_knee_link_part_5.obj" />
<mesh file="../h1/assets/right_knee_link_split/right_knee_link_part_6.obj" />
<mesh file="../h1/assets/right_knee_link_split/right_knee_link_part_7.obj" />
<mesh file="../h1/assets/right_knee_link_split/right_knee_link_part_8.obj" />
<mesh file="../h1/assets/right_knee_link_split/right_knee_link_part_9.obj" />
<mesh file="../h1/assets/right_knee_link_split/right_knee_link_part_10.obj" />
<mesh file="../h1/assets/right_knee_link_split/right_knee_link_part_11.obj" />
<mesh file="../h1/assets/right_knee_link_split/right_knee_link_part_12.obj" />
<mesh file="../h1/assets/right_knee_link_split/right_knee_link_part_13.obj" />
</mujoco>
|
<mujoco model="right_shoulder_pitch_link_collision">
<geom class="collision" type="mesh" mesh="right_shoulder_pitch_link_part_0" />
<geom class="collision" type="mesh" mesh="right_shoulder_pitch_link_part_1" />
<geom class="collision" type="mesh" mesh="right_shoulder_pitch_link_part_2" />
<geom class="collision" type="mesh" mesh="right_shoulder_pitch_link_part_3" />
<geom class="collision" type="mesh" mesh="right_shoulder_pitch_link_part_4" />
<geom class="collision" type="mesh" mesh="right_shoulder_pitch_link_part_5" />
<geom class="collision" type="mesh" mesh="right_shoulder_pitch_link_part_6" />
<geom class="collision" type="mesh" mesh="right_shoulder_pitch_link_part_7" />
<geom class="collision" type="mesh" mesh="right_shoulder_pitch_link_part_8" />
<geom class="collision" type="mesh" mesh="right_shoulder_pitch_link_part_9" />
<geom class="collision" type="mesh" mesh="right_shoulder_pitch_link_part_10" />
<geom class="collision" type="mesh" mesh="right_shoulder_pitch_link_part_11" />
<geom class="collision" type="mesh" mesh="right_shoulder_pitch_link_part_12" />
<geom class="collision" type="mesh" mesh="right_shoulder_pitch_link_part_13" />
<geom class="collision" type="mesh" mesh="right_shoulder_pitch_link_part_14" />
<geom class="collision" type="mesh" mesh="right_shoulder_pitch_link_part_15" />
</mujoco> |
<mujoco model="right_shoulder_pitch_link_collision_assets">
<mesh file="../h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_0.obj" />
<mesh file="../h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_1.obj" />
<mesh file="../h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_2.obj" />
<mesh file="../h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_3.obj" />
<mesh file="../h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_4.obj" />
<mesh file="../h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_5.obj" />
<mesh file="../h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_6.obj" />
<mesh file="../h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_7.obj" />
<mesh file="../h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_8.obj" />
<mesh file="../h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_9.obj" />
<mesh file="../h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_10.obj" />
<mesh file="../h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_11.obj" />
<mesh file="../h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_12.obj" />
<mesh file="../h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_13.obj" />
<mesh file="../h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_14.obj" />
<mesh file="../h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_15.obj" />
</mujoco>
|
<mujoco model="right_shoulder_roll_link_collision">
<geom class="collision" type="mesh" mesh="right_shoulder_roll_link_part_0" />
<geom class="collision" type="mesh" mesh="right_shoulder_roll_link_part_1" />
<geom class="collision" type="mesh" mesh="right_shoulder_roll_link_part_2" />
<geom class="collision" type="mesh" mesh="right_shoulder_roll_link_part_3" />
<geom class="collision" type="mesh" mesh="right_shoulder_roll_link_part_4" />
<geom class="collision" type="mesh" mesh="right_shoulder_roll_link_part_5" />
<geom class="collision" type="mesh" mesh="right_shoulder_roll_link_part_6" />
<geom class="collision" type="mesh" mesh="right_shoulder_roll_link_part_7" />
<geom class="collision" type="mesh" mesh="right_shoulder_roll_link_part_8" />
<geom class="collision" type="mesh" mesh="right_shoulder_roll_link_part_9" />
<geom class="collision" type="mesh" mesh="right_shoulder_roll_link_part_10" />
<geom class="collision" type="mesh" mesh="right_shoulder_roll_link_part_11" />
<geom class="collision" type="mesh" mesh="right_shoulder_roll_link_part_12" />
<geom class="collision" type="mesh" mesh="right_shoulder_roll_link_part_13" />
<geom class="collision" type="mesh" mesh="right_shoulder_roll_link_part_14" />
<geom class="collision" type="mesh" mesh="right_shoulder_roll_link_part_15" />
<geom class="collision" type="mesh" mesh="right_shoulder_roll_link_part_16" />
<geom class="collision" type="mesh" mesh="right_shoulder_roll_link_part_17" />
</mujoco> |
<mujoco model="right_shoulder_roll_link_collision_assets">
<mesh file="../h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_0.obj" />
<mesh file="../h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_1.obj" />
<mesh file="../h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_2.obj" />
<mesh file="../h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_3.obj" />
<mesh file="../h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_4.obj" />
<mesh file="../h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_5.obj" />
<mesh file="../h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_6.obj" />
<mesh file="../h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_7.obj" />
<mesh file="../h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_8.obj" />
<mesh file="../h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_9.obj" />
<mesh file="../h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_10.obj" />
<mesh file="../h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_11.obj" />
<mesh file="../h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_12.obj" />
<mesh file="../h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_13.obj" />
<mesh file="../h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_14.obj" />
<mesh file="../h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_15.obj" />
<mesh file="../h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_16.obj" />
<mesh file="../h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_17.obj" />
</mujoco>
|
<mujoco model="right_shoulder_yaw_link_collision">
<geom class="collision" type="mesh" mesh="right_shoulder_yaw_link_part_0" />
<geom class="collision" type="mesh" mesh="right_shoulder_yaw_link_part_1" />
<geom class="collision" type="mesh" mesh="right_shoulder_yaw_link_part_2" />
<geom class="collision" type="mesh" mesh="right_shoulder_yaw_link_part_3" />
<geom class="collision" type="mesh" mesh="right_shoulder_yaw_link_part_4" />
<geom class="collision" type="mesh" mesh="right_shoulder_yaw_link_part_5" />
<geom class="collision" type="mesh" mesh="right_shoulder_yaw_link_part_6" />
<geom class="collision" type="mesh" mesh="right_shoulder_yaw_link_part_7" />
<geom class="collision" type="mesh" mesh="right_shoulder_yaw_link_part_8" />
<geom class="collision" type="mesh" mesh="right_shoulder_yaw_link_part_9" />
<geom class="collision" type="mesh" mesh="right_shoulder_yaw_link_part_10" />
<geom class="collision" type="mesh" mesh="right_shoulder_yaw_link_part_11" />
<geom class="collision" type="mesh" mesh="right_shoulder_yaw_link_part_12" />
<geom class="collision" type="mesh" mesh="right_shoulder_yaw_link_part_13" />
<geom class="collision" type="mesh" mesh="right_shoulder_yaw_link_part_14" />
<geom class="collision" type="mesh" mesh="right_shoulder_yaw_link_part_15" />
</mujoco> |
<mujoco model="right_shoulder_yaw_link_collision_assets">
<mesh file="../h1/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_0.obj" />
<mesh file="../h1/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_1.obj" />
<mesh file="../h1/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_2.obj" />
<mesh file="../h1/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_3.obj" />
<mesh file="../h1/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_4.obj" />
<mesh file="../h1/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_5.obj" />
<mesh file="../h1/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_6.obj" />
<mesh file="../h1/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_7.obj" />
<mesh file="../h1/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_8.obj" />
<mesh file="../h1/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_9.obj" />
<mesh file="../h1/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_10.obj" />
<mesh file="../h1/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_11.obj" />
<mesh file="../h1/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_12.obj" />
<mesh file="../h1/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_13.obj" />
<mesh file="../h1/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_14.obj" />
<mesh file="../h1/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_15.obj" />
</mujoco>
|
<mujoco model="torso_link_collision">
<geom class="collision" type="mesh" mesh="torso_link_part_0" />
<geom class="collision" type="mesh" mesh="torso_link_part_1" />
<geom class="collision" type="mesh" mesh="torso_link_part_2" />
<geom class="collision" type="mesh" mesh="torso_link_part_3" />
<geom class="collision" type="mesh" mesh="torso_link_part_4" />
<geom class="collision" type="mesh" mesh="torso_link_part_5" />
<geom class="collision" type="mesh" mesh="torso_link_part_6" />
<geom class="collision" type="mesh" mesh="torso_link_part_7" />
<geom class="collision" type="mesh" mesh="torso_link_part_8" />
<geom class="collision" type="mesh" mesh="torso_link_part_9" />
<geom class="collision" type="mesh" mesh="torso_link_part_10" />
<geom class="collision" type="mesh" mesh="torso_link_part_11" />
<geom class="collision" type="mesh" mesh="torso_link_part_12" />
<geom class="collision" type="mesh" mesh="torso_link_part_13" />
<geom class="collision" type="mesh" mesh="torso_link_part_14" />
<geom class="collision" type="mesh" mesh="torso_link_part_15" />
</mujoco> |
<mujoco model="torso_link_collision_assets">
<mesh file="../h1/assets/torso_link_split/torso_link_part_0.obj" />
<mesh file="../h1/assets/torso_link_split/torso_link_part_1.obj" />
<mesh file="../h1/assets/torso_link_split/torso_link_part_2.obj" />
<mesh file="../h1/assets/torso_link_split/torso_link_part_3.obj" />
<mesh file="../h1/assets/torso_link_split/torso_link_part_4.obj" />
<mesh file="../h1/assets/torso_link_split/torso_link_part_5.obj" />
<mesh file="../h1/assets/torso_link_split/torso_link_part_6.obj" />
<mesh file="../h1/assets/torso_link_split/torso_link_part_7.obj" />
<mesh file="../h1/assets/torso_link_split/torso_link_part_8.obj" />
<mesh file="../h1/assets/torso_link_split/torso_link_part_9.obj" />
<mesh file="../h1/assets/torso_link_split/torso_link_part_10.obj" />
<mesh file="../h1/assets/torso_link_split/torso_link_part_11.obj" />
<mesh file="../h1/assets/torso_link_split/torso_link_part_12.obj" />
<mesh file="../h1/assets/torso_link_split/torso_link_part_13.obj" />
<mesh file="../h1/assets/torso_link_split/torso_link_part_14.obj" />
<mesh file="../h1/assets/torso_link_split/torso_link_part_15.obj" />
</mujoco>
|
<mujoco model="h1">
<compiler angle="radian" meshdir="../meshes" autolimits="true"/>
<default>
<default class="h1">
<geom type="mesh"/>
<joint damping="1" armature="0.1"/>
<default class="visual">
<geom contype="0" conaffinity="0" group="2" material="black"/>
</default>
<default class="collision">
<geom group="3" mass="0" density="0"/>
</default>
<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
</default>
</default>
<asset>
<material name="black" rgba="0.1 0.1 0.1 1"/>
<material name="white" rgba="1 1 1 1"/>
<mesh file="pelvis.STL"/>
<mesh file="left_hip_yaw_link.STL"/>
<mesh file="left_hip_roll_link.STL"/>
<mesh file="left_hip_pitch_link.STL"/>
<mesh file="left_knee_link.STL"/>
<mesh file="left_ankle_link.STL"/>
<mesh file="right_hip_yaw_link.STL"/>
<mesh file="right_hip_roll_link.STL"/>
<mesh file="right_hip_pitch_link.STL"/>
<mesh file="right_knee_link.STL"/>
<mesh file="right_ankle_link.STL"/>
<mesh file="torso_link.STL"/>
<mesh file="left_shoulder_pitch_link.STL"/>
<mesh file="left_shoulder_roll_link.STL"/>
<mesh file="left_shoulder_yaw_link.STL"/>
<mesh file="left_elbow_link.STL"/>
<mesh file="right_shoulder_pitch_link.STL"/>
<mesh file="right_shoulder_roll_link.STL"/>
<mesh file="right_shoulder_yaw_link.STL"/>
<mesh file="right_elbow_link.STL"/>
<mesh file="logo_link.STL"/>
</asset>
<worldbody>
<body name="pelvis" pos="0 0 1.1" childclass="h1">
<inertial pos="-0.0002 4e-05 -0.04522" quat="0.498303 0.499454 -0.500496 0.501741" mass="5.39"
diaginertia="0.0490211 0.0445821 0.00824619"/>
<freejoint/>
<geom class="visual" mesh="pelvis"/>
<geom class="collision" mesh="pelvis"/>
<body name="left_hip_yaw_link" pos="0 0.0875 -0.1742">
<inertial pos="-0.04923 0.0001 0.0072" quat="0.69699 0.219193 0.233287 0.641667" mass="2.244"
diaginertia="0.00304494 0.00296885 0.00189201"/>
<joint name="left_hip_yaw_joint" axis="0 0 1" range="-0.43 0.43"/>
<geom class="visual" mesh="left_hip_yaw_link"/>
<geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/>
<body name="left_hip_roll_link" pos="0.039468 0 0">
<inertial pos="-0.0058 -0.00319 -9e-05" quat="0.0438242 0.70721 -0.0729075 0.701867" mass="2.232"
diaginertia="0.00243264 0.00225325 0.00205492"/>
<joint name="left_hip_roll_joint" axis="1 0 0" range="-0.43 0.43"/>
<geom class="visual" mesh="left_hip_roll_link"/>
<geom class="collision" mesh="left_hip_roll_link"/>
<body name="left_hip_pitch_link" pos="0 0.11536 0">
<inertial pos="0.00746 -0.02346 -0.08193" quat="0.979828 0.0513522 -0.0169854 -0.192382" mass="4.152"
diaginertia="0.0829503 0.0821457 0.00510909"/>
<joint name="left_hip_pitch_joint" axis="0 1 0" range="-3.14 2.53"/>
<geom class="visual" mesh="left_hip_pitch_link"/>
<geom class="collision" mesh="left_hip_pitch_link"/>
<body name="left_knee_link" pos="0 0 -0.4">
<inertial pos="-0.00136 -0.00512 -0.1384" quat="0.626132 -0.034227 -0.0416277 0.777852" mass="1.721"
diaginertia="0.0125237 0.0123104 0.0019428"/>
<joint name="left_knee_joint" axis="0 1 0" range="-0.26 2.05"/>
<geom class="visual" mesh="left_knee_link"/>
<geom class="collision" mesh="left_knee_link"/>
<body name="left_ankle_link" pos="0 0 -0.4">
<inertial pos="0.048568 0 -0.045609" quat="0.489385 0.510394 0.510394 0.489385" mass="0.552448"
diaginertia="0.00362 0.00355701 0.000149987"/>
<joint name="left_ankle_joint" axis="0 1 0" range="-0.87 0.52"/>
<geom class="visual" mesh="left_ankle_link"/>
<geom class="collision" mesh="left_ankle_link"/>
</body>
</body>
</body>
</body>
</body>
<body name="right_hip_yaw_link" pos="0 -0.0875 -0.1742">
<inertial pos="-0.04923 -0.0001 0.0072" quat="0.641667 0.233287 0.219193 0.69699" mass="2.244"
diaginertia="0.00304494 0.00296885 0.00189201"/>
<joint name="right_hip_yaw_joint" axis="0 0 1" range="-0.43 0.43"/>
<geom class="visual" mesh="right_hip_yaw_link"/>
<geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/>
<body name="right_hip_roll_link" pos="0.039468 0 0">
<inertial pos="-0.0058 0.00319 -9e-05" quat="-0.0438242 0.70721 0.0729075 0.701867" mass="2.232"
diaginertia="0.00243264 0.00225325 0.00205492"/>
<joint name="right_hip_roll_joint" axis="1 0 0" range="-0.43 0.43"/>
<geom class="visual" mesh="right_hip_roll_link"/>
<geom class="collision" mesh="right_hip_roll_link"/>
<body name="right_hip_pitch_link" pos="0 -0.11536 0">
<inertial pos="0.00746 0.02346 -0.08193" quat="0.979828 -0.0513522 -0.0169854 0.192382" mass="4.152"
diaginertia="0.0829503 0.0821457 0.00510909"/>
<joint name="right_hip_pitch_joint" axis="0 1 0" range="-3.14 2.53"/>
<geom class="visual" mesh="right_hip_pitch_link"/>
<geom class="collision" mesh="right_hip_pitch_link"/>
<body name="right_knee_link" pos="0 0 -0.4">
<inertial pos="-0.00136 0.00512 -0.1384" quat="0.777852 -0.0416277 -0.034227 0.626132" mass="1.721"
diaginertia="0.0125237 0.0123104 0.0019428"/>
<joint name="right_knee_joint" axis="0 1 0" range="-0.26 2.05"/>
<geom class="visual" mesh="right_knee_link"/>
<geom class="collision" mesh="right_knee_link"/>
<body name="right_ankle_link" pos="0 0 -0.4">
<inertial pos="0.048568 0 -0.045609" quat="0.489385 0.510394 0.510394 0.489385" mass="0.552448"
diaginertia="0.00362 0.00355701 0.000149987"/>
<joint name="right_ankle_joint" axis="0 1 0" range="-0.87 0.52"/>
<geom class="visual" mesh="right_ankle_link"/>
<geom class="collision" mesh="right_ankle_link"/>
</body>
</body>
</body>
</body>
</body>
<body name="torso_link">
<inertial pos="0.000489 0.002797 0.20484" quat="0.999989 -0.00130808 -0.00282289 -0.00349105" mass="17.789"
diaginertia="0.487315 0.409628 0.127837"/>
<joint name="torso_joint" axis="0 0 1" range="-2.35 2.35"/>
<geom class="visual" mesh="torso_link"/>
<geom class="collision" mesh="torso_link"/>
<geom class="visual" material="white" mesh="logo_link"/>
<site name="imu" size="0.01" pos="-0.04452 -0.01891 0.27756"/>
<body name="left_shoulder_pitch_link" pos="0.0055 0.15535 0.42999" quat="0.976296 0.216438 0 0">
<inertial pos="0.005045 0.053657 -0.015715" quat="0.814858 0.579236 -0.0201072 -0.00936488" mass="1.033"
diaginertia="0.00129936 0.000987113 0.000858198"/>
<joint name="left_shoulder_pitch_joint" axis="0 1 0" range="-2.87 2.87"/>
<geom class="visual" mesh="left_shoulder_pitch_link"/>
<geom class="collision" mesh="left_shoulder_pitch_link"/>
<body name="left_shoulder_roll_link" pos="-0.0055 0.0565 -0.0165" quat="0.976296 -0.216438 0 0">
<inertial pos="0.000679 0.00115 -0.094076" quat="0.732491 0.00917179 0.0766656 0.676384" mass="0.793"
diaginertia="0.00170388 0.00158256 0.00100336"/>
<joint name="left_shoulder_roll_joint" axis="1 0 0" range="-0.34 3.11"/>
<geom class="visual" mesh="left_shoulder_roll_link"/>
<geom class="collision" mesh="left_shoulder_roll_link"/>
<body name="left_shoulder_yaw_link" pos="0 0 -0.1343">
<inertial pos="0.01365 0.002767 -0.16266" quat="0.703042 -0.0331229 -0.0473362 0.708798" mass="0.839"
diaginertia="0.00408038 0.00370367 0.000622687"/>
<joint name="left_shoulder_yaw_joint" axis="0 0 1" range="-1.3 4.45"/>
<geom class="visual" mesh="left_shoulder_yaw_link"/>
<geom class="collision" mesh="left_shoulder_yaw_link"/>
<body name="left_elbow_link" pos="0.0185 0 -0.198">
<inertial pos="0.15908 -0.000144 -0.015776" quat="0.0765232 0.720327 0.0853116 0.684102" mass="0.669"
diaginertia="0.00601829 0.00600579 0.000408305"/>
<joint name="left_elbow_joint" axis="0 1 0" range="-1.25 2.61"/>
<geom class="visual" mesh="left_elbow_link"/>
<geom class="collision" mesh="left_elbow_link"/>
</body>
</body>
</body>
</body>
<body name="right_shoulder_pitch_link" pos="0.0055 -0.15535 0.42999" quat="0.976296 -0.216438 0 0">
<inertial pos="0.005045 -0.053657 -0.015715" quat="0.579236 0.814858 0.00936488 0.0201072" mass="1.033"
diaginertia="0.00129936 0.000987113 0.000858198"/>
<joint name="right_shoulder_pitch_joint" axis="0 1 0" range="-2.87 2.87"/>
<geom class="visual" mesh="right_shoulder_pitch_link"/>
<geom class="collision" mesh="right_shoulder_pitch_link"/>
<body name="right_shoulder_roll_link" pos="-0.0055 -0.0565 -0.0165" quat="0.976296 0.216438 0 0">
<inertial pos="0.000679 -0.00115 -0.094076" quat="0.676384 0.0766656 0.00917179 0.732491" mass="0.793"
diaginertia="0.00170388 0.00158256 0.00100336"/>
<joint name="right_shoulder_roll_joint" axis="1 0 0" range="-3.11 0.34"/>
<geom class="visual" mesh="right_shoulder_roll_link"/>
<geom class="collision" mesh="right_shoulder_roll_link"/>
<body name="right_shoulder_yaw_link" pos="0 0 -0.1343">
<inertial pos="0.01365 -0.002767 -0.16266" quat="0.708798 -0.0473362 -0.0331229 0.703042" mass="0.839"
diaginertia="0.00408038 0.00370367 0.000622687"/>
<joint name="right_shoulder_yaw_joint" axis="0 0 1" range="-4.45 1.3"/>
<geom class="visual" mesh="right_shoulder_yaw_link"/>
<geom class="collision" mesh="right_shoulder_yaw_link"/>
<body name="right_elbow_link" pos="0.0185 0 -0.198">
<inertial pos="0.15908 0.000144 -0.015776" quat="-0.0765232 0.720327 -0.0853116 0.684102" mass="0.669"
diaginertia="0.00601829 0.00600579 0.000408305"/>
<joint name="right_elbow_joint" axis="0 1 0" range="-1.25 2.61"/>
<geom class="visual" mesh="right_elbow_link"/>
<geom class="collision" mesh="right_elbow_link"/>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor class="h1" name="left_hip_yaw_joint" joint="left_hip_yaw_joint" ctrlrange="-200 200"/>
<motor class="h1" name="left_hip_roll_joint" joint="left_hip_roll_joint" ctrlrange="-200 200"/>
<motor class="h1" name="left_hip_pitch_joint" joint="left_hip_pitch_joint" ctrlrange="-200 200"/>
<motor class="h1" name="left_knee_joint" joint="left_knee_joint" ctrlrange="-300 300"/>
<motor class="h1" name="left_ankle_joint" joint="left_ankle_joint" ctrlrange="-40 40"/>
<motor class="h1" name="right_hip_yaw_joint" joint="right_hip_yaw_joint" ctrlrange="-200 200"/>
<motor class="h1" name="right_hip_roll_joint" joint="right_hip_roll_joint" ctrlrange="-200 200"/>
<motor class="h1" name="right_hip_pitch_joint" joint="right_hip_pitch_joint" ctrlrange="-200 200"/>
<motor class="h1" name="right_knee_joint" joint="right_knee_joint" ctrlrange="-300 300"/>
<motor class="h1" name="right_ankle_joint" joint="right_ankle_joint" ctrlrange="-40 40"/>
<motor class="h1" name="torso_joint" joint="torso_joint" ctrlrange="-200 200"/>
<motor class="h1" name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint" ctrlrange="-40 40"/>
<motor class="h1" name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint" ctrlrange="-40 40"/>
<motor class="h1" name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint" ctrlrange="-18 18"/>
<motor class="h1" name="left_elbow_joint" joint="left_elbow_joint" ctrlrange="-18 18"/>
<motor class="h1" name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint" ctrlrange="-40 40"/>
<motor class="h1" name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint" ctrlrange="-40 40"/>
<motor class="h1" name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint" ctrlrange="-18 18"/>
<motor class="h1" name="right_elbow_joint" joint="right_elbow_joint" ctrlrange="-18 18"/>
</actuator>
<sensor>
<framequat name='orientation' objtype='site' noise='0.001' objname='imu'/>
<gyro name='angular-velocity' site='imu' noise='0.005' cutoff='34.9'/>
<gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
</sensor>
<keyframe>
<key name="home"
qpos="
0 0 0.98
1 0 0 0
0 0 -0.4 0.8 -0.4
0 0 -0.4 0.8 -0.4
0
0 0 0 0
0 0 0 0"/>
</keyframe>
</mujoco>
|
<mujoco model="h1">
<compiler angle="radian" autolimits="true"/>
<default>
<default class="h1">
<geom type="mesh"/>
<joint damping="1" armature="0.1"/>
<default class="visual">
<geom contype="0" conaffinity="0" group="2" material="black"/>
</default>
<default class="collision">
<geom group="3" mass="0" density="0"/>
</default>
<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
<default class="hip">
<position forcerange="-200 200" kp="200" kv="5"/>
</default>
<default class="knee">
<position forcerange="-300 300" kp="300" kv="6"/>
</default>
<default class="ankle">
<position forcerange="-40 40" kp="40" kv="2"/>
</default>
<default class="torso">
<position forcerange="-200 200" kp="300" kv="6"/>
</default>
<default class="shoulder1">
<position forcerange="-40 40" kp="100" kv="2"/>
</default>
<default class="shoulder2">
<position forcerange="-18 18" kp="100" kv="2"/>
</default>
<default class="elbow">
<position forcerange="-18 18" kp="100" kv="2"/>
</default>
</default>
</default>
<asset>
<!-- 天空盒：蓝色渐变 -->
<texture name="texsky" type="skybox" builtin="gradient"
rgb1="0.6 0.8 1" rgb2="0.1 0.4 0.8"
width="512" height="3072"/>
<material name="black" rgba="0.1 0.1 0.1 1"/>
<material name="white" rgba="1 1 1 1"/>
<mesh file="assets/pelvis.stl"/>
<mesh file="assets/left_hip_yaw_link.stl"/>
<mesh file="assets/left_hip_roll_link.stl"/>
<mesh file="assets/left_hip_pitch_link.stl"/>
<mesh file="assets/left_knee_link.stl"/>
<mesh file="assets/left_ankle_link.stl"/>
<mesh file="assets/right_hip_yaw_link.stl"/>
<mesh file="assets/right_hip_roll_link.stl"/>
<mesh file="assets/right_hip_pitch_link.stl"/>
<mesh file="assets/right_knee_link.stl"/>
<mesh file="assets/right_ankle_link.stl"/>
<mesh file="assets/torso_link.stl"/>
<mesh file="assets/left_shoulder_pitch_link.stl"/>
<mesh file="assets/left_shoulder_roll_link.stl"/>
<mesh file="assets/left_shoulder_yaw_link.stl"/>
<mesh file="assets/left_elbow_link.stl"/>
<mesh file="assets/right_shoulder_pitch_link.stl"/>
<mesh file="assets/right_shoulder_roll_link.stl"/>
<mesh file="assets/right_shoulder_yaw_link.stl"/>
<mesh file="assets/right_elbow_link.stl"/>
<mesh file="assets/logo_link.stl"/>
</asset>
<worldbody>
<light pos="0 0 10" castshadow="false" directional="true"
ambient="0.3 0.3 0.3" diffuse="0.7 0.7 0.7" specular="0.1 0.1 0.1"/>
<camera name="cam_kitchen" pos="-0.3 -2.5 2.5" xyaxes="1 0 0 0 0.5 1"/>
<body name="pelvis" pos="0 0 0" childclass="h1">
<site name="com" pos="0 0 0" rgba="1 0 0 0" size="0.01"/>
<camera name="cam_default" pos="2 3 0.8" mode="trackcom" xyaxes="-1 0.5 0 -0.2 -0.2 1"/>
<camera name="cam_maze" pos="3 3 3" mode="trackcom" xyaxes="-0.5 0.5 0 -0.4 -0.4 1"/>
<camera name="cam_tabletop" pos="2.5 2 1.5" mode="trackcom" xyaxes="-0.5 0.5 0 -0.4 -0.4 1"/>
<camera name="cam_hurdle" pos="-3 3 3" mode="trackcom" xyaxes="-0.5 -0.5 0 0.4 -0.4 1"/>
<camera name="cam_basketball" pos="-1.8 3.5 3" mode="trackcom" xyaxes="-0.4 -0.5 0 0.4 -0.4 1"/>
<camera name="cam_hand_visible" pos="-1.5 1.5 0.5" mode="trackcom" xyaxes="-0.8 -1 0 0 -0.3 1"/>
<camera name="cam_inhand" pos="1.5 1.5 0.5" mode="trackcom" xyaxes="-1 0.8 0 0 -0.3 1"/>
<inertial pos="-0.0002 4e-05 -0.04522" quat="0.498303 0.499454 -0.500496 0.501741" mass="5.39"
diaginertia="0.0490211 0.0445821 0.00824619"/>
<geom class="visual" mesh="pelvis"/>
<geom class="collision" mesh="pelvis"/>
<body name="left_hip_yaw_link" pos="0 0.0875 -0.1742">
<inertial pos="-0.04923 0.0001 0.0072" quat="0.69699 0.219193 0.233287 0.641667" mass="2.244"
diaginertia="0.00304494 0.00296885 0.00189201"/>
<joint name="left_hip_yaw" axis="0 0 1" range="-0.43 0.43"/>
<geom class="visual" mesh="left_hip_yaw_link"/>
<geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/>
<body name="left_hip_roll_link" pos="0.039468 0 0">
<inertial pos="-0.0058 -0.00319 -9e-05" quat="0.0438242 0.70721 -0.0729075 0.701867" mass="2.232"
diaginertia="0.00243264 0.00225325 0.00205492"/>
<joint name="left_hip_roll" axis="1 0 0" range="-0.43 0.43"/>
<geom class="visual" mesh="left_hip_roll_link"/>
<geom class="collision" mesh="left_hip_roll_link"/>
<body name="left_hip_pitch_link" pos="0 0.11536 0">
<inertial pos="0.00746 -0.02346 -0.08193" quat="0.979828 0.0513522 -0.0169854 -0.192382" mass="4.152"
diaginertia="0.0829503 0.0821457 0.00510909"/>
<joint name="left_hip_pitch" axis="0 1 0" range="-3.14 2.53"/>
<geom class="visual" mesh="left_hip_pitch_link"/>
<geom class="collision" mesh="left_hip_pitch_link"/>
<body name="left_knee_link" pos="0 0 -0.4">
<inertial pos="-0.00136 -0.00512 -0.1384" quat="0.626132 -0.034227 -0.0416277 0.777852" mass="1.721"
diaginertia="0.0125237 0.0123104 0.0019428"/>
<joint name="left_knee" axis="0 1 0" range="-0.26 2.05"/>
<geom class="visual" mesh="left_knee_link"/>
<geom class="collision" mesh="left_knee_link"/>
<body name="left_ankle_link" pos="0 0 -0.4">
<inertial pos="0.048568 0 -0.045609" quat="0.489385 0.510394 0.510394 0.489385" mass="0.552448"
diaginertia="0.00362 0.00355701 0.000149987"/>
<joint name="left_ankle" axis="0 1 0" range="-0.87 0.52"/>
<geom class="visual" mesh="left_ankle_link"/>
<site name="left_foot" pos="0. 0 -0.05" rgba="0 1 0 1" size="0.001"/>
<geom class="collision" mesh="left_ankle_link"/>
</body>
</body>
</body>
</body>
</body>
<body name="right_hip_yaw_link" pos="0 -0.0875 -0.1742">
<inertial pos="-0.04923 -0.0001 0.0072" quat="0.641667 0.233287 0.219193 0.69699" mass="2.244"
diaginertia="0.00304494 0.00296885 0.00189201"/>
<joint name="right_hip_yaw" axis="0 0 1" range="-0.43 0.43"/>
<geom class="visual" mesh="right_hip_yaw_link"/>
<geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/>
<body name="right_hip_roll_link" pos="0.039468 0 0">
<inertial pos="-0.0058 0.00319 -9e-05" quat="-0.0438242 0.70721 0.0729075 0.701867" mass="2.232"
diaginertia="0.00243264 0.00225325 0.00205492"/>
<joint name="right_hip_roll" axis="1 0 0" range="-0.43 0.43"/>
<geom class="visual" mesh="right_hip_roll_link"/>
<geom class="collision" mesh="right_hip_roll_link"/>
<body name="right_hip_pitch_link" pos="0 -0.11536 0">
<inertial pos="0.00746 0.02346 -0.08193" quat="0.979828 -0.0513522 -0.0169854 0.192382" mass="4.152"
diaginertia="0.0829503 0.0821457 0.00510909"/>
<joint name="right_hip_pitch" axis="0 1 0" range="-3.14 2.53"/>
<geom class="visual" mesh="right_hip_pitch_link"/>
<geom class="collision" mesh="right_hip_pitch_link"/>
<body name="right_knee_link" pos="0 0 -0.4">
<inertial pos="-0.00136 0.00512 -0.1384" quat="0.777852 -0.0416277 -0.034227 0.626132" mass="1.721"
diaginertia="0.0125237 0.0123104 0.0019428"/>
<joint name="right_knee" axis="0 1 0" range="-0.26 2.05"/>
<geom class="visual" mesh="right_knee_link"/>
<geom class="collision" mesh="right_knee_link"/>
<body name="right_ankle_link" pos="0 0 -0.4">
<inertial pos="0.048568 0 -0.045609" quat="0.489385 0.510394 0.510394 0.489385" mass="0.552448"
diaginertia="0.00362 0.00355701 0.000149987"/>
<joint name="right_ankle" axis="0 1 0" range="-0.87 0.52"/>
<geom class="visual" mesh="right_ankle_link"/>
<site name="right_foot" pos="0. 0 -0.05" rgba="0 1 0 1" size="0.001"/>
<geom class="collision" mesh="right_ankle_link"/>
</body>
</body>
</body>
</body>
</body>
<body name="torso_link">
<site name="left_eye" pos="0.1 0.03 0.65" rgba="1 1 1 1" size="0.01" zaxis="1 0 0" group="1"/>
<camera name="left_eye_camera" pos="0.1 0.03 0.65" xyaxes="0 -1 0 0 0 1"/>
<site name="right_eye" pos="0.1 -0.03 0.65" rgba="1 1 1 1" size="0.01" zaxis="1 0 0" group="1"/>
<camera name="right_eye_camera" pos="0.1 -0.03 0.65" xyaxes="0 -1 0 0 0 1"/>
<inertial pos="0.000489 0.002797 0.20484" quat="0.999989 -0.00130808 -0.00282289 -0.00349105" mass="17.789"
diaginertia="0.487315 0.409628 0.127837"/>
<joint name="torso" axis="0 0 1" range="-2.35 2.35"/>
<geom class="visual" mesh="torso_link"/>
<geom class="collision" mesh="torso_link"/>
<geom class="visual" material="white" mesh="logo_link"/>
<site name="head" class="visual" size="0.01" pos="0 0 0.7" rgba="1 1 1 1"/>
<site name="imu" size="0.01" pos="-0.04452 -0.01891 0.27756"/>
<body name="left_shoulder_pitch_link" pos="0.0055 0.15535 0.42999" quat="0.976296 0.216438 0 0">
<inertial pos="0.005045 0.053657 -0.015715" quat="0.814858 0.579236 -0.0201072 -0.00936488" mass="1.033"
diaginertia="0.00129936 0.000987113 0.000858198"/>
<joint name="left_shoulder_pitch" axis="0 1 0" range="-2.87 2.87"/>
<geom class="visual" mesh="left_shoulder_pitch_link"/>
<geom class="collision" mesh="left_shoulder_pitch_link"/>
<body name="left_shoulder_roll_link" pos="-0.0055 0.0565 -0.0165" quat="0.976296 -0.216438 0 0">
<inertial pos="0.000679 0.00115 -0.094076" quat="0.732491 0.00917179 0.0766656 0.676384" mass="0.793"
diaginertia="0.00170388 0.00158256 0.00100336"/>
<joint name="left_shoulder_roll" axis="1 0 0" range="-0.34 3.11"/>
<geom class="visual" mesh="left_shoulder_roll_link"/>
<geom class="collision" mesh="left_shoulder_roll_link"/>
<body name="left_shoulder_yaw_link" pos="0 0 -0.1343">
<inertial pos="0.01365 0.002767 -0.16266" quat="0.703042 -0.0331229 -0.0473362 0.708798" mass="0.839"
diaginertia="0.00408038 0.00370367 0.000622687"/>
<joint name="left_shoulder_yaw" axis="0 0 1" range="-1.3 4.45"/>
<geom class="visual" mesh="left_shoulder_yaw_link"/>
<geom class="collision" mesh="left_shoulder_yaw_link"/>
<body name="left_elbow_link" pos="0.0185 0 -0.198">
<inertial pos="0.15908 -0.000144 -0.015776" quat="0.0765232 0.720327 0.0853116 0.684102" mass="0.669"
diaginertia="0.00601829 0.00600579 0.000408305"/>
<joint name="left_elbow" axis="0 1 0" range="-1.25 2.61"/>
<geom class="visual" mesh="left_elbow_link"/>
<geom class="collision" mesh="left_elbow_link"/>
<site name="left_hand" pos="0.31 0 -0.01" rgba="0 1 0 1" size="0.01"/>
<body name="left_hand" pos="0.31 0 -0.01"/>
</body>
</body>
</body>
</body>
<body name="right_shoulder_pitch_link" pos="0.0055 -0.15535 0.42999" quat="0.976296 -0.216438 0 0">
<inertial pos="0.005045 -0.053657 -0.015715" quat="0.579236 0.814858 0.00936488 0.0201072" mass="1.033"
diaginertia="0.00129936 0.000987113 0.000858198"/>
<joint name="right_shoulder_pitch" axis="0 1 0" range="-2.87 2.87"/>
<geom class="visual" mesh="right_shoulder_pitch_link"/>
<geom class="collision" mesh="right_shoulder_pitch_link"/>
<body name="right_shoulder_roll_link" pos="-0.0055 -0.0565 -0.0165" quat="0.976296 0.216438 0 0">
<inertial pos="0.000679 -0.00115 -0.094076" quat="0.676384 0.0766656 0.00917179 0.732491" mass="0.793"
diaginertia="0.00170388 0.00158256 0.00100336"/>
<joint name="right_shoulder_roll" axis="1 0 0" range="-3.11 0.34"/>
<geom class="visual" mesh="right_shoulder_roll_link"/>
<geom class="collision" mesh="right_shoulder_roll_link"/>
<body name="right_shoulder_yaw_link" pos="0 0 -0.1343">
<inertial pos="0.01365 -0.002767 -0.16266" quat="0.708798 -0.0473362 -0.0331229 0.703042" mass="0.839"
diaginertia="0.00408038 0.00370367 0.000622687"/>
<joint name="right_shoulder_yaw" axis="0 0 1" range="-4.45 1.3"/>
<geom class="visual" mesh="right_shoulder_yaw_link"/>
<geom class="collision" mesh="right_shoulder_yaw_link"/>
<body name="right_elbow_link" pos="0.0185 0 -0.198">
<inertial pos="0.15908 0.000144 -0.015776" quat="-0.0765232 0.720327 -0.0853116 0.684102" mass="0.669"
diaginertia="0.00601829 0.00600579 0.000408305"/>
<joint name="right_elbow" axis="0 1 0" range="-1.25 2.61"/>
<geom class="visual" mesh="right_elbow_link"/>
<geom class="collision" mesh="right_elbow_link"/>
<site name="right_hand" pos="0.31 0 -0.01" rgba="0 1 0 1" size="0.01"/>
<body name="right_hand" pos="0.31 0 -0.01"/>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<position name="left_hip_yaw" joint="left_hip_yaw" ctrlrange="-0.43 0.43" class="hip" />
<position name="left_hip_roll" joint="left_hip_roll" ctrlrange="-0.43 0.43" class="hip" />
<position name="left_hip_pitch" joint="left_hip_pitch" ctrlrange="-3.14 2.53" class="hip" />
<position name="left_knee" joint="left_knee" ctrlrange="-0.26 2.05" class="knee" />
<position name="left_ankle" joint="left_ankle" ctrlrange="-0.87 0.52" class="ankle" />
<position name="right_hip_yaw" joint="right_hip_yaw" ctrlrange="-0.43 0.43" class="hip" />
<position name="right_hip_roll" joint="right_hip_roll" ctrlrange="-0.43 0.43" class="hip" />
<position name="right_hip_pitch" joint="right_hip_pitch" ctrlrange="-3.14 2.53" class="hip" />
<position name="right_knee" joint="right_knee" ctrlrange="-0.26 2.05" class="knee" />
<position name="right_ankle" joint="right_ankle" ctrlrange="-0.87 0.52" class="ankle" />
<position name="torso" joint="torso" ctrlrange="-2.35 2.35" class="torso" />
<position name="left_shoulder_pitch" joint="left_shoulder_pitch" ctrlrange="-2.87 2.87" class="shoulder1" />
<position name="left_shoulder_roll" joint="left_shoulder_roll" ctrlrange="-0.34 3.11" class="shoulder1" />
<position name="left_shoulder_yaw" joint="left_shoulder_yaw" ctrlrange="-1.3 4.45" class="shoulder2" />
<position name="left_elbow" joint="left_elbow" ctrlrange="-1.25 2.61" class="elbow" />
<position name="right_shoulder_pitch" joint="right_shoulder_pitch" ctrlrange="-2.87 2.87" class="shoulder1" />
<position name="right_shoulder_roll" joint="right_shoulder_roll" ctrlrange="-3.11 0.34" class="shoulder1" />
<position name="right_shoulder_yaw" joint="right_shoulder_yaw" ctrlrange="-4.45 1.3" class="shoulder2" />
<position name="right_elbow" joint="right_elbow" ctrlrange="-1.25 2.61" class="elbow" />
</actuator>
<sensor>
<touch name="left_foot_sensor" site="left_foot"/>
<touch name="right_foot_sensor" site="right_foot"/>
<subtreelinvel name="pelvis_subtreelinvel" body="pelvis"/>
<subtreelinvel name="left_hand_subtreelinvel" body="left_hand"/>
<subtreelinvel name="right_hand_subtreelinvel" body="right_hand"/>
<velocimeter name="body_velocimeter" site="com"/>
</sensor>
</mujoco>
|
This dataset is part of the RoboVerse project, as described in the paper RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning.
- Downloads last month
- 1,278