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Upload folder using huggingface_hub (part 3)

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  1. agibot-challenge-2026/000005/mjcf/g2_120s_no_mesh.xml +421 -0
  2. agibot-challenge-2026/000005/ref_images/hand_left.png +3 -0
  3. agibot-challenge-2026/000005/ref_images/hand_right.png +3 -0
  4. agibot-challenge-2026/000005/ref_images/head.png +3 -0
  5. agibot-challenge-2026/000005/temporal.json +0 -0
  6. agibot-challenge-2026/000006/gt/hand_left.mp4 +3 -0
  7. agibot-challenge-2026/000006/gt/hand_right.mp4 +3 -0
  8. agibot-challenge-2026/000006/gt/head.mp4 +3 -0
  9. agibot-challenge-2026/000006/meta.json +129 -0
  10. agibot-challenge-2026/000006/mjcf/g2_120s_no_mesh.xml +421 -0
  11. agibot-challenge-2026/000006/ref_images/hand_left.png +3 -0
  12. agibot-challenge-2026/000006/ref_images/hand_right.png +3 -0
  13. agibot-challenge-2026/000006/ref_images/head.png +3 -0
  14. agibot-challenge-2026/000006/temporal.json +0 -0
  15. agibot-challenge-2026/000007/gt/hand_left.mp4 +3 -0
  16. agibot-challenge-2026/000007/gt/hand_right.mp4 +3 -0
  17. agibot-challenge-2026/000007/gt/head.mp4 +3 -0
  18. agibot-challenge-2026/000007/meta.json +129 -0
  19. agibot-challenge-2026/000007/mjcf/g2_120s_no_mesh.xml +421 -0
  20. agibot-challenge-2026/000007/ref_images/hand_left.png +3 -0
  21. agibot-challenge-2026/000007/ref_images/hand_right.png +3 -0
  22. agibot-challenge-2026/000007/ref_images/head.png +3 -0
  23. agibot-challenge-2026/000007/temporal.json +0 -0
  24. agibot-challenge-2026/000008/gt/hand_left.mp4 +3 -0
  25. agibot-challenge-2026/000008/gt/hand_right.mp4 +3 -0
  26. agibot-challenge-2026/000008/gt/head.mp4 +3 -0
  27. agibot-challenge-2026/000008/meta.json +129 -0
  28. agibot-challenge-2026/000008/mjcf/g2_120s_no_mesh.xml +421 -0
  29. agibot-challenge-2026/000008/ref_images/hand_left.png +3 -0
  30. agibot-challenge-2026/000008/ref_images/hand_right.png +3 -0
  31. agibot-challenge-2026/000008/ref_images/head.png +3 -0
  32. agibot-challenge-2026/000008/temporal.json +0 -0
  33. agibot-challenge-2026/000009/gt/hand_left.mp4 +3 -0
  34. agibot-challenge-2026/000009/gt/hand_right.mp4 +3 -0
  35. agibot-challenge-2026/000009/gt/head.mp4 +3 -0
  36. agibot-challenge-2026/000009/meta.json +129 -0
  37. agibot-challenge-2026/000009/mjcf/g2_120s_no_mesh.xml +421 -0
  38. agibot-challenge-2026/000009/ref_images/hand_left.png +3 -0
  39. agibot-challenge-2026/000009/ref_images/hand_right.png +3 -0
  40. agibot-challenge-2026/000009/ref_images/head.png +3 -0
  41. agibot-challenge-2026/000009/temporal.json +0 -0
  42. agibot-challenge-2026/000010/gt/hand_left.mp4 +3 -0
  43. agibot-challenge-2026/000010/gt/hand_right.mp4 +3 -0
  44. agibot-challenge-2026/000010/gt/head.mp4 +3 -0
  45. agibot-challenge-2026/000010/meta.json +129 -0
  46. agibot-challenge-2026/000010/mjcf/g2_120s_no_mesh.xml +421 -0
  47. agibot-challenge-2026/000010/ref_images/hand_left.png +3 -0
  48. agibot-challenge-2026/000010/ref_images/hand_right.png +3 -0
  49. agibot-challenge-2026/000010/ref_images/head.png +3 -0
  50. agibot-challenge-2026/000010/temporal.json +0 -0
agibot-challenge-2026/000005/mjcf/g2_120s_no_mesh.xml ADDED
@@ -0,0 +1,421 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version='1.0' encoding='utf-8'?>
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+ <mujoco model="G2_120s_no_mesh">
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+ <compiler eulerseq="XYZ" fitaabb="true" angle="radian" meshdir="robot/parts/meshes" autolimits="true" />
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+ <option timestep="0.001" integrator="implicitfast" />
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+ <default>
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+ <default class="collision">
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+ </default>
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+ <default class="base_joint">
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+ <joint damping="100.0" />
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+ </default>
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+ <default class="body_joint">
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+ <joint damping="100.0" />
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+ </default>
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+ <default class="arm_joint">
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+ <joint damping="100.0" />
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+ </default>
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+ <default class="hand_joint">
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+ <joint type="hinge" limited="true" damping="0.3" armature="0.01" margin="0.01" frictionloss="0.1" />
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+ </default>
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+ <default class="plastic_visual">
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+ </default>
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+ <default class="plastic_collision">
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+ </default>
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+ </default>
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+ <worldbody>
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+ <body name="base_link" pos="0.0 0.0 0.0">
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+ <inertial pos="-0.003487 0.006148 0.096659" quat="1 0 0 0" mass="73" diaginertia="1.295194 1.778283 2.471865" />
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+ <joint name="fixed_base_joint" type="free" limited="false" actuatorfrclimited="false" />
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+ <body name="body_site" pos="0 0 0" euler="0 0 0">
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+ <body name="body_link1" pos="0.102 0 0.144">
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+ <inertial pos="-0.00489401 0.000193107 0.175562" quat="0.951529 -0.00167118 0.000568439 0.307555" mass="20.7874" diaginertia="0.261468 0.260198 0.059575" />
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+ <joint name="idx01_body_joint1" pos="0 0 0" axis="0 1 0" range="-1.06 0" />
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+ <body name="body_link2" pos="0 0 0.36">
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+ <inertial pos="0.00254034 -0.043702 0.185408" quat="0.706493 -0.00743404 -0.00727108 0.707643" mass="12.4098" diaginertia="0.208365 0.195289 0.0220707" />
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+ <joint name="idx02_body_joint2" pos="0 0 0" axis="0 1 0" range="0 2.65" />
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+ <body name="body_link3" pos="0 0 0.38">
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+ <inertial pos="-0.000429684 -0.00641624 4.19234e-05" quat="0.996964 0.0579402 -0.00124734 -0.0519932" mass="7.34766" diaginertia="0.0253773 0.0245502 0.0236107" />
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+ <joint name="idx03_body_joint3" pos="0 0 0" axis="0 1 0" range="-1.91 1.57" />
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+ <body name="body_link4">
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+ <inertial pos="-0.0714498 -6.54615e-05 0.0300405" quat="0.382564 0.598079 0.590375 0.383932" mass="6.23061" diaginertia="0.0315401 0.0286428 0.0240827" />
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+ <joint name="idx04_body_joint4" pos="0 0 0" axis="1 0 0" range="-0.43 0.43" />
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+ <body name="body_link5" pos="0 0 0.149">
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+ <inertial pos="-0.0244424 0.000202655 0.136945" quat="0.999987 -0.00278586 0.00415305 -0.000622614" mass="7.90088" diaginertia="0.0775108 0.0555698 0.0426905" />
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+ <joint name="idx05_body_joint5" pos="0 0 0" axis="0 0 1" range="-3.05 3.05" />
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+ <body name="arm_l_link1" pos="0 0.069 0.3085" quat="0.707107 -0.707107 0 0">
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+ <inertial pos="1.875e-05 0.006003 0.1438" quat="0.708546 0.0371413 -0.0376501 0.70368" mass="2.0926" diaginertia="0.00559611 0.00515641 0.00193958" />
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+ <joint name="idx21_arm_l_joint1" pos="0 0 0" axis="0 0 1" range="-3.1067 3.1067" actuatorfrcrange="-108 108" />
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+ <body name="arm_l_link2" pos="0 0 0.1745" quat="0.707105 0.707108 0 0">
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+ <inertial pos="-7.03e-06 0.05542 0.010995" quat="0.641173 0.767392 -0.00214053 0.00133687" mass="1.9432" diaginertia="0.0103546 0.00975036 0.00294632" />
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+ <joint name="idx22_arm_l_joint2" pos="0 0 0" axis="0 0 1" range="-2.0944 2.0944" actuatorfrcrange="-108 108" />
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+ <body name="arm_l_link3" quat="0.707105 -0.707108 0 0">
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+ <inertial pos="0.0087411 0.0019043 0.23487" quat="0.773926 -0.0373044 -0.0709906 0.628178" mass="1.6913" diaginertia="0.00691278 0.00661449 0.00151279" />
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+ <joint name="idx23_arm_l_joint3" pos="0 0 0" axis="0 0 1" range="-3.1067 3.1067" actuatorfrcrange="-66 66" />
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+ <body name="arm_l_link4" pos="0.018 0 0.287" quat="0.707105 0.707108 0 0">
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+ <inertial pos="-0.0086935 0.045984 0.011135" quat="0.621456 0.737295 -0.246853 0.0961863" mass="1.5332" diaginertia="0.0055184 0.00490878 0.00183112" />
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+ <joint name="idx24_arm_l_joint4" pos="0 0 0" axis="0 0 1" range="-2.5307 1.0472" actuatorfrcrange="-66 66" />
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+ <body name="arm_l_link5" pos="-0.018 0 0" quat="0.707105 -0.707108 0 0">
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+ <inertial pos="-0.00036467 0.0001479 0.19902" quat="0.999106 0.00345732 0.00652516 -0.0416219" mass="2.0095" diaginertia="0.00569947 0.0052757 0.00211221" />
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+ <joint name="idx25_arm_l_joint5" pos="0 0 0" axis="0 0 1" range="-3.1067 3.1067" actuatorfrcrange="-36 36" />
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+ <body name="arm_l_link6" pos="0 0 0.314" quat="0.707105 0.707108 0 0">
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+ <inertial pos="-0.004911 0.00027206 -8.14e-05" quat="0.999881 0.0107884 -0.0079053 -0.00774961" mass="0.67002" diaginertia="0.000489372 0.000400032 0.000369166" />
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+ <joint name="idx26_arm_l_joint6" pos="0 0 0" axis="0 0 1" range="-1.0472 1.0472" actuatorfrcrange="-36 36" />
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+ <body name="arm_l_link7" quat="0.499998 0.5 0.500002 0.5">
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+ <inertial pos="0.0451337 4.672e-05 0.00607482" quat="0.593322 0.386679 0.388741 0.589347" mass="0.31657" diaginertia="0.000673414 0.000570067 0.000333619" />
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+ <joint name="idx27_arm_l_joint7" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708" actuatorfrcrange="-36 36" />
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+ <body name="gripper_l_base_link" pos="0.095 0 0" quat="-0.5 0.5 -0.5 0.5">
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+ <inertial pos="0.01778808 0.0585332 0.05714529" quat="0.5 0.5 0.5 0.5" mass="1.3757592" diaginertia="0.0028087 0.00130123 0.00279029" />
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+ <body name="left_Left_01_Link" pos="-0.032553 0 0.10644" quat="-2.59734e-06 -2.59735e-06 0.707108 0.707105">
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+ <inertial pos="0.00656388 0.0248503 -9.40817e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
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+ <joint name="left_Left_1_Joint" pos="0 0 0" axis="0 0 -1" range="0 1" actuatorfrcrange="-2 2" />
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+ <body name="left_Left_00_Link" pos="0.01946 0.0129 0">
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+ <inertial pos="0.00656388 0.0248503 -9.40817e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
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+ <joint name="left_Left_0_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
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+ <body name="left_Left_Support_Link" pos="-0.02888 0.04341 0">
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+ <inertial pos="-0.0139043 0.0196639 0.00849572" quat="0.925305 0.325362 -0.105933 0.163488" mass="0.0173333" diaginertia="1.1732e-05 8.6297e-06 3.77139e-06" />
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+ <joint name="left_Left_Support_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
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+ <body name="left_Left_Pad_Link" pos="-0.022056 0.044306 0" />
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+ </body>
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+ </body>
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+ </body>
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+ <body name="left_Left_2_Link" pos="-0.017 0 0.122" quat="-2.59734e-06 -2.59735e-06 0.707108 0.707105">
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+ <inertial pos="-0.00438953 0.0248816 -2.55136e-05" quat="0.704468 0.705161 0.057196 0.0565907" mass="0.00803956" diaginertia="1.16929e-06 8.47368e-07 4.50153e-07" />
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+ <joint name="left_Left_2_Joint" pos="0 0 0" axis="0 0 -1" range="-1 1" actuatorfrcrange="-10 10" />
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+ </body>
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+ <body name="left_Right_2_Link" pos="0.017 0 0.122" quat="0.707105 0.707108 0 0">
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+ <inertial pos="-0.00438953 0.0248816 -2.55136e-05" quat="0.704468 0.705161 0.057196 0.0565907" mass="0.00803956" diaginertia="1.16929e-06 8.47368e-07 4.50153e-07" />
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+ <joint name="left_Right_2_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
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+ </body>
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+ <body name="left_Right_01_Link" pos="0.032553 0 0.10644" quat="0.707105 0.707108 0 0">
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+ <inertial pos="0.00656388 0.0248503 -9.40812e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
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+ <joint name="left_Right_1_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
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+ <body name="left_Right_00_Link" pos="0.01946 0.0129 0">
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+ <inertial pos="0.00656388 0.0248503 -9.40812e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
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+ <joint name="left_Right_0_Joint" pos="0 0 0" axis="0 0 -1" range="0 1" actuatorfrcrange="-2 2" />
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+ <body name="left_Right_Support_Link" pos="-0.02888 0.04341 0">
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+ <inertial pos="-0.0139043 0.0196639 0.00849572" quat="0.925305 0.325362 -0.105933 0.163488" mass="0.0173333" diaginertia="1.1732e-05 8.6297e-06 3.77139e-06" />
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+ <joint name="left_Right_Support_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
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+ <body name="left_Right_Pad_Link" pos="-0.022056 0.044306 0" />
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+ </body>
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+ </body>
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+ </body>
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+ <site name="gripper_center" pos="0 0 0.23" euler="0 0 -1.5708" type="sphere" size="0.005" group="5" />
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+ </body>
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+ <camera name="hand_left" resolution="640 528" sensorsize="640 528" focal="242.59564209 242.504364014" principal="309.807525635 270.107940674" pos="0.188920196327 -0.00239444367985 0.080406483108" quat="0.612761547465 0.35333063073 -0.355838568474 -0.61078610374" />
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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="arm_r_link1" pos="0 -0.069 0.3085" quat="0.707107 0.707107 0 0">
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+ <inertial pos="1.875e-05 0.006003 0.1438" quat="0.708546 0.0371413 -0.0376501 0.70368" mass="2.0926" diaginertia="0.00559611 0.00515641 0.00193958" />
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+ <joint name="idx61_arm_r_joint1" pos="0 0 0" axis="0 0 1" range="-3.1067 3.1067" actuatorfrcrange="-108 108" />
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+ <body name="arm_r_link2" pos="0 0 0.1745" quat="0.707107 0.707107 0 0">
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+ <inertial pos="-7.03e-06 0.05542 0.010995" quat="0.641173 0.767392 -0.00214053 0.00133687" mass="1.9432" diaginertia="0.0103546 0.00975036 0.00294632" />
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+ <joint name="idx62_arm_r_joint2" pos="0 0 0" axis="0 0 1" range="-2.0944 2.0944" actuatorfrcrange="-108 108" />
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+ <body name="arm_r_link3" quat="0.707107 -0.707107 0 0">
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+ <inertial pos="0.0087411 0.0019043 0.23487" quat="0.773926 -0.0373044 -0.0709906 0.628178" mass="1.6913" diaginertia="0.00691278 0.00661449 0.00151279" />
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+ <joint name="idx63_arm_r_joint3" pos="0 0 0" axis="0 0 1" range="-3.1067 3.1067" actuatorfrcrange="-66 66" />
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+ <body name="arm_r_link4" pos="0.018 0 0.287" quat="0.707107 0.707107 0 0">
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+ <inertial pos="-0.0086935 0.045984 0.011135" quat="0.621456 0.737295 -0.246853 0.0961863" mass="1.5332" diaginertia="0.0055184 0.00490878 0.00183112" />
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+ <joint name="idx64_arm_r_joint4" pos="0 0 0" axis="0 0 1" range="-2.5307 1.0472" actuatorfrcrange="-66 66" />
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+ <body name="arm_r_link5" pos="-0.018 0 0" quat="0.707107 -0.707107 0 0">
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+ <inertial pos="0.00036663 -0.00041429 0.198891" quat="0.999078 -0.00435039 -0.00655822 -0.0422006" mass="1.9854" diaginertia="0.00567885 0.00526075 0.00209418" />
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+ <joint name="idx65_arm_r_joint5" pos="0 0 0" axis="0 0 1" range="-3.1067 3.1067" actuatorfrcrange="-36 36" />
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+ <body name="arm_r_link6" pos="0 0 0.314" quat="0.707107 0.707107 0 0">
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+ <inertial pos="-0.00458177 -0.00027029 9.098e-05" quat="0.99986 0.0119778 0.00849363 0.00798016" mass="0.645948" diaginertia="0.000477145 0.000391895 0.000361099" />
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+ <joint name="idx66_arm_r_joint6" pos="0 0 0" axis="0 0 1" range="-1.0472 1.0472" actuatorfrcrange="-36 36" />
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+ <body name="arm_r_link7" quat="0.5 0.5 0.5 0.5">
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+ <inertial pos="0.0451337 4.672e-05 0.00607482" quat="0.593322 0.386679 0.388741 0.589347" mass="0.31658" diaginertia="0.000673414 0.000570067 0.000333619" />
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+ <joint name="idx67_arm_r_joint7" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708" actuatorfrcrange="-36 36" />
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+ <body name="gripper_r_base_link" pos="0.095 0 0" quat="-0.5 0.5 -0.5 0.5">
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+ <inertial pos="0.01778808 0.0585332 0.05714529" quat="0.5 0.5 0.5 0.5" mass="1.3757592" diaginertia="0.0028087 0.00130123 0.00279029" />
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+ <body name="right_Left_01_Link" pos="-0.032553 0 0.10644" quat="-2.59734e-06 -2.59735e-06 0.707108 0.707105">
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+ <inertial pos="0.00656388 0.0248503 -9.40817e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
137
+ <joint name="right_Left_1_Joint" pos="0 0 0" axis="0 0 -1" range="0 1" actuatorfrcrange="-2 2" />
138
+ <body name="right_Left_00_Link" pos="0.01946 0.0129 0">
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+ <inertial pos="0.00656388 0.0248503 -9.40817e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
140
+ <joint name="right_Left_0_Joint" pos="0 0 0" axis="0 0 -1" range="0 1" actuatorfrcrange="-2 2" />
141
+ <body name="right_Left_Support_Link" pos="-0.02888 0.04341 0">
142
+ <inertial pos="-0.0139043 0.0196639 0.00849572" quat="0.925305 0.325362 -0.105933 0.163488" mass="0.0173333" diaginertia="1.1732e-05 8.6297e-06 3.77139e-06" />
143
+ <joint name="right_Left_Support_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
144
+ <body name="right_Left_Pad_Link" pos="-0.022056 0.044306 0" />
145
+ </body>
146
+ </body>
147
+ </body>
148
+ <body name="right_Left_2_Link" pos="-0.017 0 0.122" quat="-2.59734e-06 -2.59735e-06 0.707108 0.707105">
149
+ <inertial pos="-0.00438953 0.0248816 -2.55136e-05" quat="0.704468 0.705161 0.057196 0.0565907" mass="0.00803956" diaginertia="1.16929e-06 8.47368e-07 4.50153e-07" />
150
+ <joint name="right_Left_2_Joint" pos="0 0 0" axis="0 0 -1" range="-1 1" actuatorfrcrange="-10 10" />
151
+ </body>
152
+ <body name="right_Right_2_Link" pos="0.017 0 0.122" quat="0.707105 0.707108 0 0">
153
+ <inertial pos="-0.00438953 0.0248816 -2.55136e-05" quat="0.704468 0.705161 0.057196 0.0565907" mass="0.00803956" diaginertia="1.16929e-06 8.47368e-07 4.50153e-07" />
154
+ <joint name="right_Right_2_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
155
+ </body>
156
+ <body name="right_Right_01_Link" pos="0.032553 0 0.10644" quat="0.707105 0.707108 0 0">
157
+ <inertial pos="0.00656388 0.0248503 -9.40812e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
158
+ <joint name="right_Right_1_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
159
+ <body name="right_Right_00_Link" pos="0.01946 0.0129 0">
160
+ <inertial pos="0.00656388 0.0248503 -9.40812e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
161
+ <joint name="right_Right_0_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
162
+ <body name="right_Right_Support_Link" pos="-0.02888 0.04341 0">
163
+ <inertial pos="-0.0139043 0.0196639 0.00849572" quat="0.925305 0.325362 -0.105933 0.163488" mass="0.0173333" diaginertia="1.1732e-05 8.6297e-06 3.77139e-06" />
164
+ <joint name="right_Right_Support_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
165
+ <body name="right_Right_Pad_Link" pos="-0.022056 0.044306 0" />
166
+ </body>
167
+ </body>
168
+ </body>
169
+ <site name="right_gripper_center" pos="0 0 0.227" euler="0 0 -1.5708" type="sphere" size="0.005" group="5" />
170
+ </body>
171
+ <camera name="hand_right" resolution="640 528" sensorsize="640 528" focal="241.13822937 240.948471069" principal="321.835632324 261.318206787" pos="0.198862275171 0.000844084868931 0.0710770347607" quat="0.623018347598 0.334404272128 -0.334744043013 -0.622871051668" />
172
+ </body>
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+ </body>
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+ </body>
175
+ </body>
176
+ </body>
177
+ </body>
178
+ </body>
179
+ <body name="head_link1" pos="-0.013 0 0.496">
180
+ <inertial pos="0.00424601 -1.36432e-07 -0.0288855" quat="0.704159 -0.0648528 -0.0648618 0.704093" mass="0.245638" diaginertia="0.000306992 0.000302836 8.22483e-05" />
181
+ <joint name="idx11_head_joint1" pos="0 0 0" axis="0 0 1" range="-1.57 1.57" />
182
+ <body name="head_link2" pos="0.03335 0 0.07">
183
+ <inertial pos="-0.0363591 -0.000333631 -0.00246318" quat="0.704707 0.705403 0.0594704 -0.0475286" mass="0.0944987" diaginertia="5.66986e-05 5.01493e-05 3.80384e-05" />
184
+ <joint name="idx12_head_joint2" pos="0 0 0" axis="1 0 0" range="-0.349 0.349" />
185
+ <body name="head_link3" pos="-0.03035 0 0">
186
+ <inertial pos="-0.00327293 2.14734e-05 0.0163618" quat="-0.000248838 0.699252 2.07117e-06 0.714875" mass="17.8197" diaginertia="0.0712727 0.0558097 0.0456037" />
187
+ <joint name="idx13_head_joint3" pos="0 0 0" axis="0 1 0" range="-0.523 0.523" />
188
+ <camera name="head" resolution="640 400" sensorsize="640 400" focal="305.197601318 305.204650879" principal="322.686279297 205.844650269" pos="0.103445946741 0.0271626033406 0.112363548339" quat="0.598257704483 0.376209781606 -0.385596041439 -0.59318598439" />
189
+ </body>
190
+ </body>
191
+ </body>
192
+ </body>
193
+ </body>
194
+ </body>
195
+ </body>
196
+ </body>
197
+ </body>
198
+ <body name="chassis_site" pos="0 0 0" euler="0 0 0">
199
+ <body name="chassis_lwheel_front_link1" pos="0.23 0.218 0.16675">
200
+ <inertial pos="4.8347e-05 -0.021386 -0.055149" quat="0.681263 -0.208432 0.206514 0.670663" mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
201
+ <joint name="idx111_chassis_lwheel_front_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
202
+ <body name="chassis_lwheel_front_link2" pos="0 -5e-05 -0.13675">
203
+ <inertial pos="-2.3442e-06 -0.0013086 1.0892e-05" quat="0.487628 0.512096 0.512035 0.487644" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
204
+ <joint name="idx112_chassis_lwheel_front_joint2" pos="0 0 0" axis="0 1 0" />
205
+ </body>
206
+ </body>
207
+ <body name="chassis_rwheel_front_link1" pos="0.23 -0.218 0.16675">
208
+ <inertial pos="-4.8347e-05 0.021386 -0.055149" quat="0.681263 0.208432 -0.206514 0.670663" mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
209
+ <joint name="idx131_chassis_rwheel_front_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
210
+ <body name="chassis_rwheel_front_link2" pos="0 5e-05 -0.13675">
211
+ <inertial pos="2.3442e-06 0.0013086 1.0892e-05" quat="0.512096 0.487628 0.487644 0.512035" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
212
+ <joint name="idx132_chassis_rwheel_front_joint2" pos="0 0 0" axis="0 1 0" />
213
+ </body>
214
+ </body>
215
+ <body name="chassis_rwheel_rear_link1" pos="-0.23 -0.218 0.16675">
216
+ <inertial pos="-4.8347e-05 0.021386 -0.055149" quat="0.681263 0.208432 -0.206514 0.670663" mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
217
+ <joint name="idx141_chassis_rwheel_rear_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
218
+ <body name="chassis_rwheel_rear_link2" pos="0 5e-05 -0.13675">
219
+ <inertial pos="2.3442e-06 0.0013086 1.0892e-05" quat="0.512096 0.487628 0.487644 0.512035" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
220
+ <joint name="idx142_chassis_rwheel_rear_joint2" pos="0 0 0" axis="0 1 0" />
221
+ </body>
222
+ </body>
223
+ <body name="chassis_lwheel_rear_link1" pos="-0.23 0.218 0.16675">
224
+ <inertial pos="4.8347e-05 -0.021386 -0.055149" quat="0.681263 -0.208432 0.206514 0.670663" mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
225
+ <joint name="idx121_chassis_lwheel_rear_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
226
+ <body name="chassis_lwheel_rear_link2" pos="0 -5e-05 -0.13675">
227
+ <inertial pos="-2.3442e-06 -0.0013086 1.0892e-05" quat="0.487628 0.512096 0.512035 0.487644" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
228
+ <joint name="idx122_chassis_lwheel_rear_joint2" pos="0 0 0" axis="0 1 0" />
229
+ </body>
230
+ </body>
231
+ </body>
232
+ <site name="imu_site" pos="0 0 0" size="0.01" />
233
+ </body>
234
+ </worldbody>
235
+ <actuator>
236
+ <position name="position_idx01_body_joint1" joint="idx01_body_joint1" kp="20000" kv="6000" />
237
+ <position name="position_idx02_body_joint2" joint="idx02_body_joint2" kp="20000" kv="6000" />
238
+ <position name="position_idx03_body_joint3" joint="idx03_body_joint3" kp="20000" kv="6000" />
239
+ <position name="position_idx04_body_joint4" joint="idx04_body_joint4" kp="20000" kv="6000" />
240
+ <position name="position_idx05_body_joint5" joint="idx05_body_joint5" kp="20000" kv="6000" />
241
+ <position name="position_idx11_head_joint1" joint="idx11_head_joint1" kp="1500" kv="150" />
242
+ <position name="position_idx12_head_joint2" joint="idx12_head_joint2" kp="1500" kv="150" />
243
+ <position name="position_idx13_head_joint3" joint="idx13_head_joint3" kp="1500" kv="150" />
244
+ <motor name="motor_idx01_body_joint1" joint="idx01_body_joint1" ctrlrange="-1200 1200" />
245
+ <motor name="motor_idx02_body_joint2" joint="idx02_body_joint2" ctrlrange="-1200 1200" />
246
+ <motor name="motor_idx03_body_joint3" joint="idx03_body_joint3" ctrlrange="-1200 1200" />
247
+ <motor name="motor_idx04_body_joint4" joint="idx04_body_joint4" ctrlrange="-1200 1200" />
248
+ <motor name="motor_idx05_body_joint5" joint="idx05_body_joint5" ctrlrange="-1200 1200" />
249
+ <motor name="motor_idx11_head_joint1" joint="idx11_head_joint1" ctrlrange="-1200 1200" />
250
+ <motor name="motor_idx12_head_joint2" joint="idx12_head_joint2" ctrlrange="-1200 1200" />
251
+ <motor name="motor_idx13_head_joint3" joint="idx13_head_joint3" ctrlrange="-1200 1200" />
252
+ </actuator>
253
+ <sensor>
254
+ <framequat name="imu_quat_sensor" objtype="site" objname="imu_site" />
255
+ <gyro name="imu_gyro" site="imu_site" />
256
+ <accelerometer name="imu_accel" site="imu_site" />
257
+ <jointpos name="jointpos_idx01_body_joint1" joint="idx01_body_joint1" noise="0.0" />
258
+ <jointpos name="jointpos_idx02_body_joint2" joint="idx02_body_joint2" noise="0.0" />
259
+ <jointpos name="jointpos_idx03_body_joint3" joint="idx03_body_joint3" noise="0.0" />
260
+ <jointpos name="jointpos_idx04_body_joint4" joint="idx04_body_joint4" noise="0.0" />
261
+ <jointpos name="jointpos_idx05_body_joint5" joint="idx05_body_joint5" noise="0.0" />
262
+ <jointpos name="jointpos_idx11_head_joint1" joint="idx11_head_joint1" noise="0.0" />
263
+ <jointpos name="jointpos_idx12_head_joint2" joint="idx12_head_joint2" noise="0.0" />
264
+ <jointpos name="jointpos_idx13_head_joint3" joint="idx13_head_joint3" noise="0.0" />
265
+ <jointvel name="jointvel_idx01_body_joint1" joint="idx01_body_joint1" noise="0.0" />
266
+ <jointvel name="jointvel_idx02_body_joint2" joint="idx02_body_joint2" noise="0.0" />
267
+ <jointvel name="jointvel_idx03_body_joint3" joint="idx03_body_joint3" noise="0.0" />
268
+ <jointvel name="jointvel_idx04_body_joint4" joint="idx04_body_joint4" noise="0.0" />
269
+ <jointvel name="jointvel_idx05_body_joint5" joint="idx05_body_joint5" noise="0.0" />
270
+ <jointvel name="jointvel_idx11_head_joint1" joint="idx11_head_joint1" noise="0.0" />
271
+ <jointvel name="jointvel_idx12_head_joint2" joint="idx12_head_joint2" noise="0.0" />
272
+ <jointvel name="jointvel_idx13_head_joint3" joint="idx13_head_joint3" noise="0.0" />
273
+ <jointactuatorfrc name="torque_idx01_body_joint1" joint="idx01_body_joint1" noise="0.0" />
274
+ <jointactuatorfrc name="torque_idx02_body_joint2" joint="idx02_body_joint2" noise="0.0" />
275
+ <jointactuatorfrc name="torque_idx03_body_joint3" joint="idx03_body_joint3" noise="0.0" />
276
+ <jointactuatorfrc name="torque_idx04_body_joint4" joint="idx04_body_joint4" noise="0.0" />
277
+ <jointactuatorfrc name="torque_idx05_body_joint5" joint="idx05_body_joint5" noise="0.0" />
278
+ <jointactuatorfrc name="torque_idx11_head_joint1" joint="idx11_head_joint1" noise="0.0" />
279
+ <jointactuatorfrc name="torque_idx12_head_joint2" joint="idx12_head_joint2" noise="0.0" />
280
+ <jointactuatorfrc name="torque_idx13_head_joint3" joint="idx13_head_joint3" noise="0.0" />
281
+ </sensor>
282
+ <actuator>
283
+ <position name="motor_idx111_chassis_lwheel_front_joint1" joint="idx111_chassis_lwheel_front_joint1" kp="1000" kv="80" />
284
+ <velocity name="motor_idx112_chassis_lwheel_front_joint2" joint="idx112_chassis_lwheel_front_joint2" kv="10" />
285
+ <position name="motor_idx121_chassis_lwheel_rear_joint1" joint="idx121_chassis_lwheel_rear_joint1" kp="1000" kv="80" />
286
+ <velocity name="motor_idx122_chassis_lwheel_rear_joint2" joint="idx122_chassis_lwheel_rear_joint2" kv="10" />
287
+ <position name="motor_idx131_chassis_rwheel_front_joint1" joint="idx131_chassis_rwheel_front_joint1" kp="1000" kv="80" />
288
+ <velocity name="motor_idx132_chassis_rwheel_front_joint2" joint="idx132_chassis_rwheel_front_joint2" kv="10" />
289
+ <position name="motor_idx141_chassis_rwheel_rear_joint1" joint="idx141_chassis_rwheel_rear_joint1" kp="1000" kv="80" />
290
+ <velocity name="motor_idx142_chassis_rwheel_rear_joint2" joint="idx142_chassis_rwheel_rear_joint2" kv="10" />
291
+ </actuator>
292
+ <sensor>
293
+ <jointpos name="jointpos_idx111_chassis_lwheel_front_joint1" joint="idx111_chassis_lwheel_front_joint1" noise="0.0" />
294
+ <jointpos name="jointpos_idx112_chassis_lwheel_front_joint2" joint="idx112_chassis_lwheel_front_joint2" noise="0.0" cutoff="3.14" />
295
+ <jointpos name="jointpos_idx121_chassis_lwheel_rear_joint1" joint="idx121_chassis_lwheel_rear_joint1" noise="0.0" />
296
+ <jointpos name="jointpos_idx122_chassis_lwheel_rear_joint2" joint="idx122_chassis_lwheel_rear_joint2" noise="0.0" cutoff="3.14" />
297
+ <jointpos name="jointpos_idx131_chassis_rwheel_front_joint1" joint="idx131_chassis_rwheel_front_joint1" noise="0.0" />
298
+ <jointpos name="jointpos_idx132_chassis_rwheel_front_joint2" joint="idx132_chassis_rwheel_front_joint2" noise="0.0" cutoff="3.14" />
299
+ <jointpos name="jointpos_idx141_chassis_rwheel_rear_joint1" joint="idx141_chassis_rwheel_rear_joint1" noise="0.0" />
300
+ <jointpos name="jointpos_idx142_chassis_rwheel_rear_joint2" joint="idx142_chassis_rwheel_rear_joint2" noise="0.0" cutoff="3.14" />
301
+ <jointvel name="jointvel_idx111_chassis_lwheel_front_joint1" joint="idx111_chassis_lwheel_front_joint1" noise="0.0" />
302
+ <jointvel name="jointvel_idx112_chassis_lwheel_front_joint2" joint="idx112_chassis_lwheel_front_joint2" noise="0.0" />
303
+ <jointvel name="jointvel_idx121_chassis_lwheel_rear_joint1" joint="idx121_chassis_lwheel_rear_joint1" noise="0.0" />
304
+ <jointvel name="jointvel_idx122_chassis_lwheel_rear_joint2" joint="idx122_chassis_lwheel_rear_joint2" noise="0.0" />
305
+ <jointvel name="jointvel_idx131_chassis_rwheel_front_joint1" joint="idx131_chassis_rwheel_front_joint1" noise="0.0" />
306
+ <jointvel name="jointvel_idx132_chassis_rwheel_front_joint2" joint="idx132_chassis_rwheel_front_joint2" noise="0.0" />
307
+ <jointvel name="jointvel_idx141_chassis_rwheel_rear_joint1" joint="idx141_chassis_rwheel_rear_joint1" noise="0.0" />
308
+ <jointvel name="jointvel_idx142_chassis_rwheel_rear_joint2" joint="idx142_chassis_rwheel_rear_joint2" noise="0.0" />
309
+ </sensor>
310
+ <actuator>
311
+ <position name="position_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" kp="10000" kv="400" />
312
+ <position name="position_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" kp="10000" kv="400" />
313
+ <position name="position_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" kp="10000" kv="160" />
314
+ <position name="position_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" kp="10000" kv="160" />
315
+ <position name="position_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" kp="10000" kv="120" />
316
+ <position name="position_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" kp="10000" kv="120" />
317
+ <position name="position_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" kp="10000" kv="120" />
318
+ <position name="position_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" kp="10000" kv="400" />
319
+ <position name="position_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" kp="10000" kv="400" />
320
+ <position name="position_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" kp="10000" kv="160" />
321
+ <position name="position_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" kp="10000" kv="160" />
322
+ <position name="position_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" kp="10000" kv="120" />
323
+ <position name="position_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" kp="10000" kv="120" />
324
+ <position name="position_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" kp="10000" kv="120" />
325
+ <motor name="motor_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" ctrlrange="-1200 1200" />
326
+ <motor name="motor_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" ctrlrange="-1200 1200" />
327
+ <motor name="motor_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" ctrlrange="-1200 1200" />
328
+ <motor name="motor_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" ctrlrange="-1200 1200" />
329
+ <motor name="motor_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" ctrlrange="-1200 1200" />
330
+ <motor name="motor_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" ctrlrange="-1200 1200" />
331
+ <motor name="motor_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" ctrlrange="-1200 1200" />
332
+ <motor name="motor_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" ctrlrange="-1200 1200" />
333
+ <motor name="motor_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" ctrlrange="-1200 1200" />
334
+ <motor name="motor_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" ctrlrange="-1200 1200" />
335
+ <motor name="motor_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" ctrlrange="-1200 1200" />
336
+ <motor name="motor_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" ctrlrange="-1200 1200" />
337
+ <motor name="motor_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" ctrlrange="-1200 1200" />
338
+ <motor name="motor_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" ctrlrange="-1200 1200" />
339
+ </actuator>
340
+ <sensor>
341
+ <jointpos name="jointpos_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" noise="0.0" />
342
+ <jointpos name="jointpos_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" noise="0.0" />
343
+ <jointpos name="jointpos_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" noise="0.0" />
344
+ <jointpos name="jointpos_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" noise="0.0" />
345
+ <jointpos name="jointpos_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" noise="0.0" />
346
+ <jointpos name="jointpos_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" noise="0.0" />
347
+ <jointpos name="jointpos_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" noise="0.0" />
348
+ <jointpos name="jointpos_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" noise="0.0" />
349
+ <jointpos name="jointpos_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" noise="0.0" />
350
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77
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78
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84
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92
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95
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98
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100
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102
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162
+ <body name="right_Right_Support_Link" pos="-0.02888 0.04341 0">
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164
+ <joint name="right_Right_Support_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
165
+ <body name="right_Right_Pad_Link" pos="-0.022056 0.044306 0" />
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+ <site name="right_gripper_center" pos="0 0 0.227" euler="0 0 -1.5708" type="sphere" size="0.005" group="5" />
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+ <camera name="head" resolution="640 400" sensorsize="640 400" focal="306.027648926 305.905578613" principal="318.58380127 199.119308472" pos="0.0895922188005 0.0264910025557 0.0824741326829" quat="0.589635690014 0.382776410693 -0.39102822058 -0.594061363151" />
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+ <body name="chassis_site" pos="0 0 0" euler="0 0 0">
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+ <body name="chassis_lwheel_front_link1" pos="0.23 0.218 0.16675">
200
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+ <joint name="idx111_chassis_lwheel_front_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
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+ <body name="chassis_lwheel_front_link2" pos="0 -5e-05 -0.13675">
203
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204
+ <joint name="idx112_chassis_lwheel_front_joint2" pos="0 0 0" axis="0 1 0" />
205
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207
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209
+ <joint name="idx131_chassis_rwheel_front_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
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+ <body name="chassis_rwheel_front_link2" pos="0 5e-05 -0.13675">
211
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212
+ <joint name="idx132_chassis_rwheel_front_joint2" pos="0 0 0" axis="0 1 0" />
213
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215
+ <body name="chassis_rwheel_rear_link1" pos="-0.23 -0.218 0.16675">
216
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217
+ <joint name="idx141_chassis_rwheel_rear_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
218
+ <body name="chassis_rwheel_rear_link2" pos="0 5e-05 -0.13675">
219
+ <inertial pos="2.3442e-06 0.0013086 1.0892e-05" quat="0.512096 0.487628 0.487644 0.512035" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
220
+ <joint name="idx142_chassis_rwheel_rear_joint2" pos="0 0 0" axis="0 1 0" />
221
+ </body>
222
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223
+ <body name="chassis_lwheel_rear_link1" pos="-0.23 0.218 0.16675">
224
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225
+ <joint name="idx121_chassis_lwheel_rear_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
226
+ <body name="chassis_lwheel_rear_link2" pos="0 -5e-05 -0.13675">
227
+ <inertial pos="-2.3442e-06 -0.0013086 1.0892e-05" quat="0.487628 0.512096 0.512035 0.487644" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
228
+ <joint name="idx122_chassis_lwheel_rear_joint2" pos="0 0 0" axis="0 1 0" />
229
+ </body>
230
+ </body>
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+ </body>
232
+ <site name="imu_site" pos="0 0 0" size="0.01" />
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+ </body>
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+ </worldbody>
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+ <actuator>
236
+ <position name="position_idx01_body_joint1" joint="idx01_body_joint1" kp="20000" kv="6000" />
237
+ <position name="position_idx02_body_joint2" joint="idx02_body_joint2" kp="20000" kv="6000" />
238
+ <position name="position_idx03_body_joint3" joint="idx03_body_joint3" kp="20000" kv="6000" />
239
+ <position name="position_idx04_body_joint4" joint="idx04_body_joint4" kp="20000" kv="6000" />
240
+ <position name="position_idx05_body_joint5" joint="idx05_body_joint5" kp="20000" kv="6000" />
241
+ <position name="position_idx11_head_joint1" joint="idx11_head_joint1" kp="1500" kv="150" />
242
+ <position name="position_idx12_head_joint2" joint="idx12_head_joint2" kp="1500" kv="150" />
243
+ <position name="position_idx13_head_joint3" joint="idx13_head_joint3" kp="1500" kv="150" />
244
+ <motor name="motor_idx01_body_joint1" joint="idx01_body_joint1" ctrlrange="-1200 1200" />
245
+ <motor name="motor_idx02_body_joint2" joint="idx02_body_joint2" ctrlrange="-1200 1200" />
246
+ <motor name="motor_idx03_body_joint3" joint="idx03_body_joint3" ctrlrange="-1200 1200" />
247
+ <motor name="motor_idx04_body_joint4" joint="idx04_body_joint4" ctrlrange="-1200 1200" />
248
+ <motor name="motor_idx05_body_joint5" joint="idx05_body_joint5" ctrlrange="-1200 1200" />
249
+ <motor name="motor_idx11_head_joint1" joint="idx11_head_joint1" ctrlrange="-1200 1200" />
250
+ <motor name="motor_idx12_head_joint2" joint="idx12_head_joint2" ctrlrange="-1200 1200" />
251
+ <motor name="motor_idx13_head_joint3" joint="idx13_head_joint3" ctrlrange="-1200 1200" />
252
+ </actuator>
253
+ <sensor>
254
+ <framequat name="imu_quat_sensor" objtype="site" objname="imu_site" />
255
+ <gyro name="imu_gyro" site="imu_site" />
256
+ <accelerometer name="imu_accel" site="imu_site" />
257
+ <jointpos name="jointpos_idx01_body_joint1" joint="idx01_body_joint1" noise="0.0" />
258
+ <jointpos name="jointpos_idx02_body_joint2" joint="idx02_body_joint2" noise="0.0" />
259
+ <jointpos name="jointpos_idx03_body_joint3" joint="idx03_body_joint3" noise="0.0" />
260
+ <jointpos name="jointpos_idx04_body_joint4" joint="idx04_body_joint4" noise="0.0" />
261
+ <jointpos name="jointpos_idx05_body_joint5" joint="idx05_body_joint5" noise="0.0" />
262
+ <jointpos name="jointpos_idx11_head_joint1" joint="idx11_head_joint1" noise="0.0" />
263
+ <jointpos name="jointpos_idx12_head_joint2" joint="idx12_head_joint2" noise="0.0" />
264
+ <jointpos name="jointpos_idx13_head_joint3" joint="idx13_head_joint3" noise="0.0" />
265
+ <jointvel name="jointvel_idx01_body_joint1" joint="idx01_body_joint1" noise="0.0" />
266
+ <jointvel name="jointvel_idx02_body_joint2" joint="idx02_body_joint2" noise="0.0" />
267
+ <jointvel name="jointvel_idx03_body_joint3" joint="idx03_body_joint3" noise="0.0" />
268
+ <jointvel name="jointvel_idx04_body_joint4" joint="idx04_body_joint4" noise="0.0" />
269
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+ "hand_right": "ref_images/hand_right.png"
115
+ },
116
+ "gt_videos": {
117
+ "head": "gt/head.mp4",
118
+ "hand_left": "gt/hand_left.mp4",
119
+ "hand_right": "gt/hand_right.mp4"
120
+ },
121
+ "migrated_from": {
122
+ "repo_id": "agibot-challenge-2026",
123
+ "source_repo_id": "agibot-world-2026",
124
+ "episode_index": 1126,
125
+ "start_frame": 0,
126
+ "source_fps": 30.0,
127
+ "robot_type": "Agibot G2"
128
+ }
129
+ }
agibot-challenge-2026/000007/mjcf/g2_120s_no_mesh.xml ADDED
@@ -0,0 +1,421 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version='1.0' encoding='utf-8'?>
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+ <mujoco model="G2_120s_no_mesh">
3
+ <compiler eulerseq="XYZ" fitaabb="true" angle="radian" meshdir="robot/parts/meshes" autolimits="true" />
4
+ <option timestep="0.001" integrator="implicitfast" />
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+ <default>
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+ <default class="collision">
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+ </default>
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+ <default class="base_joint">
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+ <joint damping="100.0" />
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+ </default>
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+ <default class="body_joint">
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+ <joint damping="100.0" />
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+ </default>
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+ <default class="arm_joint">
15
+ <joint damping="100.0" />
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+ </default>
17
+ <default class="hand_joint">
18
+ <joint type="hinge" limited="true" damping="0.3" armature="0.01" margin="0.01" frictionloss="0.1" />
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+ </default>
20
+ <default class="plastic_visual">
21
+ </default>
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+ <default class="plastic_collision">
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+ </default>
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+ </default>
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+ <worldbody>
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+ <body name="base_link" pos="0.0 0.0 0.0">
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+ <inertial pos="-0.003487 0.006148 0.096659" quat="1 0 0 0" mass="73" diaginertia="1.295194 1.778283 2.471865" />
28
+ <joint name="fixed_base_joint" type="free" limited="false" actuatorfrclimited="false" />
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+ <body name="body_site" pos="0 0 0" euler="0 0 0">
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+ <body name="body_link1" pos="0.102 0 0.144">
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+ <inertial pos="-0.00489401 0.000193107 0.175562" quat="0.951529 -0.00167118 0.000568439 0.307555" mass="20.7874" diaginertia="0.261468 0.260198 0.059575" />
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+ <joint name="idx01_body_joint1" pos="0 0 0" axis="0 1 0" range="-1.06 0" />
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+ <body name="body_link2" pos="0 0 0.36">
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+ <inertial pos="0.00254034 -0.043702 0.185408" quat="0.706493 -0.00743404 -0.00727108 0.707643" mass="12.4098" diaginertia="0.208365 0.195289 0.0220707" />
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+ <joint name="idx02_body_joint2" pos="0 0 0" axis="0 1 0" range="0 2.65" />
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+ <body name="body_link3" pos="0 0 0.38">
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+ <inertial pos="-0.000429684 -0.00641624 4.19234e-05" quat="0.996964 0.0579402 -0.00124734 -0.0519932" mass="7.34766" diaginertia="0.0253773 0.0245502 0.0236107" />
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+ <joint name="idx03_body_joint3" pos="0 0 0" axis="0 1 0" range="-1.91 1.57" />
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+ <body name="body_link4">
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+ <inertial pos="-0.0714498 -6.54615e-05 0.0300405" quat="0.382564 0.598079 0.590375 0.383932" mass="6.23061" diaginertia="0.0315401 0.0286428 0.0240827" />
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+ <joint name="idx04_body_joint4" pos="0 0 0" axis="1 0 0" range="-0.43 0.43" />
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+ <body name="body_link5" pos="0 0 0.149">
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+ <inertial pos="-0.0244424 0.000202655 0.136945" quat="0.999987 -0.00278586 0.00415305 -0.000622614" mass="7.90088" diaginertia="0.0775108 0.0555698 0.0426905" />
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+ <joint name="idx05_body_joint5" pos="0 0 0" axis="0 0 1" range="-3.05 3.05" />
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+ <body name="arm_l_link1" pos="0 0.069 0.3085" quat="0.707107 -0.707107 0 0">
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+ <inertial pos="1.875e-05 0.006003 0.1438" quat="0.708546 0.0371413 -0.0376501 0.70368" mass="2.0926" diaginertia="0.00559611 0.00515641 0.00193958" />
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+ <joint name="idx21_arm_l_joint1" pos="0 0 0" axis="0 0 1" range="-3.1067 3.1067" actuatorfrcrange="-108 108" />
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+ <body name="arm_l_link2" pos="0 0 0.1745" quat="0.707105 0.707108 0 0">
49
+ <inertial pos="-7.03e-06 0.05542 0.010995" quat="0.641173 0.767392 -0.00214053 0.00133687" mass="1.9432" diaginertia="0.0103546 0.00975036 0.00294632" />
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+ <joint name="idx22_arm_l_joint2" pos="0 0 0" axis="0 0 1" range="-2.0944 2.0944" actuatorfrcrange="-108 108" />
51
+ <body name="arm_l_link3" quat="0.707105 -0.707108 0 0">
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+ <inertial pos="0.0087411 0.0019043 0.23487" quat="0.773926 -0.0373044 -0.0709906 0.628178" mass="1.6913" diaginertia="0.00691278 0.00661449 0.00151279" />
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+ <joint name="idx23_arm_l_joint3" pos="0 0 0" axis="0 0 1" range="-3.1067 3.1067" actuatorfrcrange="-66 66" />
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+ <body name="arm_l_link4" pos="0.018 0 0.287" quat="0.707105 0.707108 0 0">
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+ <inertial pos="-0.0086935 0.045984 0.011135" quat="0.621456 0.737295 -0.246853 0.0961863" mass="1.5332" diaginertia="0.0055184 0.00490878 0.00183112" />
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+ <joint name="idx24_arm_l_joint4" pos="0 0 0" axis="0 0 1" range="-2.5307 1.0472" actuatorfrcrange="-66 66" />
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+ <body name="arm_l_link5" pos="-0.018 0 0" quat="0.707105 -0.707108 0 0">
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+ <inertial pos="-0.00036467 0.0001479 0.19902" quat="0.999106 0.00345732 0.00652516 -0.0416219" mass="2.0095" diaginertia="0.00569947 0.0052757 0.00211221" />
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+ <joint name="idx25_arm_l_joint5" pos="0 0 0" axis="0 0 1" range="-3.1067 3.1067" actuatorfrcrange="-36 36" />
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+ <body name="arm_l_link6" pos="0 0 0.314" quat="0.707105 0.707108 0 0">
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+ <inertial pos="-0.004911 0.00027206 -8.14e-05" quat="0.999881 0.0107884 -0.0079053 -0.00774961" mass="0.67002" diaginertia="0.000489372 0.000400032 0.000369166" />
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+ <joint name="idx26_arm_l_joint6" pos="0 0 0" axis="0 0 1" range="-1.0472 1.0472" actuatorfrcrange="-36 36" />
63
+ <body name="arm_l_link7" quat="0.499998 0.5 0.500002 0.5">
64
+ <inertial pos="0.0451337 4.672e-05 0.00607482" quat="0.593322 0.386679 0.388741 0.589347" mass="0.31657" diaginertia="0.000673414 0.000570067 0.000333619" />
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+ <joint name="idx27_arm_l_joint7" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708" actuatorfrcrange="-36 36" />
66
+ <body name="gripper_l_base_link" pos="0.095 0 0" quat="-0.5 0.5 -0.5 0.5">
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+ <inertial pos="0.01778808 0.0585332 0.05714529" quat="0.5 0.5 0.5 0.5" mass="1.3757592" diaginertia="0.0028087 0.00130123 0.00279029" />
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+ <body name="left_Left_01_Link" pos="-0.032553 0 0.10644" quat="-2.59734e-06 -2.59735e-06 0.707108 0.707105">
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+ <inertial pos="0.00656388 0.0248503 -9.40817e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
70
+ <joint name="left_Left_1_Joint" pos="0 0 0" axis="0 0 -1" range="0 1" actuatorfrcrange="-2 2" />
71
+ <body name="left_Left_00_Link" pos="0.01946 0.0129 0">
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+ <inertial pos="0.00656388 0.0248503 -9.40817e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
73
+ <joint name="left_Left_0_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
74
+ <body name="left_Left_Support_Link" pos="-0.02888 0.04341 0">
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+ <inertial pos="-0.0139043 0.0196639 0.00849572" quat="0.925305 0.325362 -0.105933 0.163488" mass="0.0173333" diaginertia="1.1732e-05 8.6297e-06 3.77139e-06" />
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+ <joint name="left_Left_Support_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
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+ <body name="left_Left_Pad_Link" pos="-0.022056 0.044306 0" />
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+ </body>
79
+ </body>
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+ </body>
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+ <body name="left_Left_2_Link" pos="-0.017 0 0.122" quat="-2.59734e-06 -2.59735e-06 0.707108 0.707105">
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+ <inertial pos="-0.00438953 0.0248816 -2.55136e-05" quat="0.704468 0.705161 0.057196 0.0565907" mass="0.00803956" diaginertia="1.16929e-06 8.47368e-07 4.50153e-07" />
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+ <joint name="left_Left_2_Joint" pos="0 0 0" axis="0 0 -1" range="-1 1" actuatorfrcrange="-10 10" />
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+ </body>
85
+ <body name="left_Right_2_Link" pos="0.017 0 0.122" quat="0.707105 0.707108 0 0">
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+ <inertial pos="-0.00438953 0.0248816 -2.55136e-05" quat="0.704468 0.705161 0.057196 0.0565907" mass="0.00803956" diaginertia="1.16929e-06 8.47368e-07 4.50153e-07" />
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+ <joint name="left_Right_2_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
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+ </body>
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+ <body name="left_Right_01_Link" pos="0.032553 0 0.10644" quat="0.707105 0.707108 0 0">
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+ <inertial pos="0.00656388 0.0248503 -9.40812e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
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+ <joint name="left_Right_1_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
92
+ <body name="left_Right_00_Link" pos="0.01946 0.0129 0">
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+ <inertial pos="0.00656388 0.0248503 -9.40812e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
94
+ <joint name="left_Right_0_Joint" pos="0 0 0" axis="0 0 -1" range="0 1" actuatorfrcrange="-2 2" />
95
+ <body name="left_Right_Support_Link" pos="-0.02888 0.04341 0">
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+ <inertial pos="-0.0139043 0.0196639 0.00849572" quat="0.925305 0.325362 -0.105933 0.163488" mass="0.0173333" diaginertia="1.1732e-05 8.6297e-06 3.77139e-06" />
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+ <joint name="left_Right_Support_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
98
+ <body name="left_Right_Pad_Link" pos="-0.022056 0.044306 0" />
99
+ </body>
100
+ </body>
101
+ </body>
102
+ <site name="gripper_center" pos="0 0 0.23" euler="0 0 -1.5708" type="sphere" size="0.005" group="5" />
103
+ </body>
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+ <camera name="hand_left" resolution="640 528" sensorsize="640 528" focal="243.86946106 243.791854858" principal="324.169067383 270.581848145" pos="0.184717719736 -0.000310517999853 0.0814778460552" quat="0.61507080489 0.353678675603 -0.353584856001 -0.609571200929" />
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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="arm_r_link1" pos="0 -0.069 0.3085" quat="0.707107 0.707107 0 0">
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+ <inertial pos="1.875e-05 0.006003 0.1438" quat="0.708546 0.0371413 -0.0376501 0.70368" mass="2.0926" diaginertia="0.00559611 0.00515641 0.00193958" />
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+ <joint name="idx61_arm_r_joint1" pos="0 0 0" axis="0 0 1" range="-3.1067 3.1067" actuatorfrcrange="-108 108" />
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+ <body name="arm_r_link2" pos="0 0 0.1745" quat="0.707107 0.707107 0 0">
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+ <inertial pos="-7.03e-06 0.05542 0.010995" quat="0.641173 0.767392 -0.00214053 0.00133687" mass="1.9432" diaginertia="0.0103546 0.00975036 0.00294632" />
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+ <joint name="idx62_arm_r_joint2" pos="0 0 0" axis="0 0 1" range="-2.0944 2.0944" actuatorfrcrange="-108 108" />
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+ <body name="arm_r_link3" quat="0.707107 -0.707107 0 0">
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+ <inertial pos="0.0087411 0.0019043 0.23487" quat="0.773926 -0.0373044 -0.0709906 0.628178" mass="1.6913" diaginertia="0.00691278 0.00661449 0.00151279" />
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+ <joint name="idx63_arm_r_joint3" pos="0 0 0" axis="0 0 1" range="-3.1067 3.1067" actuatorfrcrange="-66 66" />
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+ <body name="arm_r_link4" pos="0.018 0 0.287" quat="0.707107 0.707107 0 0">
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+ <inertial pos="-0.0086935 0.045984 0.011135" quat="0.621456 0.737295 -0.246853 0.0961863" mass="1.5332" diaginertia="0.0055184 0.00490878 0.00183112" />
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+ <joint name="idx64_arm_r_joint4" pos="0 0 0" axis="0 0 1" range="-2.5307 1.0472" actuatorfrcrange="-66 66" />
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+ <body name="arm_r_link5" pos="-0.018 0 0" quat="0.707107 -0.707107 0 0">
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+ <inertial pos="0.00036663 -0.00041429 0.198891" quat="0.999078 -0.00435039 -0.00655822 -0.0422006" mass="1.9854" diaginertia="0.00567885 0.00526075 0.00209418" />
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+ <joint name="idx65_arm_r_joint5" pos="0 0 0" axis="0 0 1" range="-3.1067 3.1067" actuatorfrcrange="-36 36" />
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+ <body name="arm_r_link6" pos="0 0 0.314" quat="0.707107 0.707107 0 0">
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+ <inertial pos="-0.00458177 -0.00027029 9.098e-05" quat="0.99986 0.0119778 0.00849363 0.00798016" mass="0.645948" diaginertia="0.000477145 0.000391895 0.000361099" />
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+ <joint name="idx66_arm_r_joint6" pos="0 0 0" axis="0 0 1" range="-1.0472 1.0472" actuatorfrcrange="-36 36" />
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+ <body name="arm_r_link7" quat="0.5 0.5 0.5 0.5">
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+ <inertial pos="0.0451337 4.672e-05 0.00607482" quat="0.593322 0.386679 0.388741 0.589347" mass="0.31658" diaginertia="0.000673414 0.000570067 0.000333619" />
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+ <joint name="idx67_arm_r_joint7" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708" actuatorfrcrange="-36 36" />
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+ <body name="gripper_r_base_link" pos="0.095 0 0" quat="-0.5 0.5 -0.5 0.5">
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+ <inertial pos="0.01778808 0.0585332 0.05714529" quat="0.5 0.5 0.5 0.5" mass="1.3757592" diaginertia="0.0028087 0.00130123 0.00279029" />
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+ <body name="right_Left_01_Link" pos="-0.032553 0 0.10644" quat="-2.59734e-06 -2.59735e-06 0.707108 0.707105">
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+ <inertial pos="0.00656388 0.0248503 -9.40817e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
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+ <joint name="right_Left_1_Joint" pos="0 0 0" axis="0 0 -1" range="0 1" actuatorfrcrange="-2 2" />
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+ <body name="right_Left_00_Link" pos="0.01946 0.0129 0">
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+ <inertial pos="0.00656388 0.0248503 -9.40817e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
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+ <joint name="right_Left_0_Joint" pos="0 0 0" axis="0 0 -1" range="0 1" actuatorfrcrange="-2 2" />
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+ <body name="right_Left_Support_Link" pos="-0.02888 0.04341 0">
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+ <inertial pos="-0.0139043 0.0196639 0.00849572" quat="0.925305 0.325362 -0.105933 0.163488" mass="0.0173333" diaginertia="1.1732e-05 8.6297e-06 3.77139e-06" />
143
+ <joint name="right_Left_Support_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
144
+ <body name="right_Left_Pad_Link" pos="-0.022056 0.044306 0" />
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+ </body>
146
+ </body>
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+ </body>
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+ <body name="right_Left_2_Link" pos="-0.017 0 0.122" quat="-2.59734e-06 -2.59735e-06 0.707108 0.707105">
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+ <inertial pos="-0.00438953 0.0248816 -2.55136e-05" quat="0.704468 0.705161 0.057196 0.0565907" mass="0.00803956" diaginertia="1.16929e-06 8.47368e-07 4.50153e-07" />
150
+ <joint name="right_Left_2_Joint" pos="0 0 0" axis="0 0 -1" range="-1 1" actuatorfrcrange="-10 10" />
151
+ </body>
152
+ <body name="right_Right_2_Link" pos="0.017 0 0.122" quat="0.707105 0.707108 0 0">
153
+ <inertial pos="-0.00438953 0.0248816 -2.55136e-05" quat="0.704468 0.705161 0.057196 0.0565907" mass="0.00803956" diaginertia="1.16929e-06 8.47368e-07 4.50153e-07" />
154
+ <joint name="right_Right_2_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
155
+ </body>
156
+ <body name="right_Right_01_Link" pos="0.032553 0 0.10644" quat="0.707105 0.707108 0 0">
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+ <inertial pos="0.00656388 0.0248503 -9.40812e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
158
+ <joint name="right_Right_1_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
159
+ <body name="right_Right_00_Link" pos="0.01946 0.0129 0">
160
+ <inertial pos="0.00656388 0.0248503 -9.40812e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
161
+ <joint name="right_Right_0_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
162
+ <body name="right_Right_Support_Link" pos="-0.02888 0.04341 0">
163
+ <inertial pos="-0.0139043 0.0196639 0.00849572" quat="0.925305 0.325362 -0.105933 0.163488" mass="0.0173333" diaginertia="1.1732e-05 8.6297e-06 3.77139e-06" />
164
+ <joint name="right_Right_Support_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
165
+ <body name="right_Right_Pad_Link" pos="-0.022056 0.044306 0" />
166
+ </body>
167
+ </body>
168
+ </body>
169
+ <site name="right_gripper_center" pos="0 0 0.227" euler="0 0 -1.5708" type="sphere" size="0.005" group="5" />
170
+ </body>
171
+ <camera name="hand_right" resolution="640 528" sensorsize="640 528" focal="242.729049683 242.707595825" principal="322.018493652 263.218780518" pos="0.188771920513 -0.0023105435686 0.0772025217654" quat="0.605853470082 0.356473899808 -0.350880363668 -0.618668652784" />
172
+ </body>
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+ </body>
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+ </body>
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+ </body>
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+ </body>
177
+ </body>
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+ </body>
179
+ <body name="head_link1" pos="-0.013 0 0.496">
180
+ <inertial pos="0.00424601 -1.36432e-07 -0.0288855" quat="0.704159 -0.0648528 -0.0648618 0.704093" mass="0.245638" diaginertia="0.000306992 0.000302836 8.22483e-05" />
181
+ <joint name="idx11_head_joint1" pos="0 0 0" axis="0 0 1" range="-1.57 1.57" />
182
+ <body name="head_link2" pos="0.03335 0 0.07">
183
+ <inertial pos="-0.0363591 -0.000333631 -0.00246318" quat="0.704707 0.705403 0.0594704 -0.0475286" mass="0.0944987" diaginertia="5.66986e-05 5.01493e-05 3.80384e-05" />
184
+ <joint name="idx12_head_joint2" pos="0 0 0" axis="1 0 0" range="-0.349 0.349" />
185
+ <body name="head_link3" pos="-0.03035 0 0">
186
+ <inertial pos="-0.00327293 2.14734e-05 0.0163618" quat="-0.000248838 0.699252 2.07117e-06 0.714875" mass="17.8197" diaginertia="0.0712727 0.0558097 0.0456037" />
187
+ <joint name="idx13_head_joint3" pos="0 0 0" axis="0 1 0" range="-0.523 0.523" />
188
+ <camera name="head" resolution="640 400" sensorsize="640 400" focal="303.417053223 303.576629639" principal="322.875579834 203.861190796" pos="0.0980644307193 0.0280250490086 0.101308877009" quat="0.591931850777 0.389312208124 -0.374058332682 -0.598442188012" />
189
+ </body>
190
+ </body>
191
+ </body>
192
+ </body>
193
+ </body>
194
+ </body>
195
+ </body>
196
+ </body>
197
+ </body>
198
+ <body name="chassis_site" pos="0 0 0" euler="0 0 0">
199
+ <body name="chassis_lwheel_front_link1" pos="0.23 0.218 0.16675">
200
+ <inertial pos="4.8347e-05 -0.021386 -0.055149" quat="0.681263 -0.208432 0.206514 0.670663" mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
201
+ <joint name="idx111_chassis_lwheel_front_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
202
+ <body name="chassis_lwheel_front_link2" pos="0 -5e-05 -0.13675">
203
+ <inertial pos="-2.3442e-06 -0.0013086 1.0892e-05" quat="0.487628 0.512096 0.512035 0.487644" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
204
+ <joint name="idx112_chassis_lwheel_front_joint2" pos="0 0 0" axis="0 1 0" />
205
+ </body>
206
+ </body>
207
+ <body name="chassis_rwheel_front_link1" pos="0.23 -0.218 0.16675">
208
+ <inertial pos="-4.8347e-05 0.021386 -0.055149" quat="0.681263 0.208432 -0.206514 0.670663" mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
209
+ <joint name="idx131_chassis_rwheel_front_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
210
+ <body name="chassis_rwheel_front_link2" pos="0 5e-05 -0.13675">
211
+ <inertial pos="2.3442e-06 0.0013086 1.0892e-05" quat="0.512096 0.487628 0.487644 0.512035" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
212
+ <joint name="idx132_chassis_rwheel_front_joint2" pos="0 0 0" axis="0 1 0" />
213
+ </body>
214
+ </body>
215
+ <body name="chassis_rwheel_rear_link1" pos="-0.23 -0.218 0.16675">
216
+ <inertial pos="-4.8347e-05 0.021386 -0.055149" quat="0.681263 0.208432 -0.206514 0.670663" mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
217
+ <joint name="idx141_chassis_rwheel_rear_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
218
+ <body name="chassis_rwheel_rear_link2" pos="0 5e-05 -0.13675">
219
+ <inertial pos="2.3442e-06 0.0013086 1.0892e-05" quat="0.512096 0.487628 0.487644 0.512035" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
220
+ <joint name="idx142_chassis_rwheel_rear_joint2" pos="0 0 0" axis="0 1 0" />
221
+ </body>
222
+ </body>
223
+ <body name="chassis_lwheel_rear_link1" pos="-0.23 0.218 0.16675">
224
+ <inertial pos="4.8347e-05 -0.021386 -0.055149" quat="0.681263 -0.208432 0.206514 0.670663" mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
225
+ <joint name="idx121_chassis_lwheel_rear_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
226
+ <body name="chassis_lwheel_rear_link2" pos="0 -5e-05 -0.13675">
227
+ <inertial pos="-2.3442e-06 -0.0013086 1.0892e-05" quat="0.487628 0.512096 0.512035 0.487644" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
228
+ <joint name="idx122_chassis_lwheel_rear_joint2" pos="0 0 0" axis="0 1 0" />
229
+ </body>
230
+ </body>
231
+ </body>
232
+ <site name="imu_site" pos="0 0 0" size="0.01" />
233
+ </body>
234
+ </worldbody>
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+ <actuator>
236
+ <position name="position_idx01_body_joint1" joint="idx01_body_joint1" kp="20000" kv="6000" />
237
+ <position name="position_idx02_body_joint2" joint="idx02_body_joint2" kp="20000" kv="6000" />
238
+ <position name="position_idx03_body_joint3" joint="idx03_body_joint3" kp="20000" kv="6000" />
239
+ <position name="position_idx04_body_joint4" joint="idx04_body_joint4" kp="20000" kv="6000" />
240
+ <position name="position_idx05_body_joint5" joint="idx05_body_joint5" kp="20000" kv="6000" />
241
+ <position name="position_idx11_head_joint1" joint="idx11_head_joint1" kp="1500" kv="150" />
242
+ <position name="position_idx12_head_joint2" joint="idx12_head_joint2" kp="1500" kv="150" />
243
+ <position name="position_idx13_head_joint3" joint="idx13_head_joint3" kp="1500" kv="150" />
244
+ <motor name="motor_idx01_body_joint1" joint="idx01_body_joint1" ctrlrange="-1200 1200" />
245
+ <motor name="motor_idx02_body_joint2" joint="idx02_body_joint2" ctrlrange="-1200 1200" />
246
+ <motor name="motor_idx03_body_joint3" joint="idx03_body_joint3" ctrlrange="-1200 1200" />
247
+ <motor name="motor_idx04_body_joint4" joint="idx04_body_joint4" ctrlrange="-1200 1200" />
248
+ <motor name="motor_idx05_body_joint5" joint="idx05_body_joint5" ctrlrange="-1200 1200" />
249
+ <motor name="motor_idx11_head_joint1" joint="idx11_head_joint1" ctrlrange="-1200 1200" />
250
+ <motor name="motor_idx12_head_joint2" joint="idx12_head_joint2" ctrlrange="-1200 1200" />
251
+ <motor name="motor_idx13_head_joint3" joint="idx13_head_joint3" ctrlrange="-1200 1200" />
252
+ </actuator>
253
+ <sensor>
254
+ <framequat name="imu_quat_sensor" objtype="site" objname="imu_site" />
255
+ <gyro name="imu_gyro" site="imu_site" />
256
+ <accelerometer name="imu_accel" site="imu_site" />
257
+ <jointpos name="jointpos_idx01_body_joint1" joint="idx01_body_joint1" noise="0.0" />
258
+ <jointpos name="jointpos_idx02_body_joint2" joint="idx02_body_joint2" noise="0.0" />
259
+ <jointpos name="jointpos_idx03_body_joint3" joint="idx03_body_joint3" noise="0.0" />
260
+ <jointpos name="jointpos_idx04_body_joint4" joint="idx04_body_joint4" noise="0.0" />
261
+ <jointpos name="jointpos_idx05_body_joint5" joint="idx05_body_joint5" noise="0.0" />
262
+ <jointpos name="jointpos_idx11_head_joint1" joint="idx11_head_joint1" noise="0.0" />
263
+ <jointpos name="jointpos_idx12_head_joint2" joint="idx12_head_joint2" noise="0.0" />
264
+ <jointpos name="jointpos_idx13_head_joint3" joint="idx13_head_joint3" noise="0.0" />
265
+ <jointvel name="jointvel_idx01_body_joint1" joint="idx01_body_joint1" noise="0.0" />
266
+ <jointvel name="jointvel_idx02_body_joint2" joint="idx02_body_joint2" noise="0.0" />
267
+ <jointvel name="jointvel_idx03_body_joint3" joint="idx03_body_joint3" noise="0.0" />
268
+ <jointvel name="jointvel_idx04_body_joint4" joint="idx04_body_joint4" noise="0.0" />
269
+ <jointvel name="jointvel_idx05_body_joint5" joint="idx05_body_joint5" noise="0.0" />
270
+ <jointvel name="jointvel_idx11_head_joint1" joint="idx11_head_joint1" noise="0.0" />
271
+ <jointvel name="jointvel_idx12_head_joint2" joint="idx12_head_joint2" noise="0.0" />
272
+ <jointvel name="jointvel_idx13_head_joint3" joint="idx13_head_joint3" noise="0.0" />
273
+ <jointactuatorfrc name="torque_idx01_body_joint1" joint="idx01_body_joint1" noise="0.0" />
274
+ <jointactuatorfrc name="torque_idx02_body_joint2" joint="idx02_body_joint2" noise="0.0" />
275
+ <jointactuatorfrc name="torque_idx03_body_joint3" joint="idx03_body_joint3" noise="0.0" />
276
+ <jointactuatorfrc name="torque_idx04_body_joint4" joint="idx04_body_joint4" noise="0.0" />
277
+ <jointactuatorfrc name="torque_idx05_body_joint5" joint="idx05_body_joint5" noise="0.0" />
278
+ <jointactuatorfrc name="torque_idx11_head_joint1" joint="idx11_head_joint1" noise="0.0" />
279
+ <jointactuatorfrc name="torque_idx12_head_joint2" joint="idx12_head_joint2" noise="0.0" />
280
+ <jointactuatorfrc name="torque_idx13_head_joint3" joint="idx13_head_joint3" noise="0.0" />
281
+ </sensor>
282
+ <actuator>
283
+ <position name="motor_idx111_chassis_lwheel_front_joint1" joint="idx111_chassis_lwheel_front_joint1" kp="1000" kv="80" />
284
+ <velocity name="motor_idx112_chassis_lwheel_front_joint2" joint="idx112_chassis_lwheel_front_joint2" kv="10" />
285
+ <position name="motor_idx121_chassis_lwheel_rear_joint1" joint="idx121_chassis_lwheel_rear_joint1" kp="1000" kv="80" />
286
+ <velocity name="motor_idx122_chassis_lwheel_rear_joint2" joint="idx122_chassis_lwheel_rear_joint2" kv="10" />
287
+ <position name="motor_idx131_chassis_rwheel_front_joint1" joint="idx131_chassis_rwheel_front_joint1" kp="1000" kv="80" />
288
+ <velocity name="motor_idx132_chassis_rwheel_front_joint2" joint="idx132_chassis_rwheel_front_joint2" kv="10" />
289
+ <position name="motor_idx141_chassis_rwheel_rear_joint1" joint="idx141_chassis_rwheel_rear_joint1" kp="1000" kv="80" />
290
+ <velocity name="motor_idx142_chassis_rwheel_rear_joint2" joint="idx142_chassis_rwheel_rear_joint2" kv="10" />
291
+ </actuator>
292
+ <sensor>
293
+ <jointpos name="jointpos_idx111_chassis_lwheel_front_joint1" joint="idx111_chassis_lwheel_front_joint1" noise="0.0" />
294
+ <jointpos name="jointpos_idx112_chassis_lwheel_front_joint2" joint="idx112_chassis_lwheel_front_joint2" noise="0.0" cutoff="3.14" />
295
+ <jointpos name="jointpos_idx121_chassis_lwheel_rear_joint1" joint="idx121_chassis_lwheel_rear_joint1" noise="0.0" />
296
+ <jointpos name="jointpos_idx122_chassis_lwheel_rear_joint2" joint="idx122_chassis_lwheel_rear_joint2" noise="0.0" cutoff="3.14" />
297
+ <jointpos name="jointpos_idx131_chassis_rwheel_front_joint1" joint="idx131_chassis_rwheel_front_joint1" noise="0.0" />
298
+ <jointpos name="jointpos_idx132_chassis_rwheel_front_joint2" joint="idx132_chassis_rwheel_front_joint2" noise="0.0" cutoff="3.14" />
299
+ <jointpos name="jointpos_idx141_chassis_rwheel_rear_joint1" joint="idx141_chassis_rwheel_rear_joint1" noise="0.0" />
300
+ <jointpos name="jointpos_idx142_chassis_rwheel_rear_joint2" joint="idx142_chassis_rwheel_rear_joint2" noise="0.0" cutoff="3.14" />
301
+ <jointvel name="jointvel_idx111_chassis_lwheel_front_joint1" joint="idx111_chassis_lwheel_front_joint1" noise="0.0" />
302
+ <jointvel name="jointvel_idx112_chassis_lwheel_front_joint2" joint="idx112_chassis_lwheel_front_joint2" noise="0.0" />
303
+ <jointvel name="jointvel_idx121_chassis_lwheel_rear_joint1" joint="idx121_chassis_lwheel_rear_joint1" noise="0.0" />
304
+ <jointvel name="jointvel_idx122_chassis_lwheel_rear_joint2" joint="idx122_chassis_lwheel_rear_joint2" noise="0.0" />
305
+ <jointvel name="jointvel_idx131_chassis_rwheel_front_joint1" joint="idx131_chassis_rwheel_front_joint1" noise="0.0" />
306
+ <jointvel name="jointvel_idx132_chassis_rwheel_front_joint2" joint="idx132_chassis_rwheel_front_joint2" noise="0.0" />
307
+ <jointvel name="jointvel_idx141_chassis_rwheel_rear_joint1" joint="idx141_chassis_rwheel_rear_joint1" noise="0.0" />
308
+ <jointvel name="jointvel_idx142_chassis_rwheel_rear_joint2" joint="idx142_chassis_rwheel_rear_joint2" noise="0.0" />
309
+ </sensor>
310
+ <actuator>
311
+ <position name="position_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" kp="10000" kv="400" />
312
+ <position name="position_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" kp="10000" kv="400" />
313
+ <position name="position_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" kp="10000" kv="160" />
314
+ <position name="position_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" kp="10000" kv="160" />
315
+ <position name="position_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" kp="10000" kv="120" />
316
+ <position name="position_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" kp="10000" kv="120" />
317
+ <position name="position_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" kp="10000" kv="120" />
318
+ <position name="position_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" kp="10000" kv="400" />
319
+ <position name="position_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" kp="10000" kv="400" />
320
+ <position name="position_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" kp="10000" kv="160" />
321
+ <position name="position_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" kp="10000" kv="160" />
322
+ <position name="position_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" kp="10000" kv="120" />
323
+ <position name="position_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" kp="10000" kv="120" />
324
+ <position name="position_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" kp="10000" kv="120" />
325
+ <motor name="motor_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" ctrlrange="-1200 1200" />
326
+ <motor name="motor_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" ctrlrange="-1200 1200" />
327
+ <motor name="motor_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" ctrlrange="-1200 1200" />
328
+ <motor name="motor_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" ctrlrange="-1200 1200" />
329
+ <motor name="motor_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" ctrlrange="-1200 1200" />
330
+ <motor name="motor_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" ctrlrange="-1200 1200" />
331
+ <motor name="motor_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" ctrlrange="-1200 1200" />
332
+ <motor name="motor_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" ctrlrange="-1200 1200" />
333
+ <motor name="motor_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" ctrlrange="-1200 1200" />
334
+ <motor name="motor_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" ctrlrange="-1200 1200" />
335
+ <motor name="motor_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" ctrlrange="-1200 1200" />
336
+ <motor name="motor_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" ctrlrange="-1200 1200" />
337
+ <motor name="motor_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" ctrlrange="-1200 1200" />
338
+ <motor name="motor_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" ctrlrange="-1200 1200" />
339
+ </actuator>
340
+ <sensor>
341
+ <jointpos name="jointpos_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" noise="0.0" />
342
+ <jointpos name="jointpos_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" noise="0.0" />
343
+ <jointpos name="jointpos_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" noise="0.0" />
344
+ <jointpos name="jointpos_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" noise="0.0" />
345
+ <jointpos name="jointpos_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" noise="0.0" />
346
+ <jointpos name="jointpos_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" noise="0.0" />
347
+ <jointpos name="jointpos_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" noise="0.0" />
348
+ <jointpos name="jointpos_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" noise="0.0" />
349
+ <jointpos name="jointpos_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" noise="0.0" />
350
+ <jointpos name="jointpos_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" noise="0.0" />
351
+ <jointpos name="jointpos_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" noise="0.0" />
352
+ <jointpos name="jointpos_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" noise="0.0" />
353
+ <jointpos name="jointpos_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" noise="0.0" />
354
+ <jointpos name="jointpos_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" noise="0.0" />
355
+ <jointvel name="jointvel_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" noise="0.0" />
356
+ <jointvel name="jointvel_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" noise="0.0" />
357
+ <jointvel name="jointvel_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" noise="0.0" />
358
+ <jointvel name="jointvel_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" noise="0.0" />
359
+ <jointvel name="jointvel_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" noise="0.0" />
360
+ <jointvel name="jointvel_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" noise="0.0" />
361
+ <jointvel name="jointvel_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" noise="0.0" />
362
+ <jointvel name="jointvel_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" noise="0.0" />
363
+ <jointvel name="jointvel_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" noise="0.0" />
364
+ <jointvel name="jointvel_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" noise="0.0" />
365
+ <jointvel name="jointvel_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" noise="0.0" />
366
+ <jointvel name="jointvel_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" noise="0.0" />
367
+ <jointvel name="jointvel_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" noise="0.0" />
368
+ <jointvel name="jointvel_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" noise="0.0" />
369
+ <jointactuatorfrc name="torque_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" noise="0.0" />
370
+ <jointactuatorfrc name="torque_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" noise="0.0" />
371
+ <jointactuatorfrc name="torque_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" noise="0.0" />
372
+ <jointactuatorfrc name="torque_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" noise="0.0" />
373
+ <jointactuatorfrc name="torque_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" noise="0.0" />
374
+ <jointactuatorfrc name="torque_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" noise="0.0" />
375
+ <jointactuatorfrc name="torque_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" noise="0.0" />
376
+ <jointactuatorfrc name="torque_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" noise="0.0" />
377
+ <jointactuatorfrc name="torque_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" noise="0.0" />
378
+ <jointactuatorfrc name="torque_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" noise="0.0" />
379
+ <jointactuatorfrc name="torque_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" noise="0.0" />
380
+ <jointactuatorfrc name="torque_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" noise="0.0" />
381
+ <jointactuatorfrc name="torque_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" noise="0.0" />
382
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+ <body name="right_Left_Pad_Link" pos="-0.022056 0.044306 0" />
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+ <body name="right_Right_Support_Link" pos="-0.02888 0.04341 0">
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164
+ <joint name="right_Right_Support_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
165
+ <body name="right_Right_Pad_Link" pos="-0.022056 0.044306 0" />
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+ </body>
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+ <site name="right_gripper_center" pos="0 0 0.227" euler="0 0 -1.5708" type="sphere" size="0.005" group="5" />
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+ </body>
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+ <joint name="idx12_head_joint2" pos="0 0 0" axis="1 0 0" range="-0.349 0.349" />
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+ <inertial pos="-0.00327293 2.14734e-05 0.0163618" quat="-0.000248838 0.699252 2.07117e-06 0.714875" mass="17.8197" diaginertia="0.0712727 0.0558097 0.0456037" />
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+ <camera name="head" resolution="640 400" sensorsize="640 400" focal="306.027648926 305.905578613" principal="318.58380127 199.119308472" pos="0.0895922055625 0.0264898639952 0.0824741101365" quat="0.58963568801 0.382776421391 -0.391028204679 -0.594061368714" />
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+ <body name="chassis_site" pos="0 0 0" euler="0 0 0">
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+ <body name="chassis_lwheel_front_link1" pos="0.23 0.218 0.16675">
200
+ <inertial pos="4.8347e-05 -0.021386 -0.055149" quat="0.681263 -0.208432 0.206514 0.670663" mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
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+ <joint name="idx111_chassis_lwheel_front_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
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+ <body name="chassis_lwheel_front_link2" pos="0 -5e-05 -0.13675">
203
+ <inertial pos="-2.3442e-06 -0.0013086 1.0892e-05" quat="0.487628 0.512096 0.512035 0.487644" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
204
+ <joint name="idx112_chassis_lwheel_front_joint2" pos="0 0 0" axis="0 1 0" />
205
+ </body>
206
+ </body>
207
+ <body name="chassis_rwheel_front_link1" pos="0.23 -0.218 0.16675">
208
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209
+ <joint name="idx131_chassis_rwheel_front_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
210
+ <body name="chassis_rwheel_front_link2" pos="0 5e-05 -0.13675">
211
+ <inertial pos="2.3442e-06 0.0013086 1.0892e-05" quat="0.512096 0.487628 0.487644 0.512035" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
212
+ <joint name="idx132_chassis_rwheel_front_joint2" pos="0 0 0" axis="0 1 0" />
213
+ </body>
214
+ </body>
215
+ <body name="chassis_rwheel_rear_link1" pos="-0.23 -0.218 0.16675">
216
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217
+ <joint name="idx141_chassis_rwheel_rear_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
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+ <body name="chassis_rwheel_rear_link2" pos="0 5e-05 -0.13675">
219
+ <inertial pos="2.3442e-06 0.0013086 1.0892e-05" quat="0.512096 0.487628 0.487644 0.512035" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
220
+ <joint name="idx142_chassis_rwheel_rear_joint2" pos="0 0 0" axis="0 1 0" />
221
+ </body>
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+ </body>
223
+ <body name="chassis_lwheel_rear_link1" pos="-0.23 0.218 0.16675">
224
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225
+ <joint name="idx121_chassis_lwheel_rear_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
226
+ <body name="chassis_lwheel_rear_link2" pos="0 -5e-05 -0.13675">
227
+ <inertial pos="-2.3442e-06 -0.0013086 1.0892e-05" quat="0.487628 0.512096 0.512035 0.487644" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
228
+ <joint name="idx122_chassis_lwheel_rear_joint2" pos="0 0 0" axis="0 1 0" />
229
+ </body>
230
+ </body>
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+ </body>
232
+ <site name="imu_site" pos="0 0 0" size="0.01" />
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+ </body>
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+ </worldbody>
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+ <actuator>
236
+ <position name="position_idx01_body_joint1" joint="idx01_body_joint1" kp="20000" kv="6000" />
237
+ <position name="position_idx02_body_joint2" joint="idx02_body_joint2" kp="20000" kv="6000" />
238
+ <position name="position_idx03_body_joint3" joint="idx03_body_joint3" kp="20000" kv="6000" />
239
+ <position name="position_idx04_body_joint4" joint="idx04_body_joint4" kp="20000" kv="6000" />
240
+ <position name="position_idx05_body_joint5" joint="idx05_body_joint5" kp="20000" kv="6000" />
241
+ <position name="position_idx11_head_joint1" joint="idx11_head_joint1" kp="1500" kv="150" />
242
+ <position name="position_idx12_head_joint2" joint="idx12_head_joint2" kp="1500" kv="150" />
243
+ <position name="position_idx13_head_joint3" joint="idx13_head_joint3" kp="1500" kv="150" />
244
+ <motor name="motor_idx01_body_joint1" joint="idx01_body_joint1" ctrlrange="-1200 1200" />
245
+ <motor name="motor_idx02_body_joint2" joint="idx02_body_joint2" ctrlrange="-1200 1200" />
246
+ <motor name="motor_idx03_body_joint3" joint="idx03_body_joint3" ctrlrange="-1200 1200" />
247
+ <motor name="motor_idx04_body_joint4" joint="idx04_body_joint4" ctrlrange="-1200 1200" />
248
+ <motor name="motor_idx05_body_joint5" joint="idx05_body_joint5" ctrlrange="-1200 1200" />
249
+ <motor name="motor_idx11_head_joint1" joint="idx11_head_joint1" ctrlrange="-1200 1200" />
250
+ <motor name="motor_idx12_head_joint2" joint="idx12_head_joint2" ctrlrange="-1200 1200" />
251
+ <motor name="motor_idx13_head_joint3" joint="idx13_head_joint3" ctrlrange="-1200 1200" />
252
+ </actuator>
253
+ <sensor>
254
+ <framequat name="imu_quat_sensor" objtype="site" objname="imu_site" />
255
+ <gyro name="imu_gyro" site="imu_site" />
256
+ <accelerometer name="imu_accel" site="imu_site" />
257
+ <jointpos name="jointpos_idx01_body_joint1" joint="idx01_body_joint1" noise="0.0" />
258
+ <jointpos name="jointpos_idx02_body_joint2" joint="idx02_body_joint2" noise="0.0" />
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+ <jointpos name="jointpos_idx03_body_joint3" joint="idx03_body_joint3" noise="0.0" />
260
+ <jointpos name="jointpos_idx04_body_joint4" joint="idx04_body_joint4" noise="0.0" />
261
+ <jointpos name="jointpos_idx05_body_joint5" joint="idx05_body_joint5" noise="0.0" />
262
+ <jointpos name="jointpos_idx11_head_joint1" joint="idx11_head_joint1" noise="0.0" />
263
+ <jointpos name="jointpos_idx12_head_joint2" joint="idx12_head_joint2" noise="0.0" />
264
+ <jointpos name="jointpos_idx13_head_joint3" joint="idx13_head_joint3" noise="0.0" />
265
+ <jointvel name="jointvel_idx01_body_joint1" joint="idx01_body_joint1" noise="0.0" />
266
+ <jointvel name="jointvel_idx02_body_joint2" joint="idx02_body_joint2" noise="0.0" />
267
+ <jointvel name="jointvel_idx03_body_joint3" joint="idx03_body_joint3" noise="0.0" />
268
+ <jointvel name="jointvel_idx04_body_joint4" joint="idx04_body_joint4" noise="0.0" />
269
+ <jointvel name="jointvel_idx05_body_joint5" joint="idx05_body_joint5" noise="0.0" />
270
+ <jointvel name="jointvel_idx11_head_joint1" joint="idx11_head_joint1" noise="0.0" />
271
+ <jointvel name="jointvel_idx12_head_joint2" joint="idx12_head_joint2" noise="0.0" />
272
+ <jointvel name="jointvel_idx13_head_joint3" joint="idx13_head_joint3" noise="0.0" />
273
+ <jointactuatorfrc name="torque_idx01_body_joint1" joint="idx01_body_joint1" noise="0.0" />
274
+ <jointactuatorfrc name="torque_idx02_body_joint2" joint="idx02_body_joint2" noise="0.0" />
275
+ <jointactuatorfrc name="torque_idx03_body_joint3" joint="idx03_body_joint3" noise="0.0" />
276
+ <jointactuatorfrc name="torque_idx04_body_joint4" joint="idx04_body_joint4" noise="0.0" />
277
+ <jointactuatorfrc name="torque_idx05_body_joint5" joint="idx05_body_joint5" noise="0.0" />
278
+ <jointactuatorfrc name="torque_idx11_head_joint1" joint="idx11_head_joint1" noise="0.0" />
279
+ <jointactuatorfrc name="torque_idx12_head_joint2" joint="idx12_head_joint2" noise="0.0" />
280
+ <jointactuatorfrc name="torque_idx13_head_joint3" joint="idx13_head_joint3" noise="0.0" />
281
+ </sensor>
282
+ <actuator>
283
+ <position name="motor_idx111_chassis_lwheel_front_joint1" joint="idx111_chassis_lwheel_front_joint1" kp="1000" kv="80" />
284
+ <velocity name="motor_idx112_chassis_lwheel_front_joint2" joint="idx112_chassis_lwheel_front_joint2" kv="10" />
285
+ <position name="motor_idx121_chassis_lwheel_rear_joint1" joint="idx121_chassis_lwheel_rear_joint1" kp="1000" kv="80" />
286
+ <velocity name="motor_idx122_chassis_lwheel_rear_joint2" joint="idx122_chassis_lwheel_rear_joint2" kv="10" />
287
+ <position name="motor_idx131_chassis_rwheel_front_joint1" joint="idx131_chassis_rwheel_front_joint1" kp="1000" kv="80" />
288
+ <velocity name="motor_idx132_chassis_rwheel_front_joint2" joint="idx132_chassis_rwheel_front_joint2" kv="10" />
289
+ <position name="motor_idx141_chassis_rwheel_rear_joint1" joint="idx141_chassis_rwheel_rear_joint1" kp="1000" kv="80" />
290
+ <velocity name="motor_idx142_chassis_rwheel_rear_joint2" joint="idx142_chassis_rwheel_rear_joint2" kv="10" />
291
+ </actuator>
292
+ <sensor>
293
+ <jointpos name="jointpos_idx111_chassis_lwheel_front_joint1" joint="idx111_chassis_lwheel_front_joint1" noise="0.0" />
294
+ <jointpos name="jointpos_idx112_chassis_lwheel_front_joint2" joint="idx112_chassis_lwheel_front_joint2" noise="0.0" cutoff="3.14" />
295
+ <jointpos name="jointpos_idx121_chassis_lwheel_rear_joint1" joint="idx121_chassis_lwheel_rear_joint1" noise="0.0" />
296
+ <jointpos name="jointpos_idx122_chassis_lwheel_rear_joint2" joint="idx122_chassis_lwheel_rear_joint2" noise="0.0" cutoff="3.14" />
297
+ <jointpos name="jointpos_idx131_chassis_rwheel_front_joint1" joint="idx131_chassis_rwheel_front_joint1" noise="0.0" />
298
+ <jointpos name="jointpos_idx132_chassis_rwheel_front_joint2" joint="idx132_chassis_rwheel_front_joint2" noise="0.0" cutoff="3.14" />
299
+ <jointpos name="jointpos_idx141_chassis_rwheel_rear_joint1" joint="idx141_chassis_rwheel_rear_joint1" noise="0.0" />
300
+ <jointpos name="jointpos_idx142_chassis_rwheel_rear_joint2" joint="idx142_chassis_rwheel_rear_joint2" noise="0.0" cutoff="3.14" />
301
+ <jointvel name="jointvel_idx111_chassis_lwheel_front_joint1" joint="idx111_chassis_lwheel_front_joint1" noise="0.0" />
302
+ <jointvel name="jointvel_idx112_chassis_lwheel_front_joint2" joint="idx112_chassis_lwheel_front_joint2" noise="0.0" />
303
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36
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37
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38
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40
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42
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43
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44
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45
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46
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48
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49
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50
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51
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53
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54
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56
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57
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60
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62
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63
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65
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66
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71
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73
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74
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76
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77
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78
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79
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80
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81
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84
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85
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86
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88
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90
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91
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92
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94
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95
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97
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98
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99
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100
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101
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102
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103
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104
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112
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114
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115
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117
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118
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123
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124
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126
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127
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129
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130
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132
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133
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137
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138
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140
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141
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142
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143
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144
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145
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146
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147
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148
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149
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150
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151
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152
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153
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154
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155
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156
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157
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158
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159
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161
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162
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164
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165
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166
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167
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168
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169
+ <site name="right_gripper_center" pos="0 0 0.227" euler="0 0 -1.5708" type="sphere" size="0.005" group="5" />
170
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171
+ <camera name="hand_right" resolution="640 528" sensorsize="640 528" focal="241.723861694 241.476318359" principal="322.280822754 265.302642822" pos="0.186608946712 -0.00224774649537 0.0835158676309" quat="0.61998841875 0.355278833509 -0.351053931459 -0.605105319993" />
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176
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179
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181
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182
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183
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184
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185
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186
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187
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188
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196
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197
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198
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199
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200
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201
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202
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203
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204
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205
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206
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207
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208
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209
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210
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211
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212
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213
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214
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215
+ <body name="chassis_rwheel_rear_link1" pos="-0.23 -0.218 0.16675">
216
+ <inertial pos="-4.8347e-05 0.021386 -0.055149" quat="0.681263 0.208432 -0.206514 0.670663" mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
217
+ <joint name="idx141_chassis_rwheel_rear_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
218
+ <body name="chassis_rwheel_rear_link2" pos="0 5e-05 -0.13675">
219
+ <inertial pos="2.3442e-06 0.0013086 1.0892e-05" quat="0.512096 0.487628 0.487644 0.512035" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
220
+ <joint name="idx142_chassis_rwheel_rear_joint2" pos="0 0 0" axis="0 1 0" />
221
+ </body>
222
+ </body>
223
+ <body name="chassis_lwheel_rear_link1" pos="-0.23 0.218 0.16675">
224
+ <inertial pos="4.8347e-05 -0.021386 -0.055149" quat="0.681263 -0.208432 0.206514 0.670663" mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
225
+ <joint name="idx121_chassis_lwheel_rear_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
226
+ <body name="chassis_lwheel_rear_link2" pos="0 -5e-05 -0.13675">
227
+ <inertial pos="-2.3442e-06 -0.0013086 1.0892e-05" quat="0.487628 0.512096 0.512035 0.487644" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
228
+ <joint name="idx122_chassis_lwheel_rear_joint2" pos="0 0 0" axis="0 1 0" />
229
+ </body>
230
+ </body>
231
+ </body>
232
+ <site name="imu_site" pos="0 0 0" size="0.01" />
233
+ </body>
234
+ </worldbody>
235
+ <actuator>
236
+ <position name="position_idx01_body_joint1" joint="idx01_body_joint1" kp="20000" kv="6000" />
237
+ <position name="position_idx02_body_joint2" joint="idx02_body_joint2" kp="20000" kv="6000" />
238
+ <position name="position_idx03_body_joint3" joint="idx03_body_joint3" kp="20000" kv="6000" />
239
+ <position name="position_idx04_body_joint4" joint="idx04_body_joint4" kp="20000" kv="6000" />
240
+ <position name="position_idx05_body_joint5" joint="idx05_body_joint5" kp="20000" kv="6000" />
241
+ <position name="position_idx11_head_joint1" joint="idx11_head_joint1" kp="1500" kv="150" />
242
+ <position name="position_idx12_head_joint2" joint="idx12_head_joint2" kp="1500" kv="150" />
243
+ <position name="position_idx13_head_joint3" joint="idx13_head_joint3" kp="1500" kv="150" />
244
+ <motor name="motor_idx01_body_joint1" joint="idx01_body_joint1" ctrlrange="-1200 1200" />
245
+ <motor name="motor_idx02_body_joint2" joint="idx02_body_joint2" ctrlrange="-1200 1200" />
246
+ <motor name="motor_idx03_body_joint3" joint="idx03_body_joint3" ctrlrange="-1200 1200" />
247
+ <motor name="motor_idx04_body_joint4" joint="idx04_body_joint4" ctrlrange="-1200 1200" />
248
+ <motor name="motor_idx05_body_joint5" joint="idx05_body_joint5" ctrlrange="-1200 1200" />
249
+ <motor name="motor_idx11_head_joint1" joint="idx11_head_joint1" ctrlrange="-1200 1200" />
250
+ <motor name="motor_idx12_head_joint2" joint="idx12_head_joint2" ctrlrange="-1200 1200" />
251
+ <motor name="motor_idx13_head_joint3" joint="idx13_head_joint3" ctrlrange="-1200 1200" />
252
+ </actuator>
253
+ <sensor>
254
+ <framequat name="imu_quat_sensor" objtype="site" objname="imu_site" />
255
+ <gyro name="imu_gyro" site="imu_site" />
256
+ <accelerometer name="imu_accel" site="imu_site" />
257
+ <jointpos name="jointpos_idx01_body_joint1" joint="idx01_body_joint1" noise="0.0" />
258
+ <jointpos name="jointpos_idx02_body_joint2" joint="idx02_body_joint2" noise="0.0" />
259
+ <jointpos name="jointpos_idx03_body_joint3" joint="idx03_body_joint3" noise="0.0" />
260
+ <jointpos name="jointpos_idx04_body_joint4" joint="idx04_body_joint4" noise="0.0" />
261
+ <jointpos name="jointpos_idx05_body_joint5" joint="idx05_body_joint5" noise="0.0" />
262
+ <jointpos name="jointpos_idx11_head_joint1" joint="idx11_head_joint1" noise="0.0" />
263
+ <jointpos name="jointpos_idx12_head_joint2" joint="idx12_head_joint2" noise="0.0" />
264
+ <jointpos name="jointpos_idx13_head_joint3" joint="idx13_head_joint3" noise="0.0" />
265
+ <jointvel name="jointvel_idx01_body_joint1" joint="idx01_body_joint1" noise="0.0" />
266
+ <jointvel name="jointvel_idx02_body_joint2" joint="idx02_body_joint2" noise="0.0" />
267
+ <jointvel name="jointvel_idx03_body_joint3" joint="idx03_body_joint3" noise="0.0" />
268
+ <jointvel name="jointvel_idx04_body_joint4" joint="idx04_body_joint4" noise="0.0" />
269
+ <jointvel name="jointvel_idx05_body_joint5" joint="idx05_body_joint5" noise="0.0" />
270
+ <jointvel name="jointvel_idx11_head_joint1" joint="idx11_head_joint1" noise="0.0" />
271
+ <jointvel name="jointvel_idx12_head_joint2" joint="idx12_head_joint2" noise="0.0" />
272
+ <jointvel name="jointvel_idx13_head_joint3" joint="idx13_head_joint3" noise="0.0" />
273
+ <jointactuatorfrc name="torque_idx01_body_joint1" joint="idx01_body_joint1" noise="0.0" />
274
+ <jointactuatorfrc name="torque_idx02_body_joint2" joint="idx02_body_joint2" noise="0.0" />
275
+ <jointactuatorfrc name="torque_idx03_body_joint3" joint="idx03_body_joint3" noise="0.0" />
276
+ <jointactuatorfrc name="torque_idx04_body_joint4" joint="idx04_body_joint4" noise="0.0" />
277
+ <jointactuatorfrc name="torque_idx05_body_joint5" joint="idx05_body_joint5" noise="0.0" />
278
+ <jointactuatorfrc name="torque_idx11_head_joint1" joint="idx11_head_joint1" noise="0.0" />
279
+ <jointactuatorfrc name="torque_idx12_head_joint2" joint="idx12_head_joint2" noise="0.0" />
280
+ <jointactuatorfrc name="torque_idx13_head_joint3" joint="idx13_head_joint3" noise="0.0" />
281
+ </sensor>
282
+ <actuator>
283
+ <position name="motor_idx111_chassis_lwheel_front_joint1" joint="idx111_chassis_lwheel_front_joint1" kp="1000" kv="80" />
284
+ <velocity name="motor_idx112_chassis_lwheel_front_joint2" joint="idx112_chassis_lwheel_front_joint2" kv="10" />
285
+ <position name="motor_idx121_chassis_lwheel_rear_joint1" joint="idx121_chassis_lwheel_rear_joint1" kp="1000" kv="80" />
286
+ <velocity name="motor_idx122_chassis_lwheel_rear_joint2" joint="idx122_chassis_lwheel_rear_joint2" kv="10" />
287
+ <position name="motor_idx131_chassis_rwheel_front_joint1" joint="idx131_chassis_rwheel_front_joint1" kp="1000" kv="80" />
288
+ <velocity name="motor_idx132_chassis_rwheel_front_joint2" joint="idx132_chassis_rwheel_front_joint2" kv="10" />
289
+ <position name="motor_idx141_chassis_rwheel_rear_joint1" joint="idx141_chassis_rwheel_rear_joint1" kp="1000" kv="80" />
290
+ <velocity name="motor_idx142_chassis_rwheel_rear_joint2" joint="idx142_chassis_rwheel_rear_joint2" kv="10" />
291
+ </actuator>
292
+ <sensor>
293
+ <jointpos name="jointpos_idx111_chassis_lwheel_front_joint1" joint="idx111_chassis_lwheel_front_joint1" noise="0.0" />
294
+ <jointpos name="jointpos_idx112_chassis_lwheel_front_joint2" joint="idx112_chassis_lwheel_front_joint2" noise="0.0" cutoff="3.14" />
295
+ <jointpos name="jointpos_idx121_chassis_lwheel_rear_joint1" joint="idx121_chassis_lwheel_rear_joint1" noise="0.0" />
296
+ <jointpos name="jointpos_idx122_chassis_lwheel_rear_joint2" joint="idx122_chassis_lwheel_rear_joint2" noise="0.0" cutoff="3.14" />
297
+ <jointpos name="jointpos_idx131_chassis_rwheel_front_joint1" joint="idx131_chassis_rwheel_front_joint1" noise="0.0" />
298
+ <jointpos name="jointpos_idx132_chassis_rwheel_front_joint2" joint="idx132_chassis_rwheel_front_joint2" noise="0.0" cutoff="3.14" />
299
+ <jointpos name="jointpos_idx141_chassis_rwheel_rear_joint1" joint="idx141_chassis_rwheel_rear_joint1" noise="0.0" />
300
+ <jointpos name="jointpos_idx142_chassis_rwheel_rear_joint2" joint="idx142_chassis_rwheel_rear_joint2" noise="0.0" cutoff="3.14" />
301
+ <jointvel name="jointvel_idx111_chassis_lwheel_front_joint1" joint="idx111_chassis_lwheel_front_joint1" noise="0.0" />
302
+ <jointvel name="jointvel_idx112_chassis_lwheel_front_joint2" joint="idx112_chassis_lwheel_front_joint2" noise="0.0" />
303
+ <jointvel name="jointvel_idx121_chassis_lwheel_rear_joint1" joint="idx121_chassis_lwheel_rear_joint1" noise="0.0" />
304
+ <jointvel name="jointvel_idx122_chassis_lwheel_rear_joint2" joint="idx122_chassis_lwheel_rear_joint2" noise="0.0" />
305
+ <jointvel name="jointvel_idx131_chassis_rwheel_front_joint1" joint="idx131_chassis_rwheel_front_joint1" noise="0.0" />
306
+ <jointvel name="jointvel_idx132_chassis_rwheel_front_joint2" joint="idx132_chassis_rwheel_front_joint2" noise="0.0" />
307
+ <jointvel name="jointvel_idx141_chassis_rwheel_rear_joint1" joint="idx141_chassis_rwheel_rear_joint1" noise="0.0" />
308
+ <jointvel name="jointvel_idx142_chassis_rwheel_rear_joint2" joint="idx142_chassis_rwheel_rear_joint2" noise="0.0" />
309
+ </sensor>
310
+ <actuator>
311
+ <position name="position_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" kp="10000" kv="400" />
312
+ <position name="position_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" kp="10000" kv="400" />
313
+ <position name="position_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" kp="10000" kv="160" />
314
+ <position name="position_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" kp="10000" kv="160" />
315
+ <position name="position_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" kp="10000" kv="120" />
316
+ <position name="position_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" kp="10000" kv="120" />
317
+ <position name="position_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" kp="10000" kv="120" />
318
+ <position name="position_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" kp="10000" kv="400" />
319
+ <position name="position_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" kp="10000" kv="400" />
320
+ <position name="position_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" kp="10000" kv="160" />
321
+ <position name="position_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" kp="10000" kv="160" />
322
+ <position name="position_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" kp="10000" kv="120" />
323
+ <position name="position_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" kp="10000" kv="120" />
324
+ <position name="position_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" kp="10000" kv="120" />
325
+ <motor name="motor_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" ctrlrange="-1200 1200" />
326
+ <motor name="motor_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" ctrlrange="-1200 1200" />
327
+ <motor name="motor_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" ctrlrange="-1200 1200" />
328
+ <motor name="motor_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" ctrlrange="-1200 1200" />
329
+ <motor name="motor_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" ctrlrange="-1200 1200" />
330
+ <motor name="motor_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" ctrlrange="-1200 1200" />
331
+ <motor name="motor_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" ctrlrange="-1200 1200" />
332
+ <motor name="motor_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" ctrlrange="-1200 1200" />
333
+ <motor name="motor_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" ctrlrange="-1200 1200" />
334
+ <motor name="motor_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" ctrlrange="-1200 1200" />
335
+ <motor name="motor_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" ctrlrange="-1200 1200" />
336
+ <motor name="motor_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" ctrlrange="-1200 1200" />
337
+ <motor name="motor_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" ctrlrange="-1200 1200" />
338
+ <motor name="motor_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" ctrlrange="-1200 1200" />
339
+ </actuator>
340
+ <sensor>
341
+ <jointpos name="jointpos_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" noise="0.0" />
342
+ <jointpos name="jointpos_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" noise="0.0" />
343
+ <jointpos name="jointpos_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" noise="0.0" />
344
+ <jointpos name="jointpos_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" noise="0.0" />
345
+ <jointpos name="jointpos_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" noise="0.0" />
346
+ <jointpos name="jointpos_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" noise="0.0" />
347
+ <jointpos name="jointpos_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" noise="0.0" />
348
+ <jointpos name="jointpos_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" noise="0.0" />
349
+ <jointpos name="jointpos_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" noise="0.0" />
350
+ <jointpos name="jointpos_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" noise="0.0" />
351
+ <jointpos name="jointpos_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" noise="0.0" />
352
+ <jointpos name="jointpos_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" noise="0.0" />
353
+ <jointpos name="jointpos_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" noise="0.0" />
354
+ <jointpos name="jointpos_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" noise="0.0" />
355
+ <jointvel name="jointvel_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" noise="0.0" />
356
+ <jointvel name="jointvel_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" noise="0.0" />
357
+ <jointvel name="jointvel_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" noise="0.0" />
358
+ <jointvel name="jointvel_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" noise="0.0" />
359
+ <jointvel name="jointvel_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" noise="0.0" />
360
+ <jointvel name="jointvel_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" noise="0.0" />
361
+ <jointvel name="jointvel_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" noise="0.0" />
362
+ <jointvel name="jointvel_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" noise="0.0" />
363
+ <jointvel name="jointvel_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" noise="0.0" />
364
+ <jointvel name="jointvel_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" noise="0.0" />
365
+ <jointvel name="jointvel_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" noise="0.0" />
366
+ <jointvel name="jointvel_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" noise="0.0" />
367
+ <jointvel name="jointvel_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" noise="0.0" />
368
+ <jointvel name="jointvel_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" noise="0.0" />
369
+ <jointactuatorfrc name="torque_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" noise="0.0" />
370
+ <jointactuatorfrc name="torque_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" noise="0.0" />
371
+ <jointactuatorfrc name="torque_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" noise="0.0" />
372
+ <jointactuatorfrc name="torque_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" noise="0.0" />
373
+ <jointactuatorfrc name="torque_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" noise="0.0" />
374
+ <jointactuatorfrc name="torque_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" noise="0.0" />
375
+ <jointactuatorfrc name="torque_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" noise="0.0" />
376
+ <jointactuatorfrc name="torque_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" noise="0.0" />
377
+ <jointactuatorfrc name="torque_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" noise="0.0" />
378
+ <jointactuatorfrc name="torque_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" noise="0.0" />
379
+ <jointactuatorfrc name="torque_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" noise="0.0" />
380
+ <jointactuatorfrc name="torque_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" noise="0.0" />
381
+ <jointactuatorfrc name="torque_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" noise="0.0" />
382
+ <jointactuatorfrc name="torque_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" noise="0.0" />
383
+ </sensor>
384
+ <contact>
385
+
386
+ </contact>
387
+ <actuator>
388
+
389
+ </actuator>
390
+ <equality>
391
+ <joint joint1="right_Left_0_Joint" joint2="right_Left_1_Joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
392
+ <joint joint1="right_Left_Support_Joint" joint2="right_Left_1_Joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
393
+ <joint joint1="right_Left_2_Joint" joint2="right_Left_1_Joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
394
+ <joint joint1="right_Right_2_Joint" joint2="right_Left_1_Joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
395
+ <joint joint1="right_Right_1_Joint" joint2="right_Left_1_Joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
396
+ <joint joint1="right_Right_0_Joint" joint2="right_Left_1_Joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
397
+ <joint joint1="right_Right_Support_Joint" joint2="right_Left_1_Joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
398
+ <joint joint1="left_Left_0_Joint" joint2="left_Left_1_Joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
399
+ <joint joint1="left_Left_Support_Joint" joint2="left_Left_1_Joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
400
+ <joint joint1="left_Left_2_Joint" joint2="left_Left_1_Joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
401
+ <joint joint1="left_Right_2_Joint" joint2="left_Left_1_Joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
402
+ <joint joint1="left_Right_1_Joint" joint2="left_Left_1_Joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
403
+ <joint joint1="left_Right_0_Joint" joint2="left_Left_1_Joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
404
+ <joint joint1="left_Right_Support_Joint" joint2="left_Left_1_Joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
405
+ </equality>
406
+ <sensor>
407
+
408
+ </sensor>
409
+ <contact>
410
+
411
+ </contact>
412
+ <actuator>
413
+
414
+ </actuator>
415
+ <equality>
416
+
417
+ </equality>
418
+ <sensor>
419
+
420
+ </sensor>
421
+ </mujoco>
agibot-challenge-2026/000009/ref_images/hand_left.png ADDED

Git LFS Details

  • SHA256: 1a9339dc23458a884a87b729324b1c10605f09db1ad621aaca34abec47ac199c
  • Pointer size: 131 Bytes
  • Size of remote file: 385 kB
agibot-challenge-2026/000009/ref_images/hand_right.png ADDED

Git LFS Details

  • SHA256: 64e79dc380f2f17dfb56e992b688cb9a44c859e329a63db26931a1f16d0d8362
  • Pointer size: 131 Bytes
  • Size of remote file: 340 kB
agibot-challenge-2026/000009/ref_images/head.png ADDED

Git LFS Details

  • SHA256: 6299fde92b8985df79c0d5c1c687af326157e095f1bf2169207cfa0574f886b1
  • Pointer size: 131 Bytes
  • Size of remote file: 348 kB
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+ <joint name="idx67_arm_r_joint7" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708" actuatorfrcrange="-36 36" />
133
+ <body name="gripper_r_base_link" pos="0.095 0 0" quat="-0.5 0.5 -0.5 0.5">
134
+ <inertial pos="0.01778808 0.0585332 0.05714529" quat="0.5 0.5 0.5 0.5" mass="1.3757592" diaginertia="0.0028087 0.00130123 0.00279029" />
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+ <body name="right_Left_01_Link" pos="-0.032553 0 0.10644" quat="-2.59734e-06 -2.59735e-06 0.707108 0.707105">
136
+ <inertial pos="0.00656388 0.0248503 -9.40817e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
137
+ <joint name="right_Left_1_Joint" pos="0 0 0" axis="0 0 -1" range="0 1" actuatorfrcrange="-2 2" />
138
+ <body name="right_Left_00_Link" pos="0.01946 0.0129 0">
139
+ <inertial pos="0.00656388 0.0248503 -9.40817e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
140
+ <joint name="right_Left_0_Joint" pos="0 0 0" axis="0 0 -1" range="0 1" actuatorfrcrange="-2 2" />
141
+ <body name="right_Left_Support_Link" pos="-0.02888 0.04341 0">
142
+ <inertial pos="-0.0139043 0.0196639 0.00849572" quat="0.925305 0.325362 -0.105933 0.163488" mass="0.0173333" diaginertia="1.1732e-05 8.6297e-06 3.77139e-06" />
143
+ <joint name="right_Left_Support_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
144
+ <body name="right_Left_Pad_Link" pos="-0.022056 0.044306 0" />
145
+ </body>
146
+ </body>
147
+ </body>
148
+ <body name="right_Left_2_Link" pos="-0.017 0 0.122" quat="-2.59734e-06 -2.59735e-06 0.707108 0.707105">
149
+ <inertial pos="-0.00438953 0.0248816 -2.55136e-05" quat="0.704468 0.705161 0.057196 0.0565907" mass="0.00803956" diaginertia="1.16929e-06 8.47368e-07 4.50153e-07" />
150
+ <joint name="right_Left_2_Joint" pos="0 0 0" axis="0 0 -1" range="-1 1" actuatorfrcrange="-10 10" />
151
+ </body>
152
+ <body name="right_Right_2_Link" pos="0.017 0 0.122" quat="0.707105 0.707108 0 0">
153
+ <inertial pos="-0.00438953 0.0248816 -2.55136e-05" quat="0.704468 0.705161 0.057196 0.0565907" mass="0.00803956" diaginertia="1.16929e-06 8.47368e-07 4.50153e-07" />
154
+ <joint name="right_Right_2_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
155
+ </body>
156
+ <body name="right_Right_01_Link" pos="0.032553 0 0.10644" quat="0.707105 0.707108 0 0">
157
+ <inertial pos="0.00656388 0.0248503 -9.40812e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
158
+ <joint name="right_Right_1_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
159
+ <body name="right_Right_00_Link" pos="0.01946 0.0129 0">
160
+ <inertial pos="0.00656388 0.0248503 -9.40812e-10" quat="0.33744 0.621397 -0.33744 0.621397" mass="0.0112899" diaginertia="2.47457e-06 2.38651e-06 9.79983e-07" />
161
+ <joint name="right_Right_0_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
162
+ <body name="right_Right_Support_Link" pos="-0.02888 0.04341 0">
163
+ <inertial pos="-0.0139043 0.0196639 0.00849572" quat="0.925305 0.325362 -0.105933 0.163488" mass="0.0173333" diaginertia="1.1732e-05 8.6297e-06 3.77139e-06" />
164
+ <joint name="right_Right_Support_Joint" pos="0 0 0" axis="0 0 1" range="-1 1" actuatorfrcrange="-10 10" />
165
+ <body name="right_Right_Pad_Link" pos="-0.022056 0.044306 0" />
166
+ </body>
167
+ </body>
168
+ </body>
169
+ <site name="right_gripper_center" pos="0 0 0.227" euler="0 0 -1.5708" type="sphere" size="0.005" group="5" />
170
+ </body>
171
+ <camera name="hand_right" resolution="640 528" sensorsize="640 528" focal="243.501022339 243.348022461" principal="323.530731201 262.021087646" pos="0.187678597485 -0.00358849452521 0.0802564976983" quat="0.605334009276 0.360994638943 -0.344731882598 -0.62001091683" />
172
+ </body>
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175
+ </body>
176
+ </body>
177
+ </body>
178
+ </body>
179
+ <body name="head_link1" pos="-0.013 0 0.496">
180
+ <inertial pos="0.00424601 -1.36432e-07 -0.0288855" quat="0.704159 -0.0648528 -0.0648618 0.704093" mass="0.245638" diaginertia="0.000306992 0.000302836 8.22483e-05" />
181
+ <joint name="idx11_head_joint1" pos="0 0 0" axis="0 0 1" range="-1.57 1.57" />
182
+ <body name="head_link2" pos="0.03335 0 0.07">
183
+ <inertial pos="-0.0363591 -0.000333631 -0.00246318" quat="0.704707 0.705403 0.0594704 -0.0475286" mass="0.0944987" diaginertia="5.66986e-05 5.01493e-05 3.80384e-05" />
184
+ <joint name="idx12_head_joint2" pos="0 0 0" axis="1 0 0" range="-0.349 0.349" />
185
+ <body name="head_link3" pos="-0.03035 0 0">
186
+ <inertial pos="-0.00327293 2.14734e-05 0.0163618" quat="-0.000248838 0.699252 2.07117e-06 0.714875" mass="17.8197" diaginertia="0.0712727 0.0558097 0.0456037" />
187
+ <joint name="idx13_head_joint3" pos="0 0 0" axis="0 1 0" range="-0.523 0.523" />
188
+ <camera name="head" resolution="640 400" sensorsize="640 400" focal="306.027648926 305.905578613" principal="318.58380127 199.119308472" pos="0.0895920896039 0.0264901898737 0.0824739951044" quat="0.589635688503 0.382776420579 -0.391028217798 -0.594061360112" />
189
+ </body>
190
+ </body>
191
+ </body>
192
+ </body>
193
+ </body>
194
+ </body>
195
+ </body>
196
+ </body>
197
+ </body>
198
+ <body name="chassis_site" pos="0 0 0" euler="0 0 0">
199
+ <body name="chassis_lwheel_front_link1" pos="0.23 0.218 0.16675">
200
+ <inertial pos="4.8347e-05 -0.021386 -0.055149" quat="0.681263 -0.208432 0.206514 0.670663" mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
201
+ <joint name="idx111_chassis_lwheel_front_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
202
+ <body name="chassis_lwheel_front_link2" pos="0 -5e-05 -0.13675">
203
+ <inertial pos="-2.3442e-06 -0.0013086 1.0892e-05" quat="0.487628 0.512096 0.512035 0.487644" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
204
+ <joint name="idx112_chassis_lwheel_front_joint2" pos="0 0 0" axis="0 1 0" />
205
+ </body>
206
+ </body>
207
+ <body name="chassis_rwheel_front_link1" pos="0.23 -0.218 0.16675">
208
+ <inertial pos="-4.8347e-05 0.021386 -0.055149" quat="0.681263 0.208432 -0.206514 0.670663" mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
209
+ <joint name="idx131_chassis_rwheel_front_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
210
+ <body name="chassis_rwheel_front_link2" pos="0 5e-05 -0.13675">
211
+ <inertial pos="2.3442e-06 0.0013086 1.0892e-05" quat="0.512096 0.487628 0.487644 0.512035" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
212
+ <joint name="idx132_chassis_rwheel_front_joint2" pos="0 0 0" axis="0 1 0" />
213
+ </body>
214
+ </body>
215
+ <body name="chassis_rwheel_rear_link1" pos="-0.23 -0.218 0.16675">
216
+ <inertial pos="-4.8347e-05 0.021386 -0.055149" quat="0.681263 0.208432 -0.206514 0.670663" mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
217
+ <joint name="idx141_chassis_rwheel_rear_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
218
+ <body name="chassis_rwheel_rear_link2" pos="0 5e-05 -0.13675">
219
+ <inertial pos="2.3442e-06 0.0013086 1.0892e-05" quat="0.512096 0.487628 0.487644 0.512035" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
220
+ <joint name="idx142_chassis_rwheel_rear_joint2" pos="0 0 0" axis="0 1 0" />
221
+ </body>
222
+ </body>
223
+ <body name="chassis_lwheel_rear_link1" pos="-0.23 0.218 0.16675">
224
+ <inertial pos="4.8347e-05 -0.021386 -0.055149" quat="0.681263 -0.208432 0.206514 0.670663" mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
225
+ <joint name="idx121_chassis_lwheel_rear_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
226
+ <body name="chassis_lwheel_rear_link2" pos="0 -5e-05 -0.13675">
227
+ <inertial pos="-2.3442e-06 -0.0013086 1.0892e-05" quat="0.487628 0.512096 0.512035 0.487644" mass="3.6283" diaginertia="0.010779 0.0058842 0.0058835" />
228
+ <joint name="idx122_chassis_lwheel_rear_joint2" pos="0 0 0" axis="0 1 0" />
229
+ </body>
230
+ </body>
231
+ </body>
232
+ <site name="imu_site" pos="0 0 0" size="0.01" />
233
+ </body>
234
+ </worldbody>
235
+ <actuator>
236
+ <position name="position_idx01_body_joint1" joint="idx01_body_joint1" kp="20000" kv="6000" />
237
+ <position name="position_idx02_body_joint2" joint="idx02_body_joint2" kp="20000" kv="6000" />
238
+ <position name="position_idx03_body_joint3" joint="idx03_body_joint3" kp="20000" kv="6000" />
239
+ <position name="position_idx04_body_joint4" joint="idx04_body_joint4" kp="20000" kv="6000" />
240
+ <position name="position_idx05_body_joint5" joint="idx05_body_joint5" kp="20000" kv="6000" />
241
+ <position name="position_idx11_head_joint1" joint="idx11_head_joint1" kp="1500" kv="150" />
242
+ <position name="position_idx12_head_joint2" joint="idx12_head_joint2" kp="1500" kv="150" />
243
+ <position name="position_idx13_head_joint3" joint="idx13_head_joint3" kp="1500" kv="150" />
244
+ <motor name="motor_idx01_body_joint1" joint="idx01_body_joint1" ctrlrange="-1200 1200" />
245
+ <motor name="motor_idx02_body_joint2" joint="idx02_body_joint2" ctrlrange="-1200 1200" />
246
+ <motor name="motor_idx03_body_joint3" joint="idx03_body_joint3" ctrlrange="-1200 1200" />
247
+ <motor name="motor_idx04_body_joint4" joint="idx04_body_joint4" ctrlrange="-1200 1200" />
248
+ <motor name="motor_idx05_body_joint5" joint="idx05_body_joint5" ctrlrange="-1200 1200" />
249
+ <motor name="motor_idx11_head_joint1" joint="idx11_head_joint1" ctrlrange="-1200 1200" />
250
+ <motor name="motor_idx12_head_joint2" joint="idx12_head_joint2" ctrlrange="-1200 1200" />
251
+ <motor name="motor_idx13_head_joint3" joint="idx13_head_joint3" ctrlrange="-1200 1200" />
252
+ </actuator>
253
+ <sensor>
254
+ <framequat name="imu_quat_sensor" objtype="site" objname="imu_site" />
255
+ <gyro name="imu_gyro" site="imu_site" />
256
+ <accelerometer name="imu_accel" site="imu_site" />
257
+ <jointpos name="jointpos_idx01_body_joint1" joint="idx01_body_joint1" noise="0.0" />
258
+ <jointpos name="jointpos_idx02_body_joint2" joint="idx02_body_joint2" noise="0.0" />
259
+ <jointpos name="jointpos_idx03_body_joint3" joint="idx03_body_joint3" noise="0.0" />
260
+ <jointpos name="jointpos_idx04_body_joint4" joint="idx04_body_joint4" noise="0.0" />
261
+ <jointpos name="jointpos_idx05_body_joint5" joint="idx05_body_joint5" noise="0.0" />
262
+ <jointpos name="jointpos_idx11_head_joint1" joint="idx11_head_joint1" noise="0.0" />
263
+ <jointpos name="jointpos_idx12_head_joint2" joint="idx12_head_joint2" noise="0.0" />
264
+ <jointpos name="jointpos_idx13_head_joint3" joint="idx13_head_joint3" noise="0.0" />
265
+ <jointvel name="jointvel_idx01_body_joint1" joint="idx01_body_joint1" noise="0.0" />
266
+ <jointvel name="jointvel_idx02_body_joint2" joint="idx02_body_joint2" noise="0.0" />
267
+ <jointvel name="jointvel_idx03_body_joint3" joint="idx03_body_joint3" noise="0.0" />
268
+ <jointvel name="jointvel_idx04_body_joint4" joint="idx04_body_joint4" noise="0.0" />
269
+ <jointvel name="jointvel_idx05_body_joint5" joint="idx05_body_joint5" noise="0.0" />
270
+ <jointvel name="jointvel_idx11_head_joint1" joint="idx11_head_joint1" noise="0.0" />
271
+ <jointvel name="jointvel_idx12_head_joint2" joint="idx12_head_joint2" noise="0.0" />
272
+ <jointvel name="jointvel_idx13_head_joint3" joint="idx13_head_joint3" noise="0.0" />
273
+ <jointactuatorfrc name="torque_idx01_body_joint1" joint="idx01_body_joint1" noise="0.0" />
274
+ <jointactuatorfrc name="torque_idx02_body_joint2" joint="idx02_body_joint2" noise="0.0" />
275
+ <jointactuatorfrc name="torque_idx03_body_joint3" joint="idx03_body_joint3" noise="0.0" />
276
+ <jointactuatorfrc name="torque_idx04_body_joint4" joint="idx04_body_joint4" noise="0.0" />
277
+ <jointactuatorfrc name="torque_idx05_body_joint5" joint="idx05_body_joint5" noise="0.0" />
278
+ <jointactuatorfrc name="torque_idx11_head_joint1" joint="idx11_head_joint1" noise="0.0" />
279
+ <jointactuatorfrc name="torque_idx12_head_joint2" joint="idx12_head_joint2" noise="0.0" />
280
+ <jointactuatorfrc name="torque_idx13_head_joint3" joint="idx13_head_joint3" noise="0.0" />
281
+ </sensor>
282
+ <actuator>
283
+ <position name="motor_idx111_chassis_lwheel_front_joint1" joint="idx111_chassis_lwheel_front_joint1" kp="1000" kv="80" />
284
+ <velocity name="motor_idx112_chassis_lwheel_front_joint2" joint="idx112_chassis_lwheel_front_joint2" kv="10" />
285
+ <position name="motor_idx121_chassis_lwheel_rear_joint1" joint="idx121_chassis_lwheel_rear_joint1" kp="1000" kv="80" />
286
+ <velocity name="motor_idx122_chassis_lwheel_rear_joint2" joint="idx122_chassis_lwheel_rear_joint2" kv="10" />
287
+ <position name="motor_idx131_chassis_rwheel_front_joint1" joint="idx131_chassis_rwheel_front_joint1" kp="1000" kv="80" />
288
+ <velocity name="motor_idx132_chassis_rwheel_front_joint2" joint="idx132_chassis_rwheel_front_joint2" kv="10" />
289
+ <position name="motor_idx141_chassis_rwheel_rear_joint1" joint="idx141_chassis_rwheel_rear_joint1" kp="1000" kv="80" />
290
+ <velocity name="motor_idx142_chassis_rwheel_rear_joint2" joint="idx142_chassis_rwheel_rear_joint2" kv="10" />
291
+ </actuator>
292
+ <sensor>
293
+ <jointpos name="jointpos_idx111_chassis_lwheel_front_joint1" joint="idx111_chassis_lwheel_front_joint1" noise="0.0" />
294
+ <jointpos name="jointpos_idx112_chassis_lwheel_front_joint2" joint="idx112_chassis_lwheel_front_joint2" noise="0.0" cutoff="3.14" />
295
+ <jointpos name="jointpos_idx121_chassis_lwheel_rear_joint1" joint="idx121_chassis_lwheel_rear_joint1" noise="0.0" />
296
+ <jointpos name="jointpos_idx122_chassis_lwheel_rear_joint2" joint="idx122_chassis_lwheel_rear_joint2" noise="0.0" cutoff="3.14" />
297
+ <jointpos name="jointpos_idx131_chassis_rwheel_front_joint1" joint="idx131_chassis_rwheel_front_joint1" noise="0.0" />
298
+ <jointpos name="jointpos_idx132_chassis_rwheel_front_joint2" joint="idx132_chassis_rwheel_front_joint2" noise="0.0" cutoff="3.14" />
299
+ <jointpos name="jointpos_idx141_chassis_rwheel_rear_joint1" joint="idx141_chassis_rwheel_rear_joint1" noise="0.0" />
300
+ <jointpos name="jointpos_idx142_chassis_rwheel_rear_joint2" joint="idx142_chassis_rwheel_rear_joint2" noise="0.0" cutoff="3.14" />
301
+ <jointvel name="jointvel_idx111_chassis_lwheel_front_joint1" joint="idx111_chassis_lwheel_front_joint1" noise="0.0" />
302
+ <jointvel name="jointvel_idx112_chassis_lwheel_front_joint2" joint="idx112_chassis_lwheel_front_joint2" noise="0.0" />
303
+ <jointvel name="jointvel_idx121_chassis_lwheel_rear_joint1" joint="idx121_chassis_lwheel_rear_joint1" noise="0.0" />
304
+ <jointvel name="jointvel_idx122_chassis_lwheel_rear_joint2" joint="idx122_chassis_lwheel_rear_joint2" noise="0.0" />
305
+ <jointvel name="jointvel_idx131_chassis_rwheel_front_joint1" joint="idx131_chassis_rwheel_front_joint1" noise="0.0" />
306
+ <jointvel name="jointvel_idx132_chassis_rwheel_front_joint2" joint="idx132_chassis_rwheel_front_joint2" noise="0.0" />
307
+ <jointvel name="jointvel_idx141_chassis_rwheel_rear_joint1" joint="idx141_chassis_rwheel_rear_joint1" noise="0.0" />
308
+ <jointvel name="jointvel_idx142_chassis_rwheel_rear_joint2" joint="idx142_chassis_rwheel_rear_joint2" noise="0.0" />
309
+ </sensor>
310
+ <actuator>
311
+ <position name="position_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" kp="10000" kv="400" />
312
+ <position name="position_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" kp="10000" kv="400" />
313
+ <position name="position_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" kp="10000" kv="160" />
314
+ <position name="position_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" kp="10000" kv="160" />
315
+ <position name="position_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" kp="10000" kv="120" />
316
+ <position name="position_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" kp="10000" kv="120" />
317
+ <position name="position_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" kp="10000" kv="120" />
318
+ <position name="position_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" kp="10000" kv="400" />
319
+ <position name="position_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" kp="10000" kv="400" />
320
+ <position name="position_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" kp="10000" kv="160" />
321
+ <position name="position_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" kp="10000" kv="160" />
322
+ <position name="position_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" kp="10000" kv="120" />
323
+ <position name="position_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" kp="10000" kv="120" />
324
+ <position name="position_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" kp="10000" kv="120" />
325
+ <motor name="motor_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" ctrlrange="-1200 1200" />
326
+ <motor name="motor_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" ctrlrange="-1200 1200" />
327
+ <motor name="motor_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" ctrlrange="-1200 1200" />
328
+ <motor name="motor_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" ctrlrange="-1200 1200" />
329
+ <motor name="motor_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" ctrlrange="-1200 1200" />
330
+ <motor name="motor_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" ctrlrange="-1200 1200" />
331
+ <motor name="motor_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" ctrlrange="-1200 1200" />
332
+ <motor name="motor_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" ctrlrange="-1200 1200" />
333
+ <motor name="motor_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" ctrlrange="-1200 1200" />
334
+ <motor name="motor_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" ctrlrange="-1200 1200" />
335
+ <motor name="motor_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" ctrlrange="-1200 1200" />
336
+ <motor name="motor_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" ctrlrange="-1200 1200" />
337
+ <motor name="motor_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" ctrlrange="-1200 1200" />
338
+ <motor name="motor_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" ctrlrange="-1200 1200" />
339
+ </actuator>
340
+ <sensor>
341
+ <jointpos name="jointpos_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" noise="0.0" />
342
+ <jointpos name="jointpos_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" noise="0.0" />
343
+ <jointpos name="jointpos_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" noise="0.0" />
344
+ <jointpos name="jointpos_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" noise="0.0" />
345
+ <jointpos name="jointpos_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" noise="0.0" />
346
+ <jointpos name="jointpos_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" noise="0.0" />
347
+ <jointpos name="jointpos_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" noise="0.0" />
348
+ <jointpos name="jointpos_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" noise="0.0" />
349
+ <jointpos name="jointpos_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" noise="0.0" />
350
+ <jointpos name="jointpos_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" noise="0.0" />
351
+ <jointpos name="jointpos_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" noise="0.0" />
352
+ <jointpos name="jointpos_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" noise="0.0" />
353
+ <jointpos name="jointpos_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" noise="0.0" />
354
+ <jointpos name="jointpos_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" noise="0.0" />
355
+ <jointvel name="jointvel_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" noise="0.0" />
356
+ <jointvel name="jointvel_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" noise="0.0" />
357
+ <jointvel name="jointvel_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" noise="0.0" />
358
+ <jointvel name="jointvel_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" noise="0.0" />
359
+ <jointvel name="jointvel_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" noise="0.0" />
360
+ <jointvel name="jointvel_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" noise="0.0" />
361
+ <jointvel name="jointvel_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" noise="0.0" />
362
+ <jointvel name="jointvel_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" noise="0.0" />
363
+ <jointvel name="jointvel_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" noise="0.0" />
364
+ <jointvel name="jointvel_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" noise="0.0" />
365
+ <jointvel name="jointvel_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" noise="0.0" />
366
+ <jointvel name="jointvel_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" noise="0.0" />
367
+ <jointvel name="jointvel_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" noise="0.0" />
368
+ <jointvel name="jointvel_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" noise="0.0" />
369
+ <jointactuatorfrc name="torque_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" noise="0.0" />
370
+ <jointactuatorfrc name="torque_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" noise="0.0" />
371
+ <jointactuatorfrc name="torque_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" noise="0.0" />
372
+ <jointactuatorfrc name="torque_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" noise="0.0" />
373
+ <jointactuatorfrc name="torque_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" noise="0.0" />
374
+ <jointactuatorfrc name="torque_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" noise="0.0" />
375
+ <jointactuatorfrc name="torque_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" noise="0.0" />
376
+ <jointactuatorfrc name="torque_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" noise="0.0" />
377
+ <jointactuatorfrc name="torque_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" noise="0.0" />
378
+ <jointactuatorfrc name="torque_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" noise="0.0" />
379
+ <jointactuatorfrc name="torque_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" noise="0.0" />
380
+ <jointactuatorfrc name="torque_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" noise="0.0" />
381
+ <jointactuatorfrc name="torque_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" noise="0.0" />
382
+ <jointactuatorfrc name="torque_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" noise="0.0" />
383
+ </sensor>
384
+ <contact>
385
+
386
+ </contact>
387
+ <actuator>
388
+
389
+ </actuator>
390
+ <equality>
391
+ <joint joint1="right_Left_0_Joint" joint2="right_Left_1_Joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
392
+ <joint joint1="right_Left_Support_Joint" joint2="right_Left_1_Joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
393
+ <joint joint1="right_Left_2_Joint" joint2="right_Left_1_Joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
394
+ <joint joint1="right_Right_2_Joint" joint2="right_Left_1_Joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
395
+ <joint joint1="right_Right_1_Joint" joint2="right_Left_1_Joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
396
+ <joint joint1="right_Right_0_Joint" joint2="right_Left_1_Joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
397
+ <joint joint1="right_Right_Support_Joint" joint2="right_Left_1_Joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
398
+ <joint joint1="left_Left_0_Joint" joint2="left_Left_1_Joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
399
+ <joint joint1="left_Left_Support_Joint" joint2="left_Left_1_Joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
400
+ <joint joint1="left_Left_2_Joint" joint2="left_Left_1_Joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
401
+ <joint joint1="left_Right_2_Joint" joint2="left_Left_1_Joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
402
+ <joint joint1="left_Right_1_Joint" joint2="left_Left_1_Joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
403
+ <joint joint1="left_Right_0_Joint" joint2="left_Left_1_Joint" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
404
+ <joint joint1="left_Right_Support_Joint" joint2="left_Left_1_Joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
405
+ </equality>
406
+ <sensor>
407
+
408
+ </sensor>
409
+ <contact>
410
+
411
+ </contact>
412
+ <actuator>
413
+
414
+ </actuator>
415
+ <equality>
416
+
417
+ </equality>
418
+ <sensor>
419
+
420
+ </sensor>
421
+ </mujoco>
agibot-challenge-2026/000010/ref_images/hand_left.png ADDED

Git LFS Details

  • SHA256: ef66584cd8f066e132ab0c06fdf156b3242379a58a02516acc445bcd72bfa822
  • Pointer size: 131 Bytes
  • Size of remote file: 346 kB
agibot-challenge-2026/000010/ref_images/hand_right.png ADDED

Git LFS Details

  • SHA256: e92c9990edac44572422c4eff53e4ce32b7e9698f818b207a3b2a5e8b6fc7344
  • Pointer size: 131 Bytes
  • Size of remote file: 368 kB
agibot-challenge-2026/000010/ref_images/head.png ADDED

Git LFS Details

  • SHA256: 64f1d98f65c7ed8cbc38f05f30413847f08364c0a82cfc0627a522f822c94cdf
  • Pointer size: 131 Bytes
  • Size of remote file: 259 kB
agibot-challenge-2026/000010/temporal.json ADDED
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