263 lines
28 KiB
XML
263 lines
28 KiB
XML
<mujoco model="gen2">
|
|
<compiler angle="radian" meshdir="assets/merged/"/>
|
|
|
|
<option timestep="0.001" gravity="0 0 -9.81"/>
|
|
|
|
<default>
|
|
<joint damping="5" armature="0.01"/>
|
|
</default>
|
|
|
|
<asset>
|
|
<texture name="grid" type="2d" builtin="checker" width="512" height="512"
|
|
rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
|
|
mark="cross" markrgb="0.8 0.8 0.8"/>
|
|
<material name="grid_floor" texture="grid" texrepeat="5 5"
|
|
rgba="1 1 1 1" emission="0.9" specular="0.5"
|
|
shininess="1" reflectance="0.3"/>
|
|
|
|
<mesh name="body_link_visual" file="body_link_visual.stl"/>
|
|
<mesh name="body_link_collision" file="body_link_collision.stl"/>
|
|
<mesh name="arm_link_1_visual" file="arm_link_1_visual.stl"/>
|
|
<mesh name="arm_link_1_collision" file="arm_link_1_collision.stl"/>
|
|
<mesh name="arm_link_2_visual" file="arm_link_2_visual.stl"/>
|
|
<mesh name="arm_link_2_collision" file="arm_link_2_collision.stl"/>
|
|
<mesh name="arm_link_3_visual" file="arm_link_3_visual.stl"/>
|
|
<mesh name="arm_link_3_collision" file="arm_link_3_collision.stl"/>
|
|
<mesh name="arm_link_4_visual" file="arm_link_4_visual.stl"/>
|
|
<mesh name="arm_link_4_collision" file="arm_link_4_collision.stl"/>
|
|
<mesh name="arm_link_5_visual" file="arm_link_5_visual.stl"/>
|
|
<mesh name="arm_link_5_collision" file="arm_link_5_collision.stl"/>
|
|
<mesh name="arm_link_6_visual" file="arm_link_6_visual.stl"/>
|
|
<mesh name="arm_link_6_collision" file="arm_link_6_collision.stl"/>
|
|
<mesh name="arm_link_7_visual" file="arm_link_7_visual.stl"/>
|
|
<mesh name="arm_link_7_collision" file="arm_link_7_collision.stl"/>
|
|
<mesh name="arm_link_1_2_visual" file="arm_link_1_2_visual.stl"/>
|
|
<mesh name="arm_link_1_2_collision" file="arm_link_1_2_collision.stl"/>
|
|
<mesh name="arm_link_2_2_visual" file="arm_link_2_2_visual.stl"/>
|
|
<mesh name="arm_link_2_2_collision" content_type="model/stl" file="arm_link_2_2_collision.stl"/>
|
|
<mesh name="arm_link_3_2_visual" content_type="model/stl" file="arm_link_3_2_visual.stl"/>
|
|
<mesh name="arm_link_3_2_collision" content_type="model/stl" file="arm_link_3_2_collision.stl"/>
|
|
<mesh name="arm_link_4_2_visual" content_type="model/stl" file="arm_link_4_2_visual.stl"/>
|
|
<mesh name="arm_link_4_2_collision" content_type="model/stl" file="arm_link_4_2_collision.stl"/>
|
|
<mesh name="arm_link_5_2_visual" content_type="model/stl" file="arm_link_5_2_visual.stl"/>
|
|
<mesh name="arm_link_5_2_collision" content_type="model/stl" file="arm_link_5_2_collision.stl"/>
|
|
<mesh name="arm_link_6_2_visual" content_type="model/stl" file="arm_link_6_2_visual.stl"/>
|
|
<mesh name="arm_link_6_2_collision" content_type="model/stl" file="arm_link_6_2_collision.stl"/>
|
|
<mesh name="arm_link_7_2_visual" content_type="model/stl" file="arm_link_7_2_visual.stl"/>
|
|
<mesh name="arm_link_7_2_collision" content_type="model/stl" file="arm_link_7_2_collision.stl"/>
|
|
<mesh name="waist_link_1_visual" content_type="model/stl" file="waist_link_1_visual.stl"/>
|
|
<mesh name="waist_link_1_collision" content_type="model/stl" file="waist_link_1_collision.stl"/>
|
|
<mesh name="waist_link_2_visual" content_type="model/stl" file="waist_link_2_visual.stl"/>
|
|
<mesh name="waist_link_2_collision" content_type="model/stl" file="waist_link_2_collision.stl"/>
|
|
<mesh name="rmd_x12_p20_320_visual" content_type="model/stl" file="rmd_x12_p20_320_visual.stl"/>
|
|
<mesh name="rmd_x12_p20_320_collision" content_type="model/stl" file="rmd_x12_p20_320_collision.stl"/>
|
|
<mesh name="rmd_x12_p20_320_2_visual" content_type="model/stl" file="rmd_x12_p20_320_2_visual.stl"/>
|
|
<mesh name="rmd_x12_p20_320_2_collision" content_type="model/stl" file="rmd_x12_p20_320_2_collision.stl"/>
|
|
<mesh name="rmd_x15_p20_450_visual" content_type="model/stl" file="rmd_x15_p20_450_visual.stl"/>
|
|
<mesh name="rmd_x15_p20_450_collision" content_type="model/stl" file="rmd_x15_p20_450_collision.stl"/>
|
|
<mesh name="rmd_x8_120_visual" content_type="model/stl" file="rmd_x8_120_visual.stl"/>
|
|
<mesh name="rmd_x8_120_collision" content_type="model/stl" file="rmd_x8_120_collision.stl"/>
|
|
<mesh name="j5从动轴心盖板_visual" content_type="model/stl" file="j5从动轴心盖板_visual.stl"/>
|
|
<mesh name="j5从动轴心盖板_collision" content_type="model/stl" file="j5从动轴心盖板_collision.stl"/>
|
|
<mesh name="part_1_visual" content_type="model/stl" file="part_1_visual.stl"/>
|
|
<mesh name="part_1_collision" file="part_1_collision.stl"/>
|
|
<mesh name="rmd_x12_p20_320_3_visual" content_type="model/stl" file="rmd_x12_p20_320_3_visual.stl"/>
|
|
<mesh name="rmd_x12_p20_320_3_collision" content_type="model/stl" file="rmd_x12_p20_320_3_collision.stl"/>
|
|
<mesh name="rmd_x12_p20_320_4_visual" content_type="model/stl" file="rmd_x12_p20_320_4_visual.stl"/>
|
|
<mesh name="rmd_x12_p20_320_4_collision" content_type="model/stl" file="rmd_x12_p20_320_4_collision.stl"/>
|
|
<mesh name="rmd_x15_p20_450_2_visual" content_type="model/stl" file="rmd_x15_p20_450_2_visual.stl"/>
|
|
<mesh name="rmd_x15_p20_450_2_collision" content_type="model/stl" file="rmd_x15_p20_450_2_collision.stl"/>
|
|
<mesh name="rmd_x8_120_2_visual" content_type="model/stl" file="rmd_x8_120_2_visual.stl"/>
|
|
<mesh name="rmd_x8_120_2_collision" content_type="model/stl" file="rmd_x8_120_2_collision.stl"/>
|
|
<mesh name="rmd_x6_60_visual" content_type="model/stl" file="rmd_x6_60_visual.stl"/>
|
|
<mesh name="rmd_x6_60_collision" content_type="model/stl" file="rmd_x6_60_collision.stl"/>
|
|
<mesh name="part_1_2_visual" content_type="model/stl" file="part_1_2_visual.stl"/>
|
|
<mesh name="part_1_2_collision" content_type="model/stl" file="part_1_2_collision.stl"/>
|
|
</asset>
|
|
|
|
<worldbody>
|
|
<light name="top_light" directional="true"
|
|
diffuse="0.4 0.4 0.4" specular="0.3 0.3 0.3"
|
|
pos="0 0 3" dir="0 0 -1"/>
|
|
<geom name="floor" type="plane" pos="0 0 0" size="0 0 0.05"
|
|
material="grid_floor" condim="3" friction="1 0.005 0.0001"/>
|
|
|
|
<body name="body_link" pos="0 0 1.2">
|
|
<geom pos="-0.00479895 -3.17598e-06 -0.100797" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.980392 0.713725 0.00392157 1" mesh="body_link_visual"/>
|
|
<geom pos="-0.00479895 -3.17598e-06 -0.100797" type="mesh" rgba="0.980392 0.713725 0.00392157 1" mesh="body_link_collision"/>
|
|
<body name="arm_link_1" pos="0 0.1425 0" quat="0.500006 0.500007 -0.499992 0.499994">
|
|
<inertial pos="-1.47166e-05 -0.00306553 -0.0710039" quat="0.709209 0.704794 -0.0120173 0.0120045" mass="1.606" diaginertia="0.00168897 0.00168514 0.00155508"/>
|
|
<joint name="left_arm_J1" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" actuatorfrcrange="-10 10"/>
|
|
<geom pos="-1.47166e-05 -0.00306553 -0.0710039" quat="0.500006 -0.500007 0.499994 -0.499992" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_1_visual"/>
|
|
<geom pos="-1.47166e-05 -0.00306553 -0.0710039" quat="0.500006 -0.500007 0.499994 -0.499992" type="mesh" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_1_collision"/>
|
|
<body name="arm_link_2" pos="0 -0.036 -0.071" quat="0.499998 -0.5 0.5 0.500002">
|
|
<inertial pos="0.0860616 3.31509e-05 0.0345088" quat="-0.000707657 0.68741 -0.000827451 0.726268" mass="1.9456" diaginertia="0.00630204 0.00607768 0.00231645"/>
|
|
<joint name="left_arm_J2" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" actuatorfrcrange="-10 10"/>
|
|
<geom pos="0.0860616 3.31509e-05 0.0345088" quat="0.500006 0.499994 0.499992 -0.500008" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_2_visual"/>
|
|
<geom pos="0.0860616 3.31509e-05 0.0345088" quat="0.500006 0.499994 0.499992 -0.500008" type="mesh" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_2_collision"/>
|
|
<body name="arm_link_3" pos="0.1565 -2.41e-10 0.036" quat="0.499998 0.5 -0.500002 -0.5">
|
|
<inertial pos="4.40212e-05 -0.00236525 -0.104181" quat="0.999694 -0.0243892 -0.00053336 -0.00399166" mass="1.94886" diaginertia="0.00638931 0.00599596 0.00214722"/>
|
|
<joint name="left_arm_J3" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" actuatorfrcrange="-10 10"/>
|
|
<geom pos="4.40212e-05 -0.00236525 -0.104181" quat="0.500006 -0.500007 0.499994 -0.499992" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_3_visual"/>
|
|
<geom pos="4.40212e-05 -0.00236525 -0.104181" quat="0.500006 -0.500007 0.499994 -0.499992" type="mesh" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_3_collision"/>
|
|
<body name="arm_link_4" pos="-7.46e-10 -0.036 -0.146" quat="0.499998 -0.5 0.5 0.500002">
|
|
<inertial pos="0.0678998 -1.73447e-05 0.0344772" quat="0.550669 0.449012 0.513503 0.48111" mass="0.916518" diaginertia="0.00204113 0.00204061 0.00080322"/>
|
|
<joint name="left_arm_J4" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" actuatorfrcrange="-10 10"/>
|
|
<geom pos="0.0678998 -1.73447e-05 0.0344772" quat="0.500006 0.499994 0.499992 -0.500008" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_4_visual"/>
|
|
<geom pos="0.0678998 -1.73447e-05 0.0344772" quat="0.500006 0.499994 0.499992 -0.500008" type="mesh" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_4_collision"/>
|
|
<body name="arm_link_5" pos="0.1215 0 0.036" quat="0.499998 0.5 -0.500002 -0.5">
|
|
<inertial pos="0.00175699 -4.98862e-07 -0.0504805" quat="0.706682 -0.022051 -0.0221919 0.706839" mass="0.843691" diaginertia="0.00131635 0.00115647 0.000740445"/>
|
|
<joint name="left_arm_J5" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" actuatorfrcrange="-10 10"/>
|
|
<geom pos="0.00175699 -4.98862e-07 -0.0504805" quat="0.500006 -0.500007 0.499994 -0.499992" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_5_visual"/>
|
|
<geom pos="0.00175699 -4.98862e-07 -0.0504805" quat="0.500006 -0.500007 0.499994 -0.499992" type="mesh" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_5_collision"/>
|
|
<body name="arm_link_6" pos="0.0295 0 -0.131" quat="0.707105 0 0.707108 0">
|
|
<inertial pos="9.27263e-05 -0.004905 -0.0280094" quat="0.671394 0.740984 -0.0112528 -0.0068175" mass="0.525446" diaginertia="0.000275372 0.000269084 0.000233149"/>
|
|
<joint name="left_arm_J6" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" actuatorfrcrange="-10 10"/>
|
|
<geom pos="9.27263e-05 -0.004905 -0.0280094" quat="0.707105 -7.97349e-06 -7.97346e-06 -0.707108" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_6_visual"/>
|
|
<geom pos="9.27263e-05 -0.004905 -0.0280094" quat="0.707105 -7.97349e-06 -7.97346e-06 -0.707108" type="mesh" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_6_collision"/>
|
|
<body name="arm_link_7" pos="0 -0.036 -0.028" quat="0.707105 -0.707108 0 0">
|
|
<inertial pos="0.0288794 -1.4907e-07 0.0339252" quat="0.703672 0.0696214 0.0696235 0.703669" mass="0.13521" diaginertia="0.000202616 0.000151479 0.000109355"/>
|
|
<joint name="left_arm_J7" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" actuatorfrcrange="-10 10"/>
|
|
<geom pos="0.0288794 -1.4907e-07 0.0339252" quat="0.500006 0.499994 0.499992 -0.500008" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_7_visual"/>
|
|
<geom pos="0.0288794 -1.4907e-07 0.0339252" quat="0.500006 0.499994 0.499992 -0.500008" type="mesh" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_7_collision"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="arm_link_1_2" pos="1.9742e-08 -0.1425 1.5345e-08" quat="0.499998 -0.5 0.5 0.500002">
|
|
<inertial pos="-1.47166e-05 -0.00306553 -0.0710039" quat="0.709209 0.704794 -0.0120173 0.0120045" mass="1.606" diaginertia="0.00168897 0.00168514 0.00155508"/>
|
|
<joint name="right_arm_J1" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" actuatorfrcrange="-10 10"/>
|
|
<geom pos="-1.47166e-05 -0.00306553 -0.0710039" quat="0.499998 0.5 -0.500002 -0.5" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_1_2_visual"/>
|
|
<geom pos="-1.47166e-05 -0.00306553 -0.0710039" quat="0.499998 0.5 -0.500002 -0.5" type="mesh" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_1_2_collision"/>
|
|
<body name="arm_link_2_2" pos="0 -0.036 -0.071" quat="0.499998 -0.5 0.5 0.500002">
|
|
<inertial pos="0.0860616 3.31509e-05 0.0345088" quat="-0.000707657 0.68741 -0.000827451 0.726268" mass="1.9456" diaginertia="0.00630204 0.00607768 0.00231645"/>
|
|
<joint name="right_arm_J2" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" actuatorfrcrange="-10 10"/>
|
|
<geom pos="0.0860616 3.31509e-05 0.0345088" quat="0.499998 -0.5 0.5 0.500002" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_2_2_visual"/>
|
|
<geom pos="0.0860616 3.31509e-05 0.0345088" quat="0.499998 -0.5 0.5 0.500002" type="mesh" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_2_2_collision"/>
|
|
<body name="arm_link_3_2" pos="0.1565 -2.41e-10 0.036" quat="0.499998 0.5 -0.500002 -0.5">
|
|
<inertial pos="4.40212e-05 -0.00236525 -0.104181" quat="0.999694 -0.0243892 -0.00053336 -0.00399166" mass="1.94886" diaginertia="0.00638931 0.00599596 0.00214722"/>
|
|
<joint name="right_arm_J3" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" actuatorfrcrange="-10 10"/>
|
|
<geom pos="4.40212e-05 -0.00236525 -0.104181" quat="0.499998 0.5 -0.500002 -0.5" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_3_2_visual"/>
|
|
<geom pos="4.40212e-05 -0.00236525 -0.104181" quat="0.499998 0.5 -0.500002 -0.5" type="mesh" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_3_2_collision"/>
|
|
<body name="arm_link_4_2" pos="-7.46e-10 -0.036 -0.146" quat="0.499998 -0.5 0.5 0.500002">
|
|
<inertial pos="0.0678998 -1.73447e-05 0.0344772" quat="0.550669 0.449012 0.513503 0.48111" mass="0.916518" diaginertia="0.00204113 0.00204061 0.00080322"/>
|
|
<joint name="right_arm_J4" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" actuatorfrcrange="-10 10"/>
|
|
<geom pos="0.0678998 -1.73447e-05 0.0344772" quat="0.499998 -0.5 0.5 0.500002" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_4_2_visual"/>
|
|
<geom pos="0.0678998 -1.73447e-05 0.0344772" quat="0.499998 -0.5 0.5 0.500002" type="mesh" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_4_2_collision"/>
|
|
<body name="arm_link_5_2" pos="0.1215 0 0.036" quat="0.499998 0.5 -0.500002 -0.5">
|
|
<inertial pos="0.00175699 -4.98862e-07 -0.0504805" quat="0.706682 -0.022051 -0.0221919 0.706839" mass="0.843691" diaginertia="0.00131635 0.00115647 0.000740445"/>
|
|
<joint name="right_arm_J5" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" actuatorfrcrange="-10 10"/>
|
|
<geom pos="0.00175699 -4.98862e-07 -0.0504805" quat="0.499998 0.5 -0.500002 -0.5" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_5_2_visual"/>
|
|
<geom pos="0.00175699 -4.98862e-07 -0.0504805" quat="0.499998 0.5 -0.500002 -0.5" type="mesh" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_5_2_collision"/>
|
|
<body name="arm_link_6_2" pos="0.0295 0 -0.131" quat="0.707105 0 0.707108 0">
|
|
<inertial pos="9.27263e-05 -0.004905 -0.0280094" quat="0.671394 0.740984 -0.0112528 -0.0068175" mass="0.525446" diaginertia="0.000275372 0.000269084 0.000233149"/>
|
|
<joint name="right_arm_J6" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" actuatorfrcrange="-10 10"/>
|
|
<geom pos="9.27263e-05 -0.004905 -0.0280094" quat="9.38184e-07 0.707105 -0.707108 -9.38187e-07" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_6_2_visual"/>
|
|
<geom pos="9.27263e-05 -0.004905 -0.0280094" quat="9.38184e-07 0.707105 -0.707108 -9.38187e-07" type="mesh" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_6_2_collision"/>
|
|
<body name="arm_link_7_2" pos="0 -0.036 -0.028" quat="0.707105 -0.707108 0 0">
|
|
<inertial pos="0.0288794 -1.4907e-07 0.0339252" quat="0.703672 0.0696214 0.0696235 0.703669" mass="0.13521" diaginertia="0.000202616 0.000151479 0.000109355"/>
|
|
<joint name="right_arm_J7" pos="0 0 0" axis="0 0 1" range="-3.14159 3.14159" actuatorfrcrange="-10 10"/>
|
|
<geom pos="0.0288794 -1.4907e-07 0.0339252" quat="0.499998 -0.5 0.5 0.500002" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_7_2_visual"/>
|
|
<geom pos="0.0288794 -1.4907e-07 0.0339252" quat="0.499998 -0.5 0.5 0.500002" type="mesh" rgba="0.901961 0.901961 0.901961 1" mesh="arm_link_7_2_collision"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="waist_link_1" pos="0.045 0 -0.363" quat="0.707105 0 0 0.707108">
|
|
<inertial pos="3.12065e-06 0.00666211 -0.045688" quat="0.602571 0.377167 -0.373913 0.595687" mass="2.07526" diaginertia="0.00282661 0.00276113 0.00242069"/>
|
|
<geom pos="3.12065e-06 0.00666211 -0.045688" quat="0.707105 0 0 -0.707108" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.972549 0.529412 0.00392157 1" mesh="waist_link_1_visual"/>
|
|
<geom pos="3.12065e-06 0.00666211 -0.045688" quat="0.707105 0 0 -0.707108" type="mesh" rgba="0.972549 0.529412 0.00392157 1" mesh="waist_link_1_collision"/>
|
|
<body name="waist_link_2" pos="0 0.058 -0.058" quat="0.707105 0.707108 7.42461e-12 -7.42463e-12">
|
|
<inertial pos="1.34175e-07 -0.0201253 -0.0130557" quat="0.690765 0.151292 -0.151366 0.690683" mass="4.6278" diaginertia="0.0238285 0.0212779 0.0121035"/>
|
|
<geom pos="1.34175e-07 -0.0201253 -0.0130557" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.498039 0.498039 0.498039 1" mesh="waist_link_2_visual"/>
|
|
<geom pos="1.34175e-07 -0.0201253 -0.0130557" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" rgba="0.498039 0.498039 0.498039 1" mesh="waist_link_2_collision"/>
|
|
<body name="rmd_x12_p20_320" pos="0.0749049 -0.0471789 0.0665" quat="0.706432 -0.0308435 -0.706435 -0.0308436">
|
|
<inertial pos="-0.010096 0.000418231 -0.0375909" quat="0.00497591 0.668003 -0.00508641 0.744125" mass="2.95391" diaginertia="0.00806416 0.00611622 0.00532528"/>
|
|
<geom pos="-0.010096 0.000418231 -0.0375909" quat="0.737277 -0.67559 3.74664e-12 -3.34855e-12" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.739948 0.872303 0.948529 1" mesh="rmd_x12_p20_320_visual"/>
|
|
<geom pos="-0.010096 0.000418231 -0.0375909" quat="0.737277 -0.67559 3.74661e-12 -3.34858e-12" type="mesh" rgba="0.739948 0.872303 0.948529 1" mesh="rmd_x12_p20_320_collision"/>
|
|
<body name="rmd_x12_p20_320_2" pos="-0.07725 0 -0.0459444" quat="0.0308409 -0.706434 0.0308461 -0.706434">
|
|
<inertial pos="0.000294312 0.0466188 0.00749029" quat="0.25953 0.620545 -0.682939 0.284892" mass="4.92904" diaginertia="0.0345515 0.0339667 0.00942847"/>
|
|
<geom pos="0.000294312 0.0466188 0.00749029" quat="0.499998 0.5 -0.5 0.500002" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.580998 0.725521 0.877379 1" mesh="rmd_x12_p20_320_2_visual"/>
|
|
<geom pos="0.000294312 0.0466188 0.00749029" quat="0.499998 0.5 -0.5 0.500002" type="mesh" rgba="0.580998 0.725521 0.877379 1" mesh="rmd_x12_p20_320_2_collision"/>
|
|
<body name="rmd_x15_p20_450" pos="0 0.15825 0.07725" quat="0.707105 0.707108 0 0">
|
|
<inertial pos="0.00500418 0.00011043 -0.141481" quat="0.999844 0.000279502 -0.0175417 0.00201639" mass="4.64683" diaginertia="0.026882 0.0221048 0.0104898"/>
|
|
<geom pos="0.00500418 0.00011043 -0.141481" quat="0.707105 -3.53554e-12 3.53553e-12 0.707108" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.847639 0.867811 0.879915 1" mesh="rmd_x15_p20_450_visual"/>
|
|
<geom pos="0.00500418 0.00011043 -0.141481" quat="0.707105 -3.53554e-12 3.53553e-12 0.707108" type="mesh" rgba="0.847639 0.867811 0.879915 1" mesh="rmd_x15_p20_450_collision"/>
|
|
<body name="rmd_x8_120" pos="0.044 0 -0.166" quat="0.499998 -0.5 -0.500002 0.5">
|
|
<inertial pos="-0.000210823 0.134583 0.0600745" quat="0.651932 0.757848 0.0193733 -0.0166263" mass="2.79674" diaginertia="0.0135273 0.0127056 0.00435678"/>
|
|
<geom pos="-0.000210823 0.134583 0.0600745" quat="0.707105 0.707108 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.407254 0.57656 0.806301 1" mesh="rmd_x8_120_visual"/>
|
|
<geom pos="-0.000210823 0.134583 0.0600745" quat="0.707105 0.707108 0 0" type="mesh" rgba="0.407254 0.57656 0.806301 1" mesh="rmd_x8_120_collision"/>
|
|
<body name="j5从动轴心盖板" pos="0 0.345 0.028" quat="1.32679e-06 0 0 -1">
|
|
<inertial pos="0.011502 -0.0562347 0.0147126" quat="0.661492 0.447906 -0.422128 0.428506" mass="1.53022" diaginertia="0.00173702 0.00162741 0.00129099"/>
|
|
<geom pos="0.011502 -0.0562347 0.0147126" quat="9.38184e-07 9.38187e-07 0.707108 0.707105" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.409744 0.580605 0.809629 1" mesh="j5从动轴心盖板_visual"/>
|
|
<geom pos="0.011502 -0.0562347 0.0147126" quat="9.38184e-07 9.38187e-07 0.707108 0.707105" type="mesh" rgba="0.409744 0.580605 0.809629 1" mesh="j5从动轴心盖板_collision"/>
|
|
<body name="part_1" pos="-0.0305 -0.0655 0.016" quat="9.38184e-07 -0.707105 -9.38187e-07 -0.707108">
|
|
<inertial pos="-3.61e-10 0.0509948 -0.00275242" quat="0.706317 0.0334014 -0.0334014 0.706317" mass="0.838438" diaginertia="0.00608288 0.00607297 0.000707895"/>
|
|
<geom pos="-3.61e-10 0.0509948 -0.00275242" quat="0.499998 0.5 0.5 -0.500002" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.57236 0.622959 0.693445 1" mesh="part_1_visual"/>
|
|
<geom pos="-3.61e-10 0.0509948 -0.00275242" quat="0.499998 0.5 0.5 -0.500002" type="mesh" rgba="0.57236 0.622959 0.693445 1" mesh="part_1_collision"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="rmd_x12_p20_320_3" pos="-0.0749049 -0.0471789 0.0665" quat="0.0308422 -0.706433 -0.0308423 -0.706435">
|
|
<inertial pos="-0.010096 0.000418231 -0.0375909" quat="0.00497591 0.668003 -0.00508641 0.744125" mass="2.95391" diaginertia="0.00806416 0.00611622 0.00532528"/>
|
|
<geom pos="-0.010096 0.000418231 -0.0375909" quat="0.737277 0.67559 3.74661e-12 3.34854e-12" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.739948 0.872303 0.948529 1" mesh="rmd_x12_p20_320_3_visual"/>
|
|
<geom pos="-0.010096 0.000418231 -0.0375909" quat="0.737277 0.67559 3.74656e-12 3.34854e-12" type="mesh" rgba="0.739948 0.872303 0.948529 1" mesh="rmd_x12_p20_320_3_collision"/>
|
|
<body name="rmd_x12_p20_320_4" pos="-0.07725 0 -0.0459444" quat="0.0308409 0.706434 0.0308461 0.706434">
|
|
<inertial pos="7.93801e-06 -0.0461176 0.00749029" quat="0.651227 0.27271 -0.275213 0.652527" mass="4.92904" diaginertia="0.0347793 0.0342013 0.00942529"/>
|
|
<geom pos="7.93801e-06 -0.0461176 0.00749029" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.580998 0.725521 0.877379 1" mesh="rmd_x12_p20_320_4_visual"/>
|
|
<geom pos="7.93801e-06 -0.0461176 0.00749029" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" rgba="0.580998 0.725521 0.877379 1" mesh="rmd_x12_p20_320_4_collision"/>
|
|
<body name="rmd_x15_p20_450_2" pos="0 -0.15825 0.07725" quat="9.38184e-07 9.38187e-07 0.707108 0.707105">
|
|
<inertial pos="-0.00500418 0.00011043 -0.141763" quat="0.999853 0.00066656 0.0170029 -0.00205468" mass="4.64683" diaginertia="0.0269449 0.0221688 0.010491"/>
|
|
<geom pos="-0.00500418 0.00011043 -0.141763" quat="0.707105 -3.53554e-12 3.53553e-12 0.707108" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.847639 0.867811 0.879915 1" mesh="rmd_x15_p20_450_2_visual"/>
|
|
<geom pos="-0.00500418 0.00011043 -0.141763" quat="0.707105 -3.53554e-12 3.53553e-12 0.707108" type="mesh" rgba="0.847639 0.867811 0.879915 1" mesh="rmd_x15_p20_450_2_collision"/>
|
|
<body name="rmd_x8_120_2" pos="-0.044 0 -0.166" quat="0.499998 0.5 0.500002 0.5">
|
|
<inertial pos="-0.000211068 -0.135087 0.0600745" quat="0.75884 0.650767 0.0167784 -0.0195647" mass="2.79674" diaginertia="0.0135588 0.0127458 0.00434802"/>
|
|
<geom pos="-0.000211068 -0.135087 0.0600745" quat="0.707105 -0.707108 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.423305 0.595827 0.817517 1" mesh="rmd_x8_120_2_visual"/>
|
|
<geom pos="-0.000211068 -0.135087 0.0600745" quat="0.707105 -0.707108 0 0" type="mesh" rgba="0.423305 0.595827 0.817517 1" mesh="rmd_x8_120_2_collision"/>
|
|
<body name="rmd_x6_60" pos="0 -0.345 0.06" quat="1.76038e-12 1.32679e-06 -1 -1.32679e-06">
|
|
<inertial pos="0.0131096 -0.0562347 0.0171301" quat="0.375081 0.413553 -0.67216 0.486301" mass="1.53022" diaginertia="0.00171164 0.00161623 0.00126569"/>
|
|
<geom pos="0.0131096 -0.0562347 0.0171301" quat="9.38184e-07 9.38187e-07 -0.707108 -0.707105" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.40957 0.557154 0.77456 1" mesh="rmd_x6_60_visual"/>
|
|
<geom pos="0.0131096 -0.0562347 0.0171301" quat="9.38184e-07 9.38187e-07 -0.707108 -0.707105" type="mesh" rgba="0.40957 0.557154 0.77456 1" mesh="rmd_x6_60_collision"/>
|
|
<body name="part_1_2" pos="-0.0275 -0.0655 0.016" quat="9.38184e-07 -0.707105 -9.38187e-07 -0.707108">
|
|
<inertial pos="-3.61e-10 0.0509948 -0.00275242" quat="0.706317 0.0334014 -0.0334014 0.706317" mass="0.838438" diaginertia="0.00608288 0.00607297 0.000707895"/>
|
|
<geom pos="-3.61e-10 0.0509948 -0.00275242" quat="0.499998 0.5 0.5 -0.500002" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.57236 0.622959 0.693445 1" mesh="part_1_2_visual"/>
|
|
<geom pos="-3.61e-10 0.0509948 -0.00275242" quat="0.499998 0.5 0.5 -0.500002" type="mesh" rgba="0.57236 0.622959 0.693445 1" mesh="part_1_2_collision"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</worldbody>
|
|
|
|
<actuator>
|
|
<position name="left_arm_J1_pos" joint="left_arm_J1" kp="500" ctrlrange="-3.14159 3.14159"/>
|
|
<position name="left_arm_J2_pos" joint="left_arm_J2" kp="500" ctrlrange="-3.14159 3.14159"/>
|
|
<position name="left_arm_J3_pos" joint="left_arm_J3" kp="500" ctrlrange="-3.14159 3.14159"/>
|
|
<position name="left_arm_J4_pos" joint="left_arm_J4" kp="300" ctrlrange="-3.14159 3.14159"/>
|
|
<position name="left_arm_J5_pos" joint="left_arm_J5" kp="100" ctrlrange="-3.14159 3.14159"/>
|
|
<position name="left_arm_J6_pos" joint="left_arm_J6" kp="100" ctrlrange="-3.14159 3.14159"/>
|
|
<position name="left_arm_J7_pos" joint="left_arm_J7" kp="100" ctrlrange="-3.14159 3.14159"/>
|
|
|
|
<position name="right_arm_J1_pos" joint="right_arm_J1" kp="500" ctrlrange="-3.14159 3.14159"/>
|
|
<position name="right_arm_J2_pos" joint="right_arm_J2" kp="500" ctrlrange="-3.14159 3.14159"/>
|
|
<position name="right_arm_J3_pos" joint="right_arm_J3" kp="500" ctrlrange="-3.14159 3.14159"/>
|
|
<position name="right_arm_J4_pos" joint="right_arm_J4" kp="300" ctrlrange="-3.14159 3.14159"/>
|
|
<position name="right_arm_J5_pos" joint="right_arm_J5" kp="100" ctrlrange="-3.14159 3.14159"/>
|
|
<position name="right_arm_J6_pos" joint="right_arm_J6" kp="100" ctrlrange="-3.14159 3.14159"/>
|
|
<position name="right_arm_J7_pos" joint="right_arm_J7" kp="100" ctrlrange="-3.14159 3.14159"/>
|
|
</actuator>
|
|
</mujoco>
|