Datasets:
ArXiv:
License:
| <mujoco model="AgiBot-X2W"> | |
| <compiler angle="radian" eulerseq="XYZ" meshdir="meshes" autolimits="true"/> | |
| <visual> | |
| <global ellipsoidinertia="false"/> | |
| </visual> | |
| <default> | |
| <default class="x2w"> | |
| <site rgba="1 0 0 1" size="0.01" group="5"/> | |
| <joint damping="0.5" armature="0.01" frictionloss="0.1"/> | |
| <default class="visual"> | |
| <geom group="2" type="mesh" contype="0" conaffinity="0" density="0" material="white"/> | |
| </default> | |
| <default class="collision"> | |
| <geom group="3" type="mesh"/> | |
| </default> | |
| </default> | |
| </default> | |
| <asset> | |
| <material name="gray" rgba="0.4 0.4 0.4 1"/> | |
| <material name="black" rgba="0.2 0.2 0.2 1"/> | |
| <material name="orange" rgba="0.9 0.6 0 1"/> | |
| <material name="red" rgba="1 0 0 1"/> | |
| <material name="white" rgba="0.8 0.8 0.8 1"/> | |
| <mesh name="base_w" file="base_w.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="base_g" file="base_g.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="base_b" file="base_b.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="base_r" file="base_r.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="base_collider" file="base_collider.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="folding_lower_b" file="folding_lower_b.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="folding_lower_g" file="folding_lower_g.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="folding_lower_w" file="folding_lower_w.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="folding_upper_w" file="folding_upper_w.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="folding_upper_g" file="folding_upper_g.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="folding_upper_o" file="folding_upper_o.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="waist_pitch_w" file="waist_pitch_w.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="waist_pitch_g" file="waist_pitch_g.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="waist_pitch_b" file="waist_pitch_b.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="waist_pitch_collider" file="waist_pitch_collider.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="torso_yaw_g" file="torso_yaw_g.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="torso_yaw_w" file="torso_yaw_w.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="torso_yaw_collider" file="torso_yaw_collider.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="head_yaw_g" file="head_yaw_g.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="head_pitch_w" file="head_pitch_w.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="head_pitch_b" file="head_pitch_b.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="head_pitch_g" file="head_pitch_g.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="head_pitch_collider" file="head_pitch_collider.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="left_shoulder_pitch_w" file="left_shoulder_pitch_w.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="left_shoulder_roll_w" file="left_shoulder_roll_w.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="left_shoulder_roll_g" file="left_shoulder_roll_g.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="left_shoulder_roll_collider" file="left_shoulder_roll_collider.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="left_shoulder_yaw_w" file="left_shoulder_yaw_w.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="left_shoulder_yaw_collider" file="left_shoulder_yaw_collider.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="left_elbow_pitch_w" file="left_elbow_pitch_w.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="left_elbow_pitch_g" file="left_elbow_pitch_g.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="left_wrist_roll_w" file="left_wrist_roll_w.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="left_wrist_roll_collider" file="left_wrist_roll_collider.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="left_wrist_yaw_g" file="left_wrist_yaw_g.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="left_wrist_pitch_b" file="left_wrist_pitch_b.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="left_wrist_pitch_collider" file="left_wrist_pitch_collider.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="right_shoulder_pitch_w" file="right_shoulder_pitch_w.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="right_shoulder_roll_w" file="right_shoulder_roll_w.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="right_shoulder_roll_g" file="right_shoulder_roll_g.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="right_shoulder_roll_collider" file="right_shoulder_roll_collider.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="right_shoulder_yaw_w" file="right_shoulder_yaw_w.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="right_shoulder_yaw_collider" file="right_shoulder_yaw_collider.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="right_elbow_pitch_w" file="right_elbow_pitch_w.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="right_elbow_pitch_g" file="right_elbow_pitch_g.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="right_wrist_roll_w" file="right_wrist_roll_w.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="right_wrist_roll_collider" file="right_wrist_roll_collider.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="right_wrist_yaw_g" file="right_wrist_yaw_g.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="right_wrist_pitch_b" file="right_wrist_pitch_b.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="right_wrist_pitch_collider" file="right_wrist_pitch_collider.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="left_finger_l_g" file="left_finger_l_g.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="left_finger_l_collider" file="left_finger_l_collider.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="left_finger_r_g" file="left_finger_r_g.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="left_finger_r_collider" file="left_finger_r_collider.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="right_finger_l_g" file="right_finger_l_g.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="right_finger_l_collider" file="right_finger_l_collider.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="right_finger_r_g" file="right_finger_r_g.stl" scale="0.001 0.001 0.001" /> | |
| <mesh name="right_finger_r_collider" file="right_finger_r_collider.stl" scale="0.001 0.001 0.001" /> | |
| </asset> | |
| <worldbody> | |
| <light name="spotlight1" mode="targetbodycom" target="base_link" diffuse="0.3 0.3 0.3" pos="6 0 4" cutoff="30" castshadow="false"/> | |
| <body name="base_link" pos="0 0 0" euler="0 0 0"> | |
| <light name="tracking" mode="trackcom" pos="0 0 2"/> | |
| <freejoint name="floating_base_joint"/> | |
| <geom name="base_collider" class="collision" type="mesh" mesh="base_collider"/> | |
| <geom name="base_w_visual" class="visual" type="mesh" mesh="base_w" pos="0 0 0" euler="0 0 0" material="white"/> | |
| <geom name="base_b_visual" class="visual" type="mesh" mesh="base_b" pos="0 0 0" euler="0 0 0" material="black"/> | |
| <geom name="base_g_visual" class="visual" type="mesh" mesh="base_g" pos="0 0 0" euler="0 0 0" material="gray"/> | |
| <geom name="base_r_visual" class="visual" type="mesh" mesh="base_r" pos="0 0 0" euler="0 0 0" material="red"/> | |
| <inertial mass="33.26195" pos="-0.12851 0.00238 0.12840" fullinertia="0.74641 0.87769 1.40567 -0.00597 -0.01190 0.00353" /> | |
| <!-- <site name="imu_0" pos="0 0 -0.1" group="3"/> --> | |
| <body name="folding_lower_link" pos="0 0 0.22564" euler="0 0 0"> | |
| <joint name="folding_lower_joint" type="hinge" axis="0 1 0" pos="0 0 0" range="0 1.5708" damping='1' armature='0.036864'/> | |
| <geom name="folding_lower_w_visual" class="visual" type="mesh" mesh="folding_lower_w" pos="0 0 0" euler="0 0 0" material="white"/> | |
| <geom name="folding_lower_b_visual" class="visual" type="mesh" mesh="folding_lower_b" pos="0 0 0" euler="0 0 0" material="black"/> | |
| <geom name="folding_lower_g_visual" class="visual" type="mesh" mesh="folding_lower_g" pos="0 0 0" euler="0 0 0" material="gray"/> | |
| <inertial mass="5.51490" pos="-0.26262 -0.00220 0.04026" fullinertia="0.01490 0.11495 0.11142 -0.00466 0.01817 0.00082" /> | |
| <body name="folding_upper_link" pos="-0.35983 0 0.06000" euler="0 0 0"> | |
| <joint name="folding_upper_joint" type="hinge" axis="0 1 0" pos="0 0 0" range="-3.1416 0" damping='1' armature='0.036864'/> | |
| <geom name="folding_upper_w_visual" class="visual" type="mesh" mesh="folding_upper_w" pos="0 0 0" euler="0 0 0" material="white"/> | |
| <geom name="folding_upper_o_visual" class="visual" type="mesh" mesh="folding_upper_o" pos="0 0 0" euler="0 0 0" material="orange"/> | |
| <geom name="folding_upper_g_visual" class="visual" type="mesh" mesh="folding_upper_g" pos="0 0 0" euler="0 0 0" material="gray"/> | |
| <inertial mass="6.19479" pos="0.33051 -0.00164 0.08849" fullinertia="0.04907 0.09999 0.12109 0.00069 -0.02394 0.00025" /> | |
| <body name="waist_pitch_link" pos="0.39656 0 0.11545" euler="0 0 0"> | |
| <joint name="waist_pitch_joint" type="hinge" axis="0 1 0" pos="0 0 0" range="-1.2217 2.7053" damping='1' armature='0.036864'/> | |
| <geom name="waist_pitch_collider" class="collision" type="mesh" mesh="waist_pitch_collider"/> | |
| <geom name="waist_pitch_w_visual" class="visual" type="mesh" mesh="waist_pitch_w" pos="0 0 0" euler="0 0 0" material="white"/> | |
| <geom name="waist_pitch_b_visual" class="visual" type="mesh" mesh="waist_pitch_b" pos="0 0 0" euler="0 0 0" material="black"/> | |
| <geom name="waist_pitch_g_visual" class="visual" type="mesh" mesh="waist_pitch_g" pos="0 0 0" euler="0 0 0" material="gray"/> | |
| <inertial mass="4.24946" pos="0.00176 -0.00233 0.06486" fullinertia="0.02085 0.01676 0.01334 -0.00002 0.00020 -0.00065" /> | |
| <body name="torso_yaw_link" pos="0 0 0.15827" euler="0 0 0"> | |
| <joint name="torso_yaw_link_joint" type="hinge" axis="0 0 1" pos="0 0 0" range="-1.8326 3.7509" damping='1' armature='0.036864'/> | |
| <geom name="torso_yaw_collider" class="collision" type="mesh" mesh="torso_yaw_collider"/> | |
| <geom name="torso_yaw_w_visual" class="visual" type="mesh" mesh="torso_yaw_w" pos="0 0 0" euler="0 0 0" material="white"/> | |
| <geom name="torso_yaw_g_visual" class="visual" type="mesh" mesh="torso_yaw_g" pos="0 0 0" euler="0 0 0" material="gray"/> | |
| <inertial mass="6.66651" pos="-0.00146 -0.00004 0.11800" fullinertia="0.05759 0.04762 0.02808 0 0.00268 -0.00002" /> | |
| <body name="head_yaw_link" pos="0.00959 0 0.23746" euler="0 0 0"> | |
| <joint name="head_yaw_joint" type="hinge" axis="0 0 1" pos="0 0 0" range="-0.6109 0.6109" damping='1' armature='0.036864'/> | |
| <geom name="head_yaw_g_visual" class="visual" type="mesh" mesh="head_yaw_g" pos="0 0 0" euler="0 0 0" material="gray"/> | |
| <inertial mass="1.14721" pos="-0.00064 -0.00072 0.00958" fullinertia="0.00052 0.00051 0.00044 0.00001 -0.00002 0.00007" /> | |
| <body name="head_pitch_link" pos="0.01055 0 0.09910" euler="0 0 0"> | |
| <joint name="head_pitch_joint" type="hinge" axis="0 1 0" pos="0 0 0" range="-0.1745 0.5236" damping='1' armature='0.036864'/> | |
| <geom name="head_pitch_collider" class="collision" type="mesh" mesh="head_pitch_collider"/> | |
| <geom name="head_pitch_w_visual" class="visual" type="mesh" mesh="head_pitch_w" pos="0 0 0" euler="0 0 0" material="white"/> | |
| <geom name="head_pitch_b_visual" class="visual" type="mesh" mesh="head_pitch_b" pos="0 0 0" euler="0 0 0" material="black"/> | |
| <geom name="head_pitch_g_visual" class="visual" type="mesh" mesh="head_pitch_g" pos="0 0 0" euler="0 0 0" material="gray"/> | |
| <inertial mass="0.70903" pos="0.00548 0 0.01032" fullinertia="0.00325 0.00311 0.00314 0 -0.00008 0" /> | |
| </body> | |
| </body> | |
| <body name="left_shoulder_pitch_link" pos="-0.00849 0.08926 0.17921" euler="0.09599 0 0"> | |
| <joint name="left_shoulder_pitch_joint" type="hinge" axis="0 1 0" pos="0 0 0" range="-2.9673 2.9673" damping='1' armature='0.036864'/> | |
| <geom name="left_shoulder_pitch_w_visual" class="visual" type="mesh" mesh="left_shoulder_pitch_w" pos="0 0 0" euler="0 0 0" material="white"/> | |
| <inertial mass="0.96109" pos="0.00007 0.07046 0.00004" fullinertia="0.00118 0.00064 0.00104 0.00001 0 0" /> | |
| <body name="left_shoulder_roll_link" pos="0 0.07800 0" euler="-0.09599 0 0"> | |
| <joint name="left_shoulder_roll_joint" type="hinge" axis="1 0 0" pos="0 0 0" range="-0.2618 3.4000" damping='1' armature='0.036864'/> | |
| <geom name="left_shoulder_roll_collider" class="collision" type="mesh" mesh="left_shoulder_roll_collider"/> | |
| <geom name="left_shoulder_roll_w_visual" class="visual" type="mesh" mesh="left_shoulder_roll_w" pos="0 0 0" euler="0 0 0" material="white"/> | |
| <geom name="left_shoulder_roll_g_visual" class="visual" type="mesh" mesh="left_shoulder_roll_g" pos="0 0 0" euler="0 0 0" material="gray"/> | |
| <inertial mass="0.30742" pos="0.00215 0.00060 -0.03821" fullinertia="0.00056 0.00066 0.00039 0 -0.00003 0" /> | |
| <body name="left_shoulder_yaw_link" pos="-0.00002 0 -0.08050" euler="0 0 0"> | |
| <joint name="left_shoulder_yaw_joint" type="hinge" axis="0 0 1" pos="0 0 0" range="-2.7925 2.7925" damping='1' armature='0.036864'/> | |
| <geom name="left_shoulder_yaw_collider" class="collision" type="mesh" mesh="left_shoulder_yaw_collider"/> | |
| <geom name="left_shoulder_yaw_w_visual" class="visual" type="mesh" mesh="left_shoulder_yaw_w" pos="0 0 0" euler="0 0 0" material="white"/> | |
| <inertial mass="1.21188" pos="0.00948 -0.00026 -0.07346" fullinertia="0.00283 0.00293 0.00086 0.00001 0.00050 -0.00003" /> | |
| <body name="left_elbow_pitch_link" pos="0.01999 0 -0.11770" euler="0 0 0"> | |
| <joint name="left_elbow_pitch_joint" type="hinge" axis="0 1 0" pos="0 0 0" range="-0.9599 1.5708" damping='1' armature='0.036864'/> | |
| <geom name="left_elbow_pitch_w_visual" class="visual" type="mesh" mesh="left_elbow_pitch_w" pos="0 0 0" euler="0 0 0" material="white"/> | |
| <geom name="left_elbow_pitch_g_visual" class="visual" type="mesh" mesh="left_elbow_pitch_g" pos="0 0 0" euler="0 0 0" material="gray"/> | |
| <inertial mass="0.23314" pos="0.02548 0.00256 -0.01793" fullinertia="0.00030 0.00025 0.00035 0.00002 0.00003 -0.00002" /> | |
| <body name="left_wrist_roll_link" pos="0.18449 -0.00001 -0.02004" euler="0 0 0"> | |
| <joint name="left_wrist_roll_joint" type="hinge" axis="1 0 0" pos="0 0 0" range="-2.8798 2.8798" damping='1' armature='0.036864'/> | |
| <geom name="left_wrist_roll_collider" class="collision" type="mesh" mesh="left_wrist_roll_collider"/> | |
| <geom name="left_wrist_roll_w_visual" class="visual" type="mesh" mesh="left_wrist_roll_w" pos="0 0 0" euler="0 0 0" material="white"/> | |
| <inertial mass="0.89591" pos="-0.07562 0.00002 0.00449" fullinertia="0.00042 0.00103 0.00099 0 -0.00014 0" /> | |
| <body name="left_wrist_yaw_link" pos="0 0 0" euler="0 0 0"> | |
| <joint name="left_wrist_yaw_joint" type="hinge" axis="0 0 1" pos="0 0 0" range="-1.8326 0.2618" damping='1' armature='0.036864'/> | |
| <geom name="left_wrist_yaw_g_visual" class="visual" type="mesh" mesh="left_wrist_yaw_g" pos="0 0 0" euler="0 0 0" material="gray"/> | |
| <inertial mass="0.28827" pos="-0.00002 0.00224 0.00001" fullinertia="0.00006 0.00007 0.00006 0 0 0" /> | |
| <body name="left_wrist_pitch_link" pos="0 0 0" euler="0 0 0"> | |
| <joint name="left_wrist_pitch_joint" type="hinge" axis="0 1 0" pos="0 0 0" range="-0.2618 1.5708" damping='1' armature='0.036864'/> | |
| <geom name="left_wrist_pitch_collider" class="collision" type="mesh" mesh="left_wrist_pitch_collider"/> | |
| <geom name="left_wrist_pitch_b_visual" class="visual" type="mesh" mesh="left_wrist_pitch_b" pos="0 0 0" euler="0 0 0" material="black"/> | |
| <inertial mass="0.13270" pos="-0.00266 0.02150 0" fullinertia="0.00006 0.00007 0.00006 0 0 0" /> | |
| <body name="left_finger_l_link" pos="0.05438 0.00002 -0.00004" euler="0 0 0"> | |
| <joint name="left_finger_l_joint" type="slide" axis="0 1 0" pos="0 0 0" range="0 0.02"/> | |
| <geom name="left_finger_l_collider" class="collision" type="mesh" mesh="left_finger_l_collider"/> | |
| <geom name="left_finger_l_g_visual" class="visual" type="mesh" mesh="left_finger_l_g" pos="0 0 0" euler="0 0 0" /> | |
| <inertial mass="0.05897" pos="0.05040 0.00923 0.00008" fullinertia="0.00001 0.00005 0.00005 0 0 0" /> | |
| </body> | |
| <body name="left_finger_r_link" pos="0.05438 0.00002 -0.00004" euler="0 0 0"> | |
| <joint name="left_finger_r_joint" type="slide" axis="0 1 0" pos="0 0 0" range="-0.02 0"/> | |
| <geom name="left_finger_r_collider" class="collision" type="mesh" mesh="left_finger_r_collider"/> | |
| <geom name="left_finger_r_g_visual" class="visual" type="mesh" mesh="left_finger_r_g" pos="0 0 0" euler="0 0 0" /> | |
| <inertial mass="0.05897" pos="0.05053 -0.00892 0.00004" fullinertia="0.00001 0.00005 0.00005 0 0 0" /> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="right_shoulder_pitch_link" pos="-0.00849 -0.08926 0.17921" euler="-0.09599 0 0"> | |
| <joint name="right_shoulder_pitch_joint" type="hinge" axis="0 1 0" pos="0 0 0" range="-2.9673 2.9673" damping='1' armature='0.036864'/> | |
| <geom name="right_shoulder_pitch_w_visual" class="visual" type="mesh" mesh="right_shoulder_pitch_w" pos="0 0 0" euler="0 0 0" material="white"/> | |
| <inertial mass="0.96164" pos="0.00007 -0.07043 0.00004" fullinertia="0.00118 0.00064 0.00104 -0.00001 0 0" /> | |
| <body name="right_shoulder_roll_link" pos="0 -0.07800 0" euler="0.09599 0 0"> | |
| <joint name="right_shoulder_roll_joint" type="hinge" axis="1 0 0" pos="0 0 0" range="-3.4000 0.2618" damping='1' armature='0.036864'/> | |
| <geom name="right_shoulder_roll_collider" class="collision" type="mesh" mesh="right_shoulder_roll_collider"/> | |
| <geom name="right_shoulder_roll_w_visual" class="visual" type="mesh" mesh="right_shoulder_roll_w" pos="0 0 0" euler="0 0 0" material="white"/> | |
| <geom name="right_shoulder_roll_g_visual" class="visual" type="mesh" mesh="right_shoulder_roll_g" pos="0 0 0" euler="0 0 0" material="gray"/> | |
| <inertial mass="0.30742" pos="0.00215 -0.00060 -0.03821" fullinertia="0.00056 0.00066 0.00039 0 -0.00003 0" /> | |
| <body name="right_shoulder_yaw_link" pos="-0.00002 0 -0.08050" euler="0 0 0"> | |
| <joint name="right_shoulder_yaw_joint" type="hinge" axis="0 0 1" pos="0 0 0" range="-2.7925 2.7925" damping='1' armature='0.036864'/> | |
| <geom name="right_shoulder_yaw_collider" class="collision" type="mesh" mesh="right_shoulder_yaw_collider"/> | |
| <geom name="right_shoulder_yaw_w_visual" class="visual" type="mesh" mesh="right_shoulder_yaw_w" pos="0 0 0" euler="0 0 0" material="white"/> | |
| <inertial mass="1.21189" pos="0.00948 0.00026 -0.07346" fullinertia="0.00283 0.00293 0.00086 -0.00001 0.00050 0.00003" /> | |
| <body name="right_elbow_pitch_link" pos="0.01999 0 -0.11770" euler="0 0 0"> | |
| <joint name="right_elbow_pitch_joint" type="hinge" axis="0 1 0" pos="0 0 0" range="-0.9599 1.5708" damping='1' armature='0.036864'/> | |
| <geom name="right_elbow_pitch_w_visual" class="visual" type="mesh" mesh="right_elbow_pitch_w" pos="0 0 0" euler="0 0 0" material="white"/> | |
| <geom name="right_elbow_pitch_g_visual" class="visual" type="mesh" mesh="right_elbow_pitch_g" pos="0 0 0" euler="0 0 0" material="gray"/> | |
| <inertial mass="0.23314" pos="0.02548 -0.00256 -0.01793" fullinertia="0.00030 0.00025 0.00035 -0.00002 0.00003 0.00002" /> | |
| <body name="right_wrist_roll_link" pos="0.18449 0.00001 -0.02004" euler="0 0 0"> | |
| <joint name="right_wrist_roll_joint" type="hinge" axis="1 0 0" pos="0 0 0" range="-2.8798 2.8798" damping='1' armature='0.036864'/> | |
| <geom name="right_wrist_roll_collider" class="collision" type="mesh" mesh="right_wrist_roll_collider"/> | |
| <geom name="right_wrist_roll_w_visual" class="visual" type="mesh" mesh="right_wrist_roll_w" pos="0 0 0" euler="0 0 0" material="white"/> | |
| <inertial mass="0.89591" pos="-0.07562 -0.00002 0.00449" fullinertia="0.00042 0.00103 0.00099 0 -0.00014 0" /> | |
| <body name="right_wrist_yaw_link" pos="0 0 0" euler="0 0 0"> | |
| <joint name="right_wrist_yaw_joint" type="hinge" axis="0 0 1" pos="0 0 0" range="-0.2618 1.8326" damping='1' armature='0.036864'/> | |
| <geom name="right_wrist_yaw_g_visual" class="visual" type="mesh" mesh="right_wrist_yaw_g" pos="0 0 0" euler="0 0 0" material="gray"/> | |
| <inertial mass="0.28827" pos="-0.00002 -0.00224 0.00001" fullinertia="0.00006 0.00007 0.00006 0 0 0" /> | |
| <body name="right_wrist_pitch_link" pos="0 0 0" euler="0 0 0"> | |
| <joint name="right_wrist_pitch_joint" type="hinge" axis="0 1 0" pos="0 0 0" range="-0.2618 1.5708" damping='1' armature='0.036864'/> | |
| <geom name="right_wrist_pitch_collider" class="collision" type="mesh" mesh="right_wrist_pitch_collider"/> | |
| <geom name="right_wrist_pitch_b_visual" class="visual" type="mesh" mesh="right_wrist_pitch_b" pos="0 0 0" euler="0 0 0" material="black"/> | |
| <inertial mass="0.13270" pos="-0.00266 -0.02150 0" fullinertia="0.00006 0.00007 0.00006 0 0 0" /> | |
| <body name="right_finger_l" pos="0.05446 0 0.00002" euler="0 0 0"> | |
| <joint name="right_finger_l_joint" type="slide" axis="0 1 0" pos="0 0 0" range="0 0.02"/> | |
| <geom name="right_finger_l_collider" class="collision" type="mesh" mesh="right_finger_l_collider"/> | |
| <geom name="right_finger_l_g_visual" class="visual" type="mesh" mesh="right_finger_l_g" pos="0 0 0" euler="0 0 0" /> | |
| <inertial mass="0.05897" pos="0.05053 0.00892 0.00004" fullinertia="0.00001 0.00005 0.00005 0 0 0" /> | |
| </body> | |
| <body name="right_finger_r_link" pos="0.05446 0 0.00002" euler="0 0 0"> | |
| <joint name="right_finger_r_joint" type="slide" axis="0 1 0" pos="0 0 0" range="-0.02 0"/> | |
| <geom name="right_finger_r_collider" class="collision" type="mesh" mesh="right_finger_r_collider"/> | |
| <geom name="right_finger_r_g_visual" class="visual" type="mesh" mesh="right_finger_r_g" pos="0 0 0" euler="0 0 0" /> | |
| <inertial mass="0.05897" pos="0.05040 -0.00923 0.00008" fullinertia="0.00001 0.00005 0.00005 0 0 0" /> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </worldbody> | |
| <actuator> | |
| <motor class="x2w" name="folding_lower_joint" joint="folding_lower_joint" ctrlrange="-140 140"/> | |
| <motor class="x2w" name="folding_upper_joint" joint="folding_upper_joint" ctrlrange="-140 140"/> | |
| <motor class="x2w" name="waist_pitch_joint" joint="waist_pitch_joint" ctrlrange="-60 60"/> | |
| <motor class="x2w" name="torso_yaw_link_joint" joint="torso_yaw_link_joint" ctrlrange="-60 60"/> | |
| <motor class="x2w" name="head_yaw_joint" joint="head_yaw_joint" ctrlrange="-3 3"/> | |
| <motor class="x2w" name="head_pitch_joint" joint="head_pitch_joint" ctrlrange="-3 3"/> | |
| <motor class="x2w" name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint" ctrlrange="-140 140"/> | |
| <motor class="x2w" name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint" ctrlrange="-36 36"/> | |
| <motor class="x2w" name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint" ctrlrange="-24 24"/> | |
| <motor class="x2w" name="left_elbow_pitch_joint" joint="left_elbow_pitch_joint" ctrlrange="-24 24"/> | |
| <motor class="x2w" name="left_wrist_roll_joint" joint="left_wrist_roll_joint" ctrlrange="-40 40"/> | |
| <motor class="x2w" name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint" ctrlrange="-15 15"/> | |
| <motor class="x2w" name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint" ctrlrange="-3 3"/> | |
| <motor class="x2w" name="left_finger_l_joint" joint="left_finger_l_joint" ctrlrange="-30 30"/> | |
| <motor class="x2w" name="left_finger_r_joint" joint="left_finger_r_joint" ctrlrange="-30 30"/> | |
| <motor class="x2w" name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint" ctrlrange="-140 140"/> | |
| <motor class="x2w" name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint" ctrlrange="-36 36"/> | |
| <motor class="x2w" name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint" ctrlrange="-24 24"/> | |
| <motor class="x2w" name="right_elbow_pitch_joint" joint="right_elbow_pitch_joint" ctrlrange="-24 24"/> | |
| <motor class="x2w" name="right_wrist_roll_joint" joint="right_wrist_roll_joint" ctrlrange="-40 40"/> | |
| <motor class="x2w" name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint" ctrlrange="-15 15"/> | |
| <motor class="x2w" name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint" ctrlrange="-3 3"/> | |
| <motor class="x2w" name="right_finger_l_joint" joint="right_finger_l_joint" ctrlrange="-30 30"/> | |
| <motor class="x2w" name="right_finger_r_joint" joint="right_finger_r_joint" ctrlrange="-30 30"/> | |
| </actuator> | |
| <sensor> | |
| <!-- <gyro name="imu0_gyro" site="imu_0" cutoff="7.85"/> | |
| <accelerometer name="imu0_acc" site="imu_0" cutoff="157"/> | |
| <framequat name="imu0_quat" objtype="site" objname="imu_0"/> --> | |
| </sensor> | |
| </mujoco> |