96 lines
7.6 KiB
Plaintext
96 lines
7.6 KiB
Plaintext
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<mujoco model="dual_arm">
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<compiler angle="radian"/>
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<asset>
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<mesh name="PELVIS_S" content_type="model/stl" file="meshes/PELVIS_S.STL"/>
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<mesh name="L_SHOULDER_P_S" content_type="model/stl" file="meshes/L_SHOULDER_P_S.STL"/>
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<mesh name="L_SHOULDER_R_S" content_type="model/stl" file="meshes/L_SHOULDER_R_S.STL"/>
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<mesh name="L_SHOULDER_Y_S" content_type="model/stl" file="meshes/L_SHOULDER_Y_S.STL"/>
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<mesh name="L_ELBOW_R_S" content_type="model/stl" file="meshes/L_ELBOW_R_S.STL"/>
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<mesh name="L_WRIST_P_S" content_type="model/stl" file="meshes/L_WRIST_P_S.STL"/>
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<mesh name="L_WRIST_Y_S" content_type="model/stl" file="meshes/L_WRIST_Y_S.STL"/>
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<mesh name="L_WRIST_R_S" content_type="model/stl" file="meshes/L_WRIST_R_S.STL"/>
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<mesh name="R_SHOULDER_P_S" content_type="model/stl" file="meshes/R_SHOULDER_P_S.STL"/>
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<mesh name="R_SHOULDER_R_S" content_type="model/stl" file="meshes/R_SHOULDER_R_S.STL"/>
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<mesh name="R_SHOULDER_Y_S" content_type="model/stl" file="meshes/R_SHOULDER_Y_S.STL"/>
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<mesh name="R_ELBOW_R_S" content_type="model/stl" file="meshes/R_ELBOW_R_S.STL"/>
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<mesh name="R_WRIST_P_S" content_type="model/stl" file="meshes/R_WRIST_P_S.STL"/>
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<mesh name="R_WRIST_Y_S" content_type="model/stl" file="meshes/R_WRIST_Y_S.STL"/>
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<mesh name="R_WRIST_R_S" content_type="model/stl" file="meshes/R_WRIST_R_S.STL"/>
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</asset>
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<worldbody>
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<geom 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 0.042">
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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="-1.57 1.57" actuatorfrcrange="-120 120"/>
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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="-2 2" actuatorfrcrange="-120 120"/>
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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="-2.18 0" actuatorfrcrange="-80 80"/>
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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="-2.05 0" actuatorfrcrange="-50 50"/>
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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="0 3.14" actuatorfrcrange="-50 50"/>
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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="-0.78 0.78" actuatorfrcrange="-50 50"/>
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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="-1.57 0.26" actuatorfrcrange="-50 50"/>
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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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<body name="R_SHOULDER_P_S" pos="0 -0.0945 0.042">
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<inertial pos="-0.00982259 -0.0704593 -1.1507e-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="R_SHOULDER_P" pos="0 0 0" axis="0 -1 0" range="-1.57 1.57" actuatorfrcrange="-120 120"/>
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<geom type="mesh" rgba="0.890196 0.890196 0.913725 1" mesh="R_SHOULDER_P_S"/>
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<body name="R_SHOULDER_R_S" pos="0.035 -0.0765 0">
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<inertial pos="-0.0346025 -0.0917393 1.86281e-08" quat="0.609323 0.358823 -0.609303 0.358778" mass="0.594788" diaginertia="0.000414771 0.000407636 0.000294296"/>
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<joint name="R_SHOULDER_R" pos="0 0 0" axis="1 0 0" range="-2 2" actuatorfrcrange="-120 120"/>
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<geom type="mesh" rgba="0.890196 0.890196 0.913725 1" mesh="R_SHOULDER_R_S"/>
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<body name="R_SHOULDER_Y_S" pos="-0.035 -0.1475 0">
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<inertial pos="-0.00440977 -0.086362 -7.58792e-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="R_SHOULDER_Y" pos="0 0 0" axis="0 -1 0" range="0 3.14" actuatorfrcrange="-80 80"/>
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<geom type="mesh" rgba="0.890196 0.890196 0.913725 1" mesh="R_SHOULDER_Y_S"/>
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<body name="R_ELBOW_R_S" pos="0.034 -0.1025 0">
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<inertial pos="-0.0335624 -0.06032 -2.97736e-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="R_ELBOW_R" pos="0 0 0" axis="1 0 0" range="0 2.05" actuatorfrcrange="-80 80"/>
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<geom type="mesh" rgba="0.890196 0.890196 0.913725 1" mesh="R_ELBOW_R_S"/>
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<body name="R_WRIST_P_S" pos="-0.034 -0.0965 0">
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<inertial pos="-1.39657e-10 -0.0675973 0.0192006" quat="0.530481 0.467537 -0.467537 0.530481" mass="0.442332" diaginertia="0.000489142 0.000476754 9.72811e-05"/>
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<joint name="R_WRIST_P" pos="0 0 0" axis="0 -1 0" range="-3.14 0" actuatorfrcrange="-50 50"/>
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<geom type="mesh" rgba="0.647059 0.619608 0.588235 1" mesh="R_WRIST_P_S"/>
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<body name="R_WRIST_Y_S" pos="0 -0.1525 0.039">
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<inertial pos="-0.00464136 -5.06426e-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="R_WRIST_Y" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" actuatorfrcrange="-50 50"/>
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<geom type="mesh" rgba="0.647059 0.619608 0.588235 1" mesh="R_WRIST_Y_S"/>
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<body name="R_WRIST_R_S" pos="0.03 0 -0.039">
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<inertial pos="-0.0201642 -0.11075 -0.00598955" quat="0.483404 0.529786 -0.463203 0.520663" mass="0.504366" diaginertia="0.00027189 0.000186086 0.000130629"/>
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<joint name="R_WRIST_R" pos="0 0 0" axis="1 0 0" range="-0.26 1.57" actuatorfrcrange="-50 50"/>
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<geom type="mesh" rgba="0.890196 0.890196 0.913725 1" mesh="R_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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