64 lines
5.0 KiB
XML
64 lines
5.0 KiB
XML
<mujoco model="left_arm">
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<compiler angle="radian" meshdir="meshes/"/>
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<asset>
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<mesh name="PELVIS_S" file="PELVIS_S.STL"/>
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<mesh name="L_SHOULDER_P_S" file="L_SHOULDER_P_S.STL"/>
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<mesh name="L_SHOULDER_R_S" file="L_SHOULDER_R_S.STL"/>
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<mesh name="L_SHOULDER_Y_S" file="L_SHOULDER_Y_S.STL"/>
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<mesh name="L_ELBOW_R_S" file="L_ELBOW_R_S.STL"/>
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<mesh name="L_WRIST_P_S" file="L_WRIST_P_S.STL"/>
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<mesh name="L_WRIST_Y_S" file="L_WRIST_Y_S.STL"/>
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<mesh name="L_WRIST_R_S" file="L_WRIST_R_S.STL"/>
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</asset>
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<worldbody>
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<geom size="0.05 0.6" type="cylinder" contype="0" conaffinity="0" group="1" density="0"/>
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<geom size="0.05 0.6" type="cylinder"/>
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<geom pos="0 0 0.6" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="PELVIS_S"/>
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<geom pos="0 0 0.6" quat="1 0 0 0" type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="PELVIS_S"/>
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<body name="L_SHOULDER_P_S" pos="0 0.0945 0.642">
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<inertial pos="-0.00982259 0.0704593 1.15262e-06" quat="0.706163 0.705933 -0.0386962 -0.0386741" mass="0.880738" diaginertia="0.000584874 0.000465648 0.000443849"/>
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<joint name="L_SHOULDER_P" pos="0 0 0" axis="0 1 0" range="-3.14 3.14" actuatorfrcrange="-100 100"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.898039 0.917647 0.929412 1" mesh="L_SHOULDER_P_S"/>
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<geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="L_SHOULDER_P_S"/>
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<body name="L_SHOULDER_R_S" pos="0.035 0.0765 0">
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<inertial pos="-0.0346025 0.0917393 -1.67085e-08" quat="0.358778 0.609303 -0.358823 0.609323" mass="0.594788" diaginertia="0.000414771 0.000407636 0.000294296"/>
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<joint name="L_SHOULDER_R" pos="0 0 0" axis="1 0 0" range="-3.14 3.14" actuatorfrcrange="-100 100"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="L_SHOULDER_R_S"/>
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<geom type="mesh" rgba="0.890196 0.890196 0.913725 1" mesh="L_SHOULDER_R_S"/>
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<body name="L_SHOULDER_Y_S" pos="-0.035 0.1475 0">
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<inertial pos="-0.00440977 0.086362 9.50749e-09" quat="0.705001 0.704998 -0.054559 -0.0545441" mass="0.563406" diaginertia="0.000329815 0.000297341 0.000211019"/>
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<joint name="L_SHOULDER_Y" pos="0 0 0" axis="0 1 0" range="-3.14 3.14" actuatorfrcrange="-49 49"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="L_SHOULDER_Y_S"/>
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<geom type="mesh" rgba="0.890196 0.890196 0.913725 1" mesh="L_SHOULDER_Y_S"/>
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<body name="L_ELBOW_R_S" pos="0.034 0.1025 0">
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<inertial pos="-0.0335624 0.06032 2.99656e-07" quat="0.674756 0.674714 0.211333 0.211667" mass="0.393572" diaginertia="0.000189078 0.000181042 0.000139034"/>
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<joint name="L_ELBOW_R" pos="0 0 0" axis="1 0 0" range="-3.14 3.14" actuatorfrcrange="-49 49"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="L_ELBOW_R_S"/>
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<geom type="mesh" rgba="0.890196 0.890196 0.913725 1" mesh="L_ELBOW_R_S"/>
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<body name="L_WRIST_P_S" pos="-0.034 0.0965 0">
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<inertial pos="-1.39659e-10 0.0675973 0.0192006" quat="0.467537 0.530481 -0.530481 0.467537" mass="0.442332" diaginertia="0.000489142 0.000476754 9.72811e-05"/>
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<joint name="L_WRIST_P" pos="0 0 0" axis="0 1 0" range="-3.14 3.14" actuatorfrcrange="-26 26"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1" mesh="L_WRIST_P_S"/>
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<geom type="mesh" rgba="0.698039 0.698039 0.698039 1" mesh="L_WRIST_P_S"/>
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<body name="L_WRIST_Y_S" pos="0 0.1525 0.039">
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<inertial pos="-0.00464136 -5.06427e-10 -0.0341254" quat="0.298107 0.641196 0.641196 0.298107" mass="0.235738" diaginertia="6.00636e-05 5.8497e-05 4.579e-05"/>
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<joint name="L_WRIST_Y" pos="0 0 0" axis="0 0 1" range="-3.14 3.14" actuatorfrcrange="-26 26"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.647059 0.619608 0.588235 1" mesh="L_WRIST_Y_S"/>
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<geom type="mesh" rgba="0.647059 0.619608 0.588235 1" mesh="L_WRIST_Y_S"/>
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<body name="L_WRIST_R_S" pos="0.0258 0 -0.039">
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<inertial pos="-0.0161477 0.0955047 -0.00499392" quat="0.595488 0.369507 -0.591676 0.39847" mass="0.504894" diaginertia="0.000280921 0.000188575 0.000178055"/>
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<joint name="L_WRIST_R" pos="0 0 0" axis="1 0 0" range="-3.14 3.14" actuatorfrcrange="-26 26"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="L_WRIST_R_S"/>
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<geom type="mesh" rgba="0.890196 0.890196 0.913725 1" mesh="L_WRIST_R_S"/>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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</mujoco>
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