Dataset Viewer
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<mujoco model="g1_tray_holder">
<compiler angle="radian" meshdir="meshes/"/>
<option timestep="0.0005" iterations="100" integrator="RK4">
<flag warmstart="enable"/>
</option>
<default>
<default class="contact">
<geom contype="1" conaffinity="1" condim="3"
solref="0.002 1" solimp="0.9 0.95 0.001"/>
</default>
<default class="torso_motor">
<joint damping="0.05" armature="0.01" frictionloss="0.2"/>
</default>
<default class="leg_motor">
<joint damping="0.05" armature="0.01" frictionloss="0.2"/>
</default>
<default class="ankle_motor">
<joint damping="0.05" armature="0.01" frictionloss="0.2"/>
</default>
<default class="arm_motor">
<joint damping="0.05" armature="0.01" frictionloss="0.2"/>
</default>
<default class="wrist_motor">
<joint damping="0.05" armature="0.01" frictionloss="0.1"/>
</default>
</default>
<asset>
<mesh name="pelvis" file="pelvis.STL"/>
<mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
<mesh name="left_knee_link" file="left_knee_link.STL"/>
<mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
<mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
<mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
<mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
<mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
<mesh name="right_knee_link" file="right_knee_link.STL"/>
<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
<mesh name="waist_yaw_link_rev_1_0" file="waist_yaw_link_rev_1_0.STL"/>
<mesh name="waist_roll_link_rev_1_0" file="waist_roll_link_rev_1_0.STL"/>
<mesh name="torso_link_rev_1_0" file="torso_link_rev_1_0.STL"/>
<mesh name="logo_link" file="logo_link.STL"/>
<mesh name="head_link" file="head_link.STL"/>
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
<mesh name="left_elbow_link" file="left_elbow_link.STL"/>
<mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
<mesh name="left_tray_holder_link_node__mesh_" file="tray_holder_side_left.stl"/>
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
<mesh name="right_elbow_link" file="right_elbow_link.STL"/>
<mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
<mesh name="right_tray_holder_link_node__mesh_" file="tray_holder_side_right.stl"/>
</asset>
<worldbody>
<body name="pelvis" pos="0 0 0.793">
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
<inertial pos="0 0 -0.0760301" quat="1 0 -0.000398273 0" mass="3.814" diaginertia="0.0105549 0.00931478 0.0079185"/>
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798"
actuatorfrcrange="-88 88" class="leg_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
<inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671"
actuatorfrcrange="-88 88" class="leg_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
<inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576"
actuatorfrcrange="-88 88" class="leg_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_yaw_link"/>
<body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
<inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458"/>
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798"
actuatorfrcrange="-139 139" class="leg_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_knee_link"/>
<body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0"
range="-0.87267 0.5236" actuatorfrcrange="-50 50" class="ankle_motor"/>/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_ankle_pitch_link"/>
<body name="left_ankle_roll_link" pos="0 0 -0.017558">
<inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0"
range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
<inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798"
actuatorfrcrange="-88 88" class="leg_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
<inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236"
actuatorfrcrange="-88 88" class="leg_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
<inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576"
actuatorfrcrange="-88 88" class="leg_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_yaw_link"/>
<body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
<inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452"/>
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798"
actuatorfrcrange="-139 139" class="leg_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_knee_link"/>
<body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0"
range="-0.87267 0.5236" actuatorfrcrange="-50 50" class="ankle_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_ankle_pitch_link"/>
<body name="right_ankle_roll_link" pos="0 0 -0.017558">
<inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0"
range="-0.2618 0.2618" actuatorfrcrange="-50 50" class="ankle_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="waist_yaw_link">
<inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821" mass="0.214" diaginertia="0.000163531 0.000107714 0.000102205"/>
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"
actuatorfrcrange="-88 88" class="torso_motor"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link_rev_1_0"/>
<body name="waist_roll_link" pos="-0.0039635 0 0.044">
<inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086" diaginertia="8.245e-06 7.079e-06 6.339e-06"/>
<joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52"
actuatorfrcrange="-50 50" class="torso_motor"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link_rev_1_0"/>
<body name="torso_link">
<site name="d435_camera_frame"
pos="0.0576235 0.01753 0.42987"
euler="0 0.8307767239493009 0"
size="0.01" rgba="1 0 0 0.5"/>
<inertial pos="0.00203133 0.000339727 0.184597" quat="0.999802 -5.98967e-05 0.0198391 0.0013197" mass="7.817" diaginertia="0.121795 0.109773 0.0273733"/>
<joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52"
actuatorfrcrange="-50 50" class="torso_motor"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link_rev_1_0"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link_rev_1_0"/>
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
<geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0"
range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
<geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
<inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0"
range="-1.5882 2.2515" actuatorfrcrange="-25 25" class="arm_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
<inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1"
range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_yaw_link"/>
<body name="left_elbow_link" pos="0.015783 0 -0.080518">
<inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
<joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"
actuatorfrcrange="-25 25" class="arm_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_elbow_link"/>
<body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
<inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
<joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_roll_link"/>
<body name="left_wrist_pitch_link" pos="0.038 0 0">
<inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0"
range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_pitch_link"/>
<body name="left_wrist_yaw_link" pos="0.046 0 0">
<inertial pos="0.0548046 -0.00358484 0.0249983" quat="0.0531271 0.615747 0.109237 0.778525" mass="0.284576" diaginertia="0.000976328 0.000907935 0.000388894"/>
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1"
range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
<geom pos="0.0414958 -3.8e-06 -5e-07" quat="0.499951 -0.500077 0.499953 0.500019" type="mesh" contype="0" conaffinity="0" group="1" density="0" mesh="left_tray_holder_link_node__mesh_"/>
<!-- <geom pos="0.0414958 -3.8e-06 -5e-07" quat="0.499951 -0.500077 0.499953 0.500019" type="mesh" mesh="left_tray_holder_link_node__mesh_"/> -->
<geom type="box" pos="0.06 -3.8e-06 0.042" size="0.10 0.08 0.002" rgba="0 0 0 1" />
<geom type="box" pos="0.06 0.038 0.06" size="0.1 0.0025 0.016" rgba="0 0 0 1" />
<geom type="box" pos="0.06 0.02 0.068" size="0.1 0.02 0.0025" rgba="0 0 0 1" />
<geom type="box" pos="-0.037 0.015 0.06" size="0.0025 0.02 0.016" rgba="0 0 0 1"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
<inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0"
range="-3.0892 2.6704" actuatorfrcrange="-25 25" class="arm_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
<geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
<inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0"
range="-2.2515 1.5882" actuatorfrcrange="-25 25" class="arm_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
<inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1"
range="-2.618 2.618" actuatorfrcrange="-25 25" class="arm_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_yaw_link"/>
<body name="right_elbow_link" pos="0.015783 0 -0.080518">
<inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
<joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944"
actuatorfrcrange="-25 25" class="arm_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_elbow_link"/>
<body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
<inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
<joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
range="-1.97222 1.97222" actuatorfrcrange="-25 25" class="arm_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_roll_link"/>
<body name="right_wrist_pitch_link" pos="0.038 0 0">
<inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0"
range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
<body name="right_wrist_yaw_link" pos="0.046 0 0">
<inertial pos="0.0547254 0.00520943 0.02526" quat="-0.0504458 0.617432 -0.102646 0.778265" mass="0.284576" diaginertia="0.000993164 0.000909027 0.000396341"/>
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1"
range="-1.61443 1.61443" actuatorfrcrange="-5 5" class="wrist_motor" />
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
<geom pos="0.0414958 3.8e-06 -5e-07" quat="0.500077 -0.499951 0.500019 0.499953" type="mesh" contype="0" conaffinity="0" group="1" density="0" mesh="right_tray_holder_link_node__mesh_"/>
<!-- <geom pos="0.0414958 3.8e-06 -5e-07" quat="0.500077 -0.499951 0.500019 0.499953" type="mesh" mesh="right_tray_holder_link_node__mesh_"/> -->
<geom type="box" pos="0.06 -3.8e-06 0.042" size="0.10 0.08 0.002" rgba="0 0 0 1" />
<geom type="box" pos="0.06 -0.038 0.06" size="0.1 0.0025 0.016" rgba="0 0 0 1" />
<geom type="box" pos="0.06 -0.02 0.068" size="0.1 0.02 0.0025" rgba="0 0 0 1" />
<geom type="box" pos="-0.037 -0.015 0.06" size="0.0025 0.02 0.016" rgba="0 0 0 1" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="left_hip_pitch" joint="left_hip_pitch_joint" ctrlrange="-88 88" />
<motor name="left_hip_roll" joint="left_hip_roll_joint" ctrlrange="-88 88" />
<motor name="left_hip_yaw" joint="left_hip_yaw_joint" ctrlrange="-88 88" />
<motor name="left_knee" joint="left_knee_joint" ctrlrange="-139 139" />
<motor name="left_ankle_pitch" joint="left_ankle_pitch_joint" ctrlrange="-50 50" />
<motor name="left_ankle_roll" joint="left_ankle_roll_joint" ctrlrange="-50 50" />
<motor name="right_hip_pitch" joint="right_hip_pitch_joint" ctrlrange="-88 88" />
<motor name="right_hip_roll" joint="right_hip_roll_joint" ctrlrange="-88 88" />
<motor name="right_hip_yaw" joint="right_hip_yaw_joint" ctrlrange="-88 88" />
<motor name="right_knee" joint="right_knee_joint" ctrlrange="-139 139" />
<motor name="right_ankle_pitch" joint="right_ankle_pitch_joint" ctrlrange="-50 50" />
<motor name="right_ankle_roll" joint="right_ankle_roll_joint" ctrlrange="-50 50" />
<motor name="waist_yaw" joint="waist_yaw_joint" ctrlrange="-88 88" />
<motor name="waist_roll" joint="waist_roll_joint" ctrlrange="-50 50" />
<motor name="waist_pitch" joint="waist_pitch_joint" ctrlrange="-50 50" />
<motor name="left_shoulder_pitch" joint="left_shoulder_pitch_joint" ctrlrange="-25 25" />
<motor name="left_shoulder_roll" joint="left_shoulder_roll_joint" ctrlrange="-25 25" />
<motor name="left_shoulder_yaw" joint="left_shoulder_yaw_joint" ctrlrange="-25 25" />
<motor name="left_elbow" joint="left_elbow_joint" ctrlrange="-25 25" />
<motor name="left_wrist_roll" joint="left_wrist_roll_joint" ctrlrange="-25 25" />
<motor name="left_wrist_pitch" joint="left_wrist_pitch_joint" ctrlrange="-5 5" />
<motor name="left_wrist_yaw" joint="left_wrist_yaw_joint" ctrlrange="-5 5" />
<motor name="right_shoulder_pitch" joint="right_shoulder_pitch_joint" ctrlrange="-25 25" />
<motor name="right_shoulder_roll" joint="right_shoulder_roll_joint" ctrlrange="-25 25" />
<motor name="right_shoulder_yaw" joint="right_shoulder_yaw_joint" ctrlrange="-25 25" />
<motor name="right_elbow" joint="right_elbow_joint" ctrlrange="-25 25" />
<motor name="right_wrist_roll" joint="right_wrist_roll_joint" ctrlrange="-25 25" />
<motor name="right_wrist_pitch" joint="right_wrist_pitch_joint" ctrlrange="-5 5" />
<motor name="right_wrist_yaw" joint="right_wrist_yaw_joint" ctrlrange="-5 5" />
</actuator>
<sensor>
<jointpos name="left_hip_pitch_pos" joint="left_hip_pitch_joint" />
<jointpos name="left_hip_roll_pos" joint="left_hip_roll_joint" />
<jointpos name="left_hip_yaw_pos" joint="left_hip_yaw_joint" />
<jointpos name="left_knee_pos" joint="left_knee_joint" />
<jointpos name="left_ankle_pitch_pos" joint="left_ankle_pitch_joint" />
<jointpos name="left_ankle_roll_pos" joint="left_ankle_roll_joint" />
<jointpos name="right_hip_pitch_pos" joint="right_hip_pitch_joint" />
<jointpos name="right_hip_roll_pos" joint="right_hip_roll_joint" />
<jointpos name="right_hip_yaw_pos" joint="right_hip_yaw_joint" />
<jointpos name="right_knee_pos" joint="right_knee_joint" />
<jointpos name="right_ankle_pitch_pos" joint="right_ankle_pitch_joint" />
<jointpos name="right_ankle_roll_pos" joint="right_ankle_roll_joint" />
<jointpos name="waist_yaw_pos" joint="waist_yaw_joint" />
<jointpos name="waist_roll_pos" joint="waist_roll_joint" />
<jointpos name="waist_pitch_pos" joint="waist_pitch_joint" />
<jointpos name="left_shoulder_pitch_pos" joint="left_shoulder_pitch_joint" />
<jointpos name="left_shoulder_roll_pos" joint="left_shoulder_roll_joint" />
<jointpos name="left_shoulder_yaw_pos" joint="left_shoulder_yaw_joint" />
<jointpos name="left_elbow_pos" joint="left_elbow_joint" />
<jointpos name="left_wrist_roll_pos" joint="left_wrist_roll_joint" />
<jointpos name="left_wrist_pitch_pos" joint="left_wrist_pitch_joint" />
<jointpos name="left_wrist_yaw_pos" joint="left_wrist_yaw_joint" />
<jointpos name="right_shoulder_pitch_pos" joint="right_shoulder_pitch_joint" />
<jointpos name="right_shoulder_roll_pos" joint="right_shoulder_roll_joint" />
<jointpos name="right_shoulder_yaw_pos" joint="right_shoulder_yaw_joint" />
<jointpos name="right_elbow_pos" joint="right_elbow_joint" />
<jointpos name="right_wrist_roll_pos" joint="right_wrist_roll_joint" />
<jointpos name="right_wrist_pitch_pos" joint="right_wrist_pitch_joint" />
<jointpos name="right_wrist_yaw_pos" joint="right_wrist_yaw_joint" />
<jointvel name="left_hip_pitch_vel" joint="left_hip_pitch_joint" />
<jointvel name="left_hip_roll_vel" joint="left_hip_roll_joint" />
<jointvel name="left_hip_yaw_vel" joint="left_hip_yaw_joint" />
<jointvel name="left_knee_vel" joint="left_knee_joint" />
<jointvel name="left_ankle_pitch_vel" joint="left_ankle_pitch_joint" />
<jointvel name="left_ankle_roll_vel" joint="left_ankle_roll_joint" />
<jointvel name="right_hip_pitch_vel" joint="right_hip_pitch_joint" />
<jointvel name="right_hip_roll_vel" joint="right_hip_roll_joint" />
<jointvel name="right_hip_yaw_vel" joint="right_hip_yaw_joint" />
<jointvel name="right_knee_vel" joint="right_knee_joint" />
<jointvel name="right_ankle_pitch_vel" joint="right_ankle_pitch_joint" />
<jointvel name="right_ankle_roll_vel" joint="right_ankle_roll_joint" />
<jointvel name="waist_yaw_vel" joint="waist_yaw_joint" />
<jointvel name="waist_roll_vel" joint="waist_roll_joint" />
<jointvel name="waist_pitch_vel" joint="waist_pitch_joint" />
<jointvel name="left_shoulder_pitch_vel" joint="left_shoulder_pitch_joint" />
<jointvel name="left_shoulder_roll_vel" joint="left_shoulder_roll_joint" />
<jointvel name="left_shoulder_yaw_vel" joint="left_shoulder_yaw_joint" />
<jointvel name="left_elbow_vel" joint="left_elbow_joint" />
<jointvel name="left_wrist_roll_vel" joint="left_wrist_roll_joint" />
<jointvel name="left_wrist_pitch_vel" joint="left_wrist_pitch_joint" />
<jointvel name="left_wrist_yaw_vel" joint="left_wrist_yaw_joint" />
<jointvel name="right_shoulder_pitch_vel" joint="right_shoulder_pitch_joint" />
<jointvel name="right_shoulder_roll_vel" joint="right_shoulder_roll_joint" />
<jointvel name="right_shoulder_yaw_vel" joint="right_shoulder_yaw_joint" />
<jointvel name="right_elbow_vel" joint="right_elbow_joint" />
<jointvel name="right_wrist_roll_vel" joint="right_wrist_roll_joint" />
<jointvel name="right_wrist_pitch_vel" joint="right_wrist_pitch_joint" />
<jointvel name="right_wrist_yaw_vel" joint="right_wrist_yaw_joint" />
<jointactuatorfrc name="left_hip_pitch_torque" joint="left_hip_pitch_joint" />
<jointactuatorfrc name="left_hip_roll_torque" joint="left_hip_roll_joint" />
<jointactuatorfrc name="left_hip_yaw_torque" joint="left_hip_yaw_joint" />
<jointactuatorfrc name="left_knee_torque" joint="left_knee_joint" />
<jointactuatorfrc name="left_ankle_pitch_torque" joint="left_ankle_pitch_joint" />
<jointactuatorfrc name="left_ankle_roll_torque" joint="left_ankle_roll_joint" />
<jointactuatorfrc name="right_hip_pitch_torque" joint="right_hip_pitch_joint" />
<jointactuatorfrc name="right_hip_roll_torque" joint="right_hip_roll_joint" />
<jointactuatorfrc name="right_hip_yaw_torque" joint="right_hip_yaw_joint" />
<jointactuatorfrc name="right_knee_torque" joint="right_knee_joint" />
<jointactuatorfrc name="right_ankle_pitch_torque" joint="right_ankle_pitch_joint" />
<jointactuatorfrc name="right_ankle_roll_torque" joint="right_ankle_roll_joint" />
<jointactuatorfrc name="waist_yaw_torque" joint="waist_yaw_joint" />
<jointactuatorfrc name="waist_roll_torque" joint="waist_roll_joint" />
<jointactuatorfrc name="waist_pitch_torque" joint="waist_pitch_joint" />
<jointactuatorfrc name="left_shoulder_pitch_torque" joint="left_shoulder_pitch_joint" />
<jointactuatorfrc name="left_shoulder_roll_torque" joint="left_shoulder_roll_joint" />
<jointactuatorfrc name="left_shoulder_yaw_torque" joint="left_shoulder_yaw_joint" />
<jointactuatorfrc name="left_elbow_torque" joint="left_elbow_joint" />
<jointactuatorfrc name="left_wrist_roll_torque" joint="left_wrist_roll_joint" />
<jointactuatorfrc name="left_wrist_pitch_torque" joint="left_wrist_pitch_joint" />
<jointactuatorfrc name="left_wrist_yaw_torque" joint="left_wrist_yaw_joint" />
<jointactuatorfrc name="right_shoulder_pitch_torque" joint="right_shoulder_pitch_joint" />
<jointactuatorfrc name="right_shoulder_roll_torque" joint="right_shoulder_roll_joint" />
<jointactuatorfrc name="right_shoulder_yaw_torque" joint="right_shoulder_yaw_joint" />
<jointactuatorfrc name="right_elbow_torque" joint="right_elbow_joint" />
<jointactuatorfrc name="right_wrist_roll_torque" joint="right_wrist_roll_joint" />
<jointactuatorfrc name="right_wrist_pitch_torque" joint="right_wrist_pitch_joint" />
<jointactuatorfrc name="right_wrist_yaw_torque" joint="right_wrist_yaw_joint" />
<framequat name="imu_quat" objtype="site" objname="imu_in_pelvis" />
<gyro name="imu_gyro" site="imu_in_pelvis" />
<accelerometer name="imu_acc" site="imu_in_pelvis" />
<framepos name="frame_pos" objtype="site" objname="imu_in_pelvis" />
<framelinvel name="frame_vel" objtype="site" objname="imu_in_pelvis" />
</sensor>
<!-- setup scene -->
<statistic center="0 0 0.5" extent="2.0"/>
<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="-130" 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>
<worldbody>
<!-- Plate -->
<body name="plate" pos="0.30225 0.0 0.93400">
<geom name="plate_geom" type="box" size="0.12 0.17 0.009" rgba="1 0 0 1" mass="0.5" class="contact"/>
<freejoint/>
</body>
<!-- Object -->
<body name="object" pos="0.30225 0.0 0.993">
<geom name="cup_wall" type="cylinder" size="0.025 0.05"
rgba="0.8 0.8 0.8 1" mass="0.03"
friction="0.6 0.005 0.0001"/>
<geom name="cup_bottom" type="cylinder" size="0.025 0.005"
pos="0 0 -0.055" rgba="0.8 0.8 0.8 1" mass="0.015"/>
<geom name="liquid" type="cylinder" size="0.020 0.03"
pos="0 0 -0.02" rgba="0.3 0.5 1 0.6" mass="0.055"
contype="0" conaffinity="0"/>
<inertial pos="0 0 -0.015" mass="0.1"
diaginertia="0.0003 0.0003 0.00008"/>
<freejoint/>
</body>
</worldbody>
</mujoco>
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