Mirror humanoid-description from GitHub
b1cfd82 verified 8 days ago
28 kB
<mujoco model="HU_D04_01">
  <compiler angle="radian" meshdir='../meshes/HU_D04_01/'/>
  <size njmax="5000" nconmax="1000"/>

  <default>
    <light castshadow="false" diffuse="1 1 1" />
    <camera fovy="60" />
    <default class="visual">
      <geom contype="0" conaffinity="0" group="1" type="mesh" rgba="0.8 0.8 0.8 1.0" />
    </default>
    <joint damping="0.01" margin="0.0001" solreflimit="0.002 1"/>
    <geom contype="1" conaffinity="1" friction="1.0 0.3 0.3" rgba="0.5 0.6 0.7 0.5" margin="0.001" group="0" />
    <equality solref="0.001  1" />
  </default>

  <option timestep="0.001" />
  <!-- <option>
    <flag sensornoise="enable" />
  </option> -->

  <visual>
    <rgba com="0.502 1.0 0 1.0" contactpoint="0.5 0.1 0.8 0.4" contactforce="0.2 0.98 0.2 0.8" />
    <scale com="0.2" forcewidth="0.05" contactwidth="0.10" contactheight="0.04" />
  </visual>

  <asset>
    <mesh name="base_link" file="base_link.STL"/>
    <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
    <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
    <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
    <mesh name="left_knee_link" file="left_knee_link.STL"/>
    <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
    <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
    <mesh name="left_A_achilles_link" file="left_A_achilles_link.STL"/>
    <mesh name="left_A_achilles_rod_link" file="left_A_achilles_rod_link.STL"/>
    <mesh name="left_B_achilles_link" file="left_B_achilles_link.STL"/>
    <mesh name="left_B_achilles_rod_link" file="left_B_achilles_rod_link.STL"/>
    <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
    <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL"/>
    <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
    <mesh name="right_knee_link" file="right_knee_link.STL"/>
    <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
    <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
    <mesh name="right_A_achilles_link" file="right_A_achilles_link.STL"/>
    <mesh name="right_A_achilles_rod_link" file="right_A_achilles_rod_link.STL"/>
    <mesh name="right_B_achilles_link" file="right_B_achilles_link.STL"/>
    <mesh name="right_B_achilles_rod_link" file="right_B_achilles_rod_link.STL"/>
    <mesh name="waist_yaw_link" file="waist_yaw_link.STL"/>
    <mesh name="waist_roll_link" file="waist_roll_link.STL"/>
    <mesh name="waist_pitch_link" file="waist_pitch_link.STL"/>
    <mesh name="waist_A_link" file="waist_A_link.STL"/>
    <mesh name="waist_A_rod_link" file="waist_A_rod_link.STL"/>
    <mesh name="waist_B_link" file="waist_B_link.STL"/>
    <mesh name="waist_B_rod_link" file="waist_B_rod_link.STL"/>
    <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
    <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
    <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
    <mesh name="left_elbow_link" file="left_elbow_link.STL"/>
    <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
    <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
    <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
    <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
    <mesh name="right_elbow_link" file="right_elbow_link.STL"/>
    <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
    <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
    <mesh name="head_yaw_link" file="neck_yaw_link.STL"/>
    <mesh name="head_pitch_link" file="neck_pitch_link.STL"/>
  </asset>

  <asset>
    <texture type="skybox" builtin="gradient" width="512" height="512" rgb1="1.0 1.0 1.0" rgb2="1.0 1.0 1.0" />
    <texture name="plane" type="2d" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" width="512" height="512" mark="cross" markrgb="0 0 0" />
    <material name="plane" reflectance="0.0" texture="plane" texrepeat="3 3" texuniform="true" />
  </asset>

  <worldbody>
    <geom name="floor" pos="0 0 0" euler="0 0 0" size="0 0 1" type="plane" material="plane" condim="3" conaffinity="1" contype="1" rgba="1 1 1 1" />
    <light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10" />
    <camera name="track" mode="trackcom" pos="0 -2.3 1.6" xyaxes="1 0 0 0 0.707 0.707" />

    <body name="base_link" pos="0 0 1.0">
      <inertial pos="0.002916 -8e-06 0.041359" quat="0.612805 0.613066 -0.352574 0.352579" mass="5.90496" diaginertia="0.0416288 0.0370522 0.013916"/>
      <joint name="floating_base_joint" type="free" damping="0.00000001" stiffness="0.000000001"/>
      <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="base_link"/>
      <geom pos="-0.06 0 0.055" euler="0 0 0" size="0.047 0.04" type="cylinder" />
      <geom pos="0.015 0.08 0.028" euler="1.15 0 0" size="0.055 0.03" type="cylinder" />
      <geom pos="0.015 -0.08 0.028" euler="-1.15 0 0" size="0.055 0.03" type="cylinder" />
      <site name="imu" rgba="0 1 0 1" pos="0 0 0" />

      <!-- left leg -->
      <body name="left_hip_pitch_link" pos="0.017007 0.1283 0.0081917">
        <inertial pos="0.0019 0.001536 -0.086008" quat="0.707518 0.0266383 1.73517e-05 0.706193" mass="2.25501" diaginertia="0.00381732 0.00323349 0.00288619"/>
        <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 0.906308 -0.422619" limited="true" range="-2.618 2.618" armature="0.159221"/>
        <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="left_hip_pitch_link"/>
        <geom type="cylinder" pos="-0.0107 0.0012 -0.0916" size="0.05 0.06" euler="0 1.57 0" />
        <body name="left_hip_roll_link" pos="-0.01 0.0016596 -0.0920417">
          <inertial pos="0.00075 1e-05 -0.118609" quat="0.711183 0.0283968 0.0283187 0.701862" mass="2.12181" diaginertia="0.00426704 0.00404598 0.00233098"/>
          <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8727 2.094" armature="0.159221"/>
          <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="left_hip_roll_link"/>
          <body name="left_hip_yaw_link" pos="0 0 -0.1774">
            <inertial pos="0.006364 0.000963 -0.143266" quat="0.708658 0.0234255 0.019567 0.704891" mass="2.9941" diaginertia="0.0246096 0.0241756 0.00478379"/>
            <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.618" armature="0.159221"/>
            <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="left_hip_yaw_link"/>
            <geom type="capsule" pos="0.015 -0.0 -0.0331" size="0.05 0.1" euler="0 -0.1 0" />
            <body name="left_knee_link" pos="0 0 -0.1976">
              <inertial pos="0.007614 0.005361 -0.142099" quat="0.988682 -0.0432819 0.00451233 0.143575" mass="2.95837" diaginertia="0.0278704 0.0275597 0.00283291"/>
              <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.087 2.583" armature="0.159221"/>
              <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="left_knee_link"/>
              <geom type="capsule" pos="0.015 0.0 -0.2" size="0.035 0.14" euler="0 0.1 0" />
              <body name="left_ankle_pitch_link" pos="0 0 -0.385">
                <inertial pos="0 0 0.001077" quat="0.707107 0.707107 0 0" mass="0.042944" diaginertia="4e-06 4e-06 2e-06"/>
                <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.012 0.611" armature="0.083508"/>
                <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="left_ankle_pitch_link"/>
                <body name="left_ankle_roll_link" pos="0 0 0">
                  <inertial pos="0.0097384 0 -0.0353129" quat="0.000738839 0.742709 0.000165367 0.669614" mass="1.024" diaginertia="0.00446858 0.00421783 0.000811547"/>
                  <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.436 0.436" armature="0.083508"/>
                  <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="left_ankle_roll_link"/>
                  <geom name="left_foot"  pos="0.018 0 -0.0535" size="0.13 0.047 0.01" type="box" rgba="0 0.4 0 0.1" />

                  <body name="contact_foot_heel_L" pos="-0.106 0 -0.0625">
                    <inertial pos="0.0 0.0 0.0" quat="1 0 0 0" mass="0.00001" diaginertia="0.00000000001 0.00000000001 0.00000000001"/>
                    <geom name="contact_foot_heel_L" class="visual" size="0.003" type="sphere" rgba="1 0 0 1"/>
                  </body>
                  <body name="contact_foot_center_L" pos="0.0 0 -0.0625">
                    <inertial pos="0.0 0.0 0.0" quat="1 0 0 0" mass="0.00001" diaginertia="0.00000000001 0.00000000001 0.00000000001"/>
                    <geom name="contact_foot_center_L" class="visual" size="0.003" type="sphere" rgba="1 0 0 1"/>
                  </body>
                  <body name="contact_foot_tip_L" pos="0.154 0 -0.0625">
                    <inertial pos="0.0 0.0 0.0" quat="1 0 0 0" mass="0.00001" diaginertia="0.00000000001 0.00000000001 0.00000000001"/>
                    <geom name="contact_foot_tip_L" class="visual" size="0.003" type="sphere" rgba="1 0 0 1"/>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>

      <!-- right leg -->
      <body name="right_hip_pitch_link" pos="0.017007 -0.1283 0.0081917">
        <inertial pos="0.0019 -0.001536 -0.086008" quat="0.706193 1.73517e-05 0.0266383 0.707518" mass="2.25501" diaginertia="0.00381732 0.00323349 0.00288619"/>
        <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 0.906308 0.422619" limited="true" range="-2.618 2.618" armature="0.159221"/>
        <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="right_hip_pitch_link"/>
        <geom type="cylinder" pos="-0.0107 -0.0012 -0.0916" size="0.05 0.06" euler="0 1.57 0" />
        <body name="right_hip_roll_link" pos="-0.01 -0.0016596 -0.0920417">
          <inertial pos="0.00075 -1e-05 -0.118609" quat="0.701862 0.0283187 0.0283968 0.711183" mass="2.12181" diaginertia="0.00426704 0.00404598 0.00233098"/>
          <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-2.094 0.8727" armature="0.159221"/>
          <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="right_hip_roll_link"/>
          <body name="right_hip_yaw_link" pos="0 0 -0.1774">
            <inertial pos="0.006364 -0.000963 -0.143266" quat="0.704891 0.019567 0.0234255 0.708658" mass="2.9941" diaginertia="0.0246096 0.0241756 0.00478379"/>
            <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.618" armature="0.159221"/>
            <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="right_hip_yaw_link"/>
            <geom type="capsule" pos="0.015 -0.0 -0.0331" size="0.05 0.1" euler="0 -0.1 0" />
            <body name="right_knee_link" pos="0 0 -0.1976">
              <inertial pos="0.007614 -0.005361 -0.142099" quat="0.988682 0.0432819 0.00451233 -0.143575" mass="2.95837" diaginertia="0.0278704 0.0275597 0.00283291"/>
              <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.087 2.583" armature="0.159221"/>
              <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="right_knee_link"/>
              <geom type="capsule" pos="0.015 0.0 -0.2" size="0.035 0.14" euler="0 0.1 0" />
              <body name="right_ankle_pitch_link" pos="0 0 -0.385">
                <inertial pos="0 0 0.001077" quat="0.707107 0.707107 0 0" mass="0.042944" diaginertia="4e-06 4e-06 2e-06"/>
                <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.012 0.611" armature="0.083508"/>
                <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="right_ankle_pitch_link"/>
                <body name="right_ankle_roll_link" pos="0 0 0">
                  <inertial pos="0.0097384 0 -0.0353129" quat="-0.000738839 0.742709 -0.000165367 0.669614" mass="1.024" diaginertia="0.00446858 0.00421783 0.000811547"/>
                  <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.436 0.436" armature="0.083508"/>
                  <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="right_ankle_roll_link"/>
                  <geom name="right_foot"  pos="0.018 0 -0.0535" size="0.13 0.047 0.01" type="box" rgba="0 0.4 0 0.1" />

                  <body name="contact_foot_heel_R" pos="-0.106 0 -0.0625">
                    <inertial pos="0.0 0.0 0.0" quat="1 0 0 0" mass="0.00001" diaginertia="0.00000000001 0.00000000001 0.00000000001"/>
                    <geom name="contact_foot_heel_R" class="visual" size="0.003" type="sphere" rgba="1 0 0 1"/>
                  </body>
                  <body name="contact_foot_center_R" pos="0.0 0 -0.0625">
                    <inertial pos="0.0 0.0 0.0" quat="1 0 0 0" mass="0.00001" diaginertia="0.00000000001 0.00000000001 0.00000000001"/>
                    <geom name="contact_foot_center_R" class="visual" size="0.003" type="sphere" rgba="1 0 0 1"/>
                  </body>
                  <body name="contact_foot_tip_R" pos="0.154 0 -0.0625">
                    <inertial pos="0.0 0.0 0.0" quat="1 0 0 0" mass="0.00001" diaginertia="0.00000000001 0.00000000001 0.00000000001"/>
                    <geom name="contact_foot_tip_R" class="visual" size="0.003" type="sphere" rgba="1 0 0 1"/>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>

      <!-- waist -->
      <body name="waist_yaw_link" pos="0 0 0.10239">
        <inertial pos="0.019885 -0.000163 0.029632" quat="0.00532361 0.693156 0.0120982 0.720666" mass="0.654749" diaginertia="0.00115684 0.00110802 0.000615135"/>
        <joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.618" armature="0.083508"/>
        <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="waist_yaw_link"/>
        <body name="waist_roll_link" pos="0 0 0.057">
          <inertial pos="0 0 -0.000149" quat="0.5 0.5 -0.5 0.5" mass="0.291501" diaginertia="0.000164 0.00016 3.6e-05"/>
          <joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.524 0.524" armature="0.083508"/>
          <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="waist_roll_link"/>
          <body name="waist_pitch_link" pos="0 0 0">
            <inertial pos="-0.006815 3.8e-05 0.196229" quat="0.999972 -0.000918368 -0.00735428 0.000965187" mass="11.8822" diaginertia="0.169245 0.136241 0.104444"/>
            <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.524 0.785" armature="0.083508"/>
            <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="waist_pitch_link"/>
            <geom type="capsule" pos="-0.006 0 0.25681" size="0.11 0.055" euler="1.57 0 0" />
            <geom type="capsule" pos="-0.03 0 0.07" size="0.06 0.06" euler="1.57 0 0" />
            <geom type="capsule" pos="0.065 0 0.1" size="0.03 0.05" euler="1.57 0 0" />

            <!-- head -->
            <body name="head_yaw_link" pos="-0.013 0 0.3882">
              <inertial pos="-7e-05 0.002132 0.037884" quat="0.990388 0.0534065 -0.0629858 0.110957" mass="0.35819" diaginertia="0.000163282 0.000162189 0.000145528"/>
              <joint name="head_yaw_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-0.785 0.785" armature="0.016608"/>
              <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="head_yaw_link"/>
              <body name="head_pitch_link" pos="0 0 0.0395">
                <inertial pos="0.010255 -0.000319 0.069397" quat="0.552937 0.549111 -0.444832 0.441432" mass="0.776041" diaginertia="0.00353783 0.00260718 0.00233699"/>
                <joint name="head_pitch_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.524 0.785" armature="0.016608"/>
                <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="head_pitch_link"/>
                <geom type="box" pos="0.0077 0 0.072" size="0.05 0.075 0.04" euler="0 0.17 0" />
              </body>
            </body>

            <!-- left arm -->
            <body name="left_shoulder_pitch_link" pos="0 0.1589 0.2822">
              <inertial pos="0.003151 0.031104 -2.2e-05" quat="-0.0676949 0.703859 0.0676949 0.703859" mass="0.244765" diaginertia="0.000429 0.000371465 0.000248535"/>
              <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.792 2.792" armature="0.040771"/>
              <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="left_shoulder_pitch_link"/>
              <body name="left_shoulder_roll_link" pos="0 0.055 0">
                <inertial pos="0.003525 8.8e-05 -0.046695" quat="0.999352 0.000207001 0.0359383 -0.00202758" mass="1.74074" diaginertia="0.00496658 0.004931 0.00136542"/>
                <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.087 3.229" armature="0.040771"/>
                <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="left_shoulder_roll_link"/>
                <geom type="cylinder" pos="0 0 0" size="0.04 0.038" euler="0 1.57 0" />
                <geom type="cylinder" pos="0 0 -0.082" size="0.04 0.035" euler="0 0 0" />
                <body name="left_shoulder_yaw_link" pos="0 0 -0.1306">
                  <inertial pos="-0.010067 0.003571 -0.065207" quat="0.997939 0.0490395 0.020919 -0.0357061" mass="0.307657" diaginertia="0.000875418 0.00074071 0.000400871"/>
                  <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-3.403 1.571" armature="0.040771"/>
                  <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="left_shoulder_yaw_link"/>
                  <body name="left_elbow_link" pos="0 0 -0.1157">
                    <inertial pos="5.7e-05 0.004497 -0.027441" quat="0.66133 -0.0245278 0.0213656 0.74939" mass="1.27546" diaginertia="0.00288485 0.00285163 0.000879522"/>
                    <joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.443 1.571" armature="0.040771"/>
                    <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="left_elbow_link"/>
                    <geom type="cylinder" pos="0 0 0" size="0.0425 0.04" euler="1.57 0  0" />
                    <geom type="cylinder" pos="0 0 -0.082" size="0.0375 0.025" euler="0 0 0" />
                    <body name="left_wrist_yaw_link" pos="0 0.001 -0.1188">
                      <inertial pos="-0.00242 0.000421 -0.01484" quat="0.713389 0.700768 0 0" mass="0.132906" diaginertia="0.000145 0.000142018 8.59821e-05"/>
                      <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-2.356 0.785" armature="0.016608"/>
                      <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="left_wrist_yaw_link"/>
                      <!-- <geom type="capsule" pos="0 0 0" size="0.04 0.03" euler="0 1.57 0" /> -->
                      <body name="left_wrist_pitch_link" pos="0 0 -0.0342">
                        <inertial pos="0.001436 0.001303 -0.032233" quat="0.706358 -0.0277376 -0.00233692 0.707308" mass="0.658602" diaginertia="0.000963862 0.000953193 0.000293945"/>
                        <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.571 1.571" armature="0.016608"/>
                        <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="left_wrist_pitch_link"/>
                        <geom type="cylinder" pos="0 0 0" size="0.0275 0.035" euler="1.57 0  0" />
                        <geom type="cylinder" pos="0 0 -0.065" size="0.029 0.03" euler="0 1.57 0" />
                        <body name="left_wrist_roll_link" pos="0 0 -0.065">
                          <inertial pos="0.00467891 -0.00203899 -0.0886705" quat="0.763154 -0.0294715 0.00103369 0.645543" mass="0.583445" diaginertia="0.00228342 0.00212391 0.000439146"/>
                          <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-1.571 1.571" armature="0.016608"/>
                          <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="left_wrist_roll_link"/>
                          <geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="left_wrist_roll_link"/>
                          <!-- <geom type="box" pos="0 0 -0.04226" size="0.01 0.02 0.0275" euler="0 0 0" />
                          <geom type="box" pos="0 0 -0.116" size="0.01 0.05 0.03" euler="0 0 0" /> -->
                          <body name="left_hand_contact" pos="0.0 0 -0.058">
                            <inertial pos="0.0 0.0 0.0" quat="1 0 0 0" mass="0.00001" diaginertia="0.00000000001 0.00000000001 0.00000000001"/>
                            <geom name="left_hand_contact" class="visual" size="0.003" type="sphere" rgba="1 0 0 1"/>
                          </body>
                          <body name="left_hand_manip" pos="0 0 -0.058" quat="0.707107 0 0.707107 0">
                            <inertial pos="0.0 0.0 0.0" quat="1 0 0 0" mass="0.00001" diaginertia="0.00000000001 0.00000000001 0.00000000001"/>
                            <geom name="left_hand_manip" class="visual" size="0.003" type="sphere" rgba="1 0 0 1"/>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>

            <!-- right arm -->
            <body name="right_shoulder_pitch_link" pos="0 -0.1589 0.2822">
              <inertial pos="0.003151 -0.031104 -2.2e-05" quat="0.0676949 0.703859 -0.0676949 0.703859" mass="0.244765" diaginertia="0.000429 0.000371465 0.000248535"/>
              <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.792 2.792" armature="0.040771"/>
              <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="right_shoulder_pitch_link"/>
              <body name="right_shoulder_roll_link" pos="0 -0.055 0">
                <inertial pos="0.003525 -8.8e-05 -0.046695" quat="0.999352 -0.000207001 0.0359383 0.00202758" mass="1.74074" diaginertia="0.00496658 0.004931 0.00136542"/>
                <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-3.229 0.087" armature="0.040771"/>
                <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="right_shoulder_roll_link"/>
                <geom type="cylinder" pos="0 0 0" size="0.04 0.038" euler="0 1.57 0" />
                <geom type="cylinder" pos="0 0 -0.082" size="0.04 0.035" euler="0 0 0" />
                <body name="right_shoulder_yaw_link" pos="0 0 -0.1306">
                 <inertial pos="-0.010067 -0.003571 -0.065207" quat="0.997939 -0.0490395 0.020919 0.0357061" mass="0.307657" diaginertia="0.000875418 0.00074071 0.000400871"/>
                  <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-1.571 3.403" armature="0.040771"/>
                  <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="right_shoulder_yaw_link"/>
                  <body name="right_elbow_link" pos="0 0 -0.1157">
                    <inertial pos="5.7e-05 -0.004497 -0.027441" quat="0.74939 0.0213656 -0.0245278 0.66133" mass="1.27546" diaginertia="0.00288485 0.00285163 0.000879522"/>
                    <joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.443 1.571" armature="0.040771"/>  
                    <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="right_elbow_link"/>
                    <geom type="cylinder" pos="0 0 0" size="0.0425 0.04" euler="1.57 0  0" />
                    <geom type="cylinder" pos="0 0 -0.082" size="0.0375 0.025" euler="0 0 0" />
                    <body name="right_wrist_yaw_link" pos="0 -0.001 -0.1188">
                      <inertial pos="-0.00242 -0.000421 -0.01484" quat="0.700768 0.713389 0 0" mass="0.132906" diaginertia="0.000145 0.000142018 8.59821e-05"/>
                      <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-0.785 2.356" armature="0.016608"/>
                      <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="right_wrist_yaw_link"/>
                      <!-- <geom type="capsule" pos="0 0 0" size="0.04 0.03" euler="0 1.57 0" /> -->
                      <body name="right_wrist_pitch_link" pos="0 0 -0.0342">
                        <inertial pos="0.001436 -0.001303 -0.032233" quat="0.707308 -0.00233692 -0.0277376 0.706358" mass="0.658602" diaginertia="0.000963862 0.000953193 0.000293945"/>
                        <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.571 1.571" armature="0.016608"/>
                        <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="right_wrist_pitch_link"/>
                        <geom type="cylinder" pos="0 0 0" size="0.0275 0.035" euler="1.57 0  0" />
                        <geom type="cylinder" pos="0 0 -0.065" size="0.029 0.03" euler="0 1.57 0" />
                        <body name="right_wrist_roll_link" pos="0 0 -0.065">
                          <inertial pos="0.00467891 0.00203899 -0.0886705" quat="0.645543 0.00103369 -0.0294715 0.763154" mass="0.583445" diaginertia="0.00228342 0.00212391 0.000439146"/>
                          <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-1.571 1.571" armature="0.016608"/>
                          <geom type="mesh" class="visual" rgba="0.75294 0.75294 0.75294 1" mesh="right_wrist_roll_link"/>
                          <geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="right_wrist_roll_link"/>
                          <!-- <geom type="box" pos="0 0 -0.04226" size="0.01 0.02 0.0275" euler="0 0 0" />
                          <geom type="box" pos="0 0 -0.116" size="0.01 0.05 0.03" euler="0 0 0" /> -->
                          <body name="right_hand_contact" pos="0.0 0 -0.058">
                            <inertial pos="0.0 0.0 0.0" quat="1 0 0 0" mass="0.00001" diaginertia="0.00000000001 0.00000000001 0.00000000001"/>
                            <geom name="right_hand_contact" class="visual" size="0.003" type="sphere" rgba="1 0 0 1"/>
                          </body>
                          <body name="right_hand_manip" pos="0 0 -0.058" quat="0.707107 0 0.707107 0">
                            <inertial pos="0.0 0.0 0.0" quat="1 0 0 0" mass="0.00001" diaginertia="0.00000000001 0.00000000001 0.00000000001"/>
                            <geom name="right_hand_manip" class="visual" size="0.003" type="sphere" rgba="1 0 0 1"/>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>

          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="left_hip_pitch_link" />
    <exclude body1="base_link" body2="right_hip_pitch_link" />
  </contact>

</mujoco>