384 lines
36 KiB
XML
384 lines
36 KiB
XML
<mujoco model="mjlab scene">
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<compiler angle="radian" meshdir="../src/mjlab_husky/asset_zoo/robots/skateboard/xmls/assets"/>
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<size nkey="1"/>
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<visual>
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<global azimuth="135" elevation="-25" offwidth="1920" offheight="1080"/>
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<quality shadowsize="8192"/>
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<headlight ambient="0.3 0.3 0.3" diffuse="0.6 0.6 0.6" specular="0 0 0"/>
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<scale forcewidth="0.25" contactwidth="0.4" contactheight="0.15" framelength="5" framewidth="0.3"/>
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<rgba haze="0.15 0.25 0.35 1" force="1 0 0 1"/>
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</visual>
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<statistic meansize="0.03"/>
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<default>
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<!-- <default/> -->
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<default class="robot/main">
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<default class="robot/g1">
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<site group="5" rgba="0 0 1 1"/>
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<default class="robot/visual">
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<geom type="mesh" contype="0" conaffinity="0" group="2" density="0" material="silver"/>
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</default>
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<default class="robot/collision">
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<geom type="capsule" group="3" rgba="0.2 0.6 0.2 0.3"/>
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<default class="robot/foot_capsule">
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<geom size="0.01 0 0"/>
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</default>
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</default>
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</default>
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</default>
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<default class="skateboard/main">
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<default class="skateboard/wheel_geom">
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<geom size="0.03 0.02 0" type="cylinder"/>
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</default>
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</default>
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</default>
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<asset>
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<texture type="2d" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
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<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="4 4"/>
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<material name="robot/silver" rgba="0.7 0.7 0.7 1"/>
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<material name="robot/black" rgba="0.2 0.2 0.2 1"/>
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<mesh name="robot/pelvis" file="pelvis.STL"/>
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<mesh name="robot/pelvis_contour_link" file="pelvis_contour_link.STL"/>
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<mesh name="robot/left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
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<mesh name="robot/left_hip_roll_link" file="left_hip_roll_link.STL"/>
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<mesh name="robot/left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
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<mesh name="robot/left_knee_link" file="left_knee_link.STL"/>
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<mesh name="robot/left_ankle_pitch_link" file="left_ankle_pitch_link.STL"/>
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<mesh name="robot/left_ankle_roll_link" file="left_ankle_roll_link.STL"/>
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<mesh name="robot/right_hip_pitch_link" file="right_hip_pitch_link.STL"/>
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<mesh name="robot/right_hip_roll_link" file="right_hip_roll_link.STL"/>
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<mesh name="robot/right_hip_yaw_link" file="right_hip_yaw_link.STL"/>
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<mesh name="robot/right_knee_link" file="right_knee_link.STL"/>
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<mesh name="robot/right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
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<mesh name="robot/right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
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<mesh name="robot/waist_yaw_link" file="waist_yaw_link_rev_1_0.STL"/>
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<mesh name="robot/waist_roll_link" file="waist_roll_link_rev_1_0.STL"/>
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<mesh name="robot/torso_link" file="torso_link_rev_1_0.STL"/>
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<mesh name="robot/logo_link" file="logo_link.STL"/>
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<mesh name="robot/head_link" file="head_link.STL"/>
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<mesh name="robot/left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
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<mesh name="robot/left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
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<mesh name="robot/left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
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<mesh name="robot/left_elbow_link" file="left_elbow_link.STL"/>
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<mesh name="robot/left_wrist_roll_link" file="left_wrist_roll_link.STL"/>
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<mesh name="robot/left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
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<mesh name="robot/left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
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<mesh name="robot/left_rubber_hand" file="left_rubber_hand.STL"/>
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<mesh name="robot/right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
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<mesh name="robot/right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
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<mesh name="robot/right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
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<mesh name="robot/right_elbow_link" file="right_elbow_link.STL"/>
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<mesh name="robot/right_wrist_roll_link" file="right_wrist_roll_link.STL"/>
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<mesh name="robot/right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
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<mesh name="robot/right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
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<mesh name="robot/right_rubber_hand" file="right_rubber_hand.STL"/>
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</asset>
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<worldbody>
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<site name="env_origin_0" pos="0 0 0" size="0.3" group="4" rgba="0.2 0.6 0.2 0.3"/>
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<light pos="0 0 1.5" dir="0 0 -1" type="directional"/>
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<body name="terrain">
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<geom name="terrain" size="0 0 0.01" type="plane" material="groundplane"/>
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</body>
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<body name="robot/pelvis" childclass="robot/g1" pos="-0.03 0.1 0.78">
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<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
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<joint name="robot/floating_base_joint" type="free"/>
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<geom class="robot/visual" material="robot/black" mesh="robot/pelvis"/>
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<geom class="robot/visual" material="robot/silver" mesh="robot/pelvis_contour_link"/>
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<geom name="robot/pelvis_collision" class="robot/collision" size="0.07" pos="0 0 -0.08" type="sphere" condim="1"/>
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<site name="robot/imu_in_pelvis" pos="0.04525 0 -0.08339" size="0.01"/>
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<camera name="robot/tracking" pos="1.734 -1.135 0.35" quat="0.683353 0.555871 0.298684 0.367183" mode="trackcom"/>
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<light pos="0 0 2" dir="0 0 -1" mode="trackcom"/>
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<body name="robot/left_hip_pitch_link" pos="0 0.064452 -0.1027">
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<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
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<joint name="robot/left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" armature="0.0101775"/>
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<geom class="robot/visual" material="robot/black" mesh="robot/left_hip_pitch_link"/>
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<body name="robot/left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
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<inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
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<joint name="robot/left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" armature="0.0251019"/>
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<geom class="robot/visual" material="robot/silver" mesh="robot/left_hip_roll_link"/>
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<geom name="robot/left_hip_collision" class="robot/collision" size="0.06 0.04" pos="0.02 0 -0.04" condim="1"/>
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<body name="robot/left_hip_yaw_link" pos="0.025001 0 -0.12412">
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<inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
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<joint name="robot/left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" armature="0.0101775"/>
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<geom class="robot/visual" material="robot/silver" mesh="robot/left_hip_yaw_link"/>
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<geom name="robot/left_thigh_collision" class="robot/collision" size="0.055 0.0761577" pos="-0.03 0 -0.1" quat="0.979578 0 0.201066 0" condim="1"/>
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<body name="robot/left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
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<inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458"/>
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<joint name="robot/left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" armature="0.0251019"/>
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<geom class="robot/visual" material="robot/silver" mesh="robot/left_knee_link"/>
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<geom name="robot/left_shin_collision" class="robot/collision" size="0.045 0.075" pos="0.01 0 -0.075" condim="1"/>
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<geom name="robot/left_linkage_brace_collision" class="robot/collision" size="0.03 0.04" pos="0.01 0 -0.24" condim="1"/>
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<body name="robot/left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
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<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
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<joint name="robot/left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" armature="0.00721945"/>
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<geom class="robot/visual" material="robot/silver" mesh="robot/left_ankle_pitch_link"/>
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<body name="robot/left_ankle_roll_link" pos="0 0 -0.017558">
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<inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
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<joint name="robot/left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" armature="0.00721945"/>
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<geom class="robot/visual" material="robot/black" mesh="robot/left_ankle_roll_link"/>
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<geom name="robot/left_foot1_collision" class="robot/foot_capsule" size="0.01 0.025005" pos="0.075 -0.0265 -0.025" quat="0.707107 -0.0141393 0.706965 0" priority="1"/>
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<geom name="robot/left_foot2_collision" class="robot/foot_capsule" size="0.01 0.0835" pos="0.0395 -0.018 -0.025" quat="0.707107 0 -0.707107 0" priority="1"/>
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<geom name="robot/left_foot3_collision" class="robot/foot_capsule" size="0.01 0.091" pos="0.039 -0.01 -0.025" quat="0.707107 0 -0.707107 0" priority="1"/>
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<geom name="robot/left_foot4_collision" class="robot/foot_capsule" size="0.01 0.093" pos="0.039 0 -0.025" quat="0.707107 0 -0.707107 0" priority="1"/>
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<geom name="robot/left_foot5_collision" class="robot/foot_capsule" size="0.01 0.091" pos="0.039 0.01 -0.025" quat="0.707107 0 -0.707107 0" priority="1"/>
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<geom name="robot/left_foot6_collision" class="robot/foot_capsule" size="0.01 0.0835" pos="0.0395 0.018 -0.025" quat="0.707107 0 -0.707107 0" priority="1"/>
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<geom name="robot/left_foot7_collision" class="robot/foot_capsule" size="0.01 0.025" pos="0.075 0.026 -0.025" quat="0.707107 0 0.707107 0" priority="1"/>
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<site name="robot/left_foot" pos="0.04 0 -0.037"/>
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<site name="robot/left_foot_1" pos="0.035 0.1 0" size="0.01"/>
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<site name="robot/left_foot_2" pos="0.035 -0.1 0" size="0.01"/>
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<site name="robot/left_foot_3" pos="0.2 0 0" size="0.01"/>
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<site name="robot/left_foot_4" pos="-0.15 0 0" size="0.01"/>
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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="robot/right_hip_pitch_link" pos="0 -0.064452 -0.1027">
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<inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
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<joint name="robot/right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" armature="0.0101775"/>
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<geom class="robot/visual" material="robot/black" mesh="robot/right_hip_pitch_link"/>
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<body name="robot/right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
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<inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
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<joint name="robot/right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" armature="0.0251019"/>
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<geom class="robot/visual" material="robot/silver" mesh="robot/right_hip_roll_link"/>
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<geom name="robot/right_hip_collision" class="robot/collision" size="0.06 0.04" pos="0.02 0 -0.04" condim="1"/>
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<body name="robot/right_hip_yaw_link" pos="0.025001 0 -0.12412">
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<inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139"/>
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<joint name="robot/right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" armature="0.0101775"/>
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<geom class="robot/visual" material="robot/silver" mesh="robot/right_hip_yaw_link"/>
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<geom name="robot/right_thigh_collision" class="robot/collision" size="0.055 0.0761577" pos="-0.03 0 -0.1" quat="0.979578 0 0.201066 0" condim="1"/>
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<body name="robot/right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0">
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<inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452"/>
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<joint name="robot/right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" armature="0.0251019"/>
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<geom class="robot/visual" material="robot/silver" mesh="robot/right_knee_link"/>
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<geom name="robot/right_shin_collision" class="robot/collision" size="0.045 0.075" pos="0.01 0 -0.075" condim="1"/>
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<geom name="robot/right_linkage_brace_collision" class="robot/collision" size="0.03 0.04" pos="0.01 0 -0.24" condim="1"/>
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<body name="robot/right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
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<inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06"/>
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<joint name="robot/right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" armature="0.00721945"/>
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<geom class="robot/visual" material="robot/silver" mesh="robot/right_ankle_pitch_link"/>
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<body name="robot/right_ankle_roll_link" pos="0 0 -0.017558">
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<inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
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<joint name="robot/right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" armature="0.00721945"/>
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<geom class="robot/visual" material="robot/black" mesh="robot/right_ankle_roll_link"/>
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<geom name="robot/right_foot1_collision" class="robot/foot_capsule" size="0.01 0.025" pos="0.075 -0.026 -0.025" quat="0.707107 0 0.707107 0" priority="1"/>
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<geom name="robot/right_foot2_collision" class="robot/foot_capsule" size="0.01 0.0835" pos="0.0395 -0.018 -0.025" quat="0.707107 0 -0.707107 0" priority="1"/>
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<geom name="robot/right_foot3_collision" class="robot/foot_capsule" size="0.01 0.091" pos="0.039 -0.01 -0.025" quat="0.707107 0 -0.707107 0" priority="1"/>
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<geom name="robot/right_foot4_collision" class="robot/foot_capsule" size="0.01 0.093" pos="0.039 0 -0.025" quat="0.707107 0 -0.707107 0" priority="1"/>
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<geom name="robot/right_foot5_collision" class="robot/foot_capsule" size="0.01 0.091" pos="0.039 0.01 -0.025" quat="0.707107 0 -0.707107 0" priority="1"/>
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<geom name="robot/right_foot6_collision" class="robot/foot_capsule" size="0.01 0.0835" pos="0.0395 0.018 -0.025" quat="0.707107 0 -0.707107 0" priority="1"/>
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<geom name="robot/right_foot7_collision" class="robot/foot_capsule" size="0.01 0.025" pos="0.075 0.026 -0.025" quat="0.707107 0 0.707107 0" priority="1"/>
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<site name="robot/right_foot" pos="0.04 0 -0.037"/>
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<site name="robot/right_foot_1" pos="0.035 0.1 0" size="0.01"/>
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<site name="robot/right_foot_2" pos="0.035 -0.1 0" size="0.01"/>
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<site name="robot/right_foot_3" pos="0.2 0 0" size="0.01"/>
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<site name="robot/right_foot_4" pos="-0.15 0 0" size="0.01"/>
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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="robot/waist_yaw_link">
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<inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821" mass="0.214" diaginertia="0.000163531 0.000107714 0.000102205"/>
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<joint name="robot/waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" armature="0.0101775"/>
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<geom class="robot/visual" material="robot/silver" mesh="robot/waist_yaw_link"/>
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<body name="robot/waist_roll_link" pos="-0.0039635 0 0.044">
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<inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086" diaginertia="8.245e-06 7.079e-06 6.339e-06"/>
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<joint name="robot/waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" armature="0.00721945"/>
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<geom class="robot/visual" material="robot/silver" mesh="robot/waist_roll_link"/>
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<body name="robot/torso_link">
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<inertial pos="0.00203158 0.000339683 0.184568" quat="0.999803 -6.03319e-05 0.0198256 0.00131986" mass="7.818" diaginertia="0.121847 0.109825 0.0273735"/>
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<joint name="robot/waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" armature="0.00721945"/>
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<geom class="robot/visual" material="robot/silver" mesh="robot/torso_link"/>
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<geom class="robot/visual" pos="0.0039635 0 -0.044" quat="1 0 0 0" material="robot/black" mesh="robot/logo_link"/>
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<geom class="robot/visual" pos="0.0039635 0 -0.044" material="robot/black" mesh="robot/head_link"/>
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<geom name="robot/torso_collision" class="robot/collision" size="0.09 0.06" pos="0.01 0 0.14" quat="0 1 0 0" condim="1"/>
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<geom name="robot/head_collision" class="robot/collision" size="0.06" pos="0 0 0.43" type="sphere" condim="1"/>
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|
<site name="robot/imu_in_torso" pos="-0.03959 -0.00224 0.14792" size="0.01"/>
|
|
<body name="robot/left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
|
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
|
<joint name="robot/left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" armature="0.00360972"/>
|
|
<geom class="robot/visual" material="robot/silver" mesh="robot/left_shoulder_pitch_link"/>
|
|
<body name="robot/left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
|
|
<inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
|
<joint name="robot/left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" armature="0.00360972"/>
|
|
<geom class="robot/visual" material="robot/silver" mesh="robot/left_shoulder_roll_link"/>
|
|
<body name="robot/left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
|
<inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
|
<joint name="robot/left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" armature="0.00360972"/>
|
|
<geom class="robot/visual" material="robot/silver" mesh="robot/left_shoulder_yaw_link"/>
|
|
<geom name="robot/left_shoulder_yaw_collision" class="robot/collision" size="0.035 0.065" pos="0 0 -0.015" quat="0 1 0 0" condim="1"/>
|
|
<body name="robot/left_elbow_link" pos="0.015783 0 -0.080518">
|
|
<inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
|
<joint name="robot/left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" armature="0.00360972"/>
|
|
<geom class="robot/visual" material="robot/silver" mesh="robot/left_elbow_link"/>
|
|
<geom name="robot/left_elbow_yaw_collision" class="robot/collision" size="0.035 0.045" pos="0.035 0 -0.01" quat="0.707107 0 -0.707107 0" condim="1"/>
|
|
<body name="robot/left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
|
<inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
|
|
<geom class="robot/visual" material="robot/silver" mesh="robot/left_wrist_roll_link"/>
|
|
<body name="robot/left_wrist_pitch_link" pos="0.038 0 0">
|
|
<inertial pos="0.0229999 -0.00111685 -0.00111658" quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
|
|
<geom class="robot/visual" material="robot/silver" mesh="robot/left_wrist_pitch_link"/>
|
|
<geom name="robot/left_wrist_collision" class="robot/collision" size="0.035 0.035" pos="0.025 0 0" quat="0.707107 0 -0.707107 0" condim="1"/>
|
|
<body name="robot/left_wrist_yaw_link" pos="0.046 0 0">
|
|
<inertial pos="0.0708244 0.000191745 0.00161742" quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
|
|
<geom class="robot/visual" material="robot/silver" mesh="robot/left_wrist_yaw_link"/>
|
|
<geom class="robot/visual" pos="0.0415 0.003 0" quat="1 0 0 0" material="robot/black" mesh="robot/left_rubber_hand"/>
|
|
<geom name="robot/left_hand_collision" class="robot/collision" size="0.035 0.0412311" pos="0.11 -0.01 0" quat="0.707107 -0.171499 -0.685994 0" condim="1" rgba="0.2 0.6 0.2 0.2"/>
|
|
<site name="robot/left_palm" pos="0.08 0 0" size="0.01"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="robot/right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
|
<inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
|
|
<joint name="robot/right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" armature="0.00360972"/>
|
|
<geom class="robot/visual" material="robot/silver" mesh="robot/right_shoulder_pitch_link"/>
|
|
<body name="robot/right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
|
|
<inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
|
|
<joint name="robot/right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" armature="0.00360972"/>
|
|
<geom class="robot/visual" material="robot/silver" mesh="robot/right_shoulder_roll_link"/>
|
|
<body name="robot/right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
|
<inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
|
|
<joint name="robot/right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" armature="0.00360972"/>
|
|
<geom class="robot/visual" material="robot/silver" mesh="robot/right_shoulder_yaw_link"/>
|
|
<geom name="robot/right_shoulder_yaw_collision" class="robot/collision" size="0.035 0.065" pos="0 0 -0.015" quat="0 1 0 0" condim="1"/>
|
|
<body name="robot/right_elbow_link" pos="0.015783 0 -0.080518">
|
|
<inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353"/>
|
|
<joint name="robot/right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" armature="0.00360972"/>
|
|
<geom class="robot/visual" material="robot/silver" mesh="robot/right_elbow_link"/>
|
|
<geom name="robot/right_elbow_yaw_collision" class="robot/collision" size="0.035 0.045" pos="0.035 0 -0.01" quat="0.707107 0 -0.707107 0" condim="1"/>
|
|
<body name="robot/right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
|
<inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05"/>
|
|
<geom class="robot/visual" material="robot/silver" mesh="robot/right_wrist_roll_link"/>
|
|
<body name="robot/right_wrist_pitch_link" pos="0.038 0 0">
|
|
<inertial pos="0.0229999 0.00111685 -0.00111658" quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648"/>
|
|
<geom class="robot/visual" material="robot/silver" mesh="robot/right_wrist_pitch_link"/>
|
|
<geom name="robot/right_wrist_collision" class="robot/collision" size="0.035 0.035" pos="0.025 0 0" quat="0.707107 0 -0.707107 0" condim="1"/>
|
|
<body name="robot/right_wrist_yaw_link" pos="0.046 0 0">
|
|
<inertial pos="0.0708244 -0.000191745 0.00161742" quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566"/>
|
|
<geom class="robot/visual" material="robot/silver" mesh="robot/right_wrist_yaw_link"/>
|
|
<geom class="robot/visual" pos="0.0415 -0.003 0" quat="1 0 0 0" material="robot/black" mesh="robot/right_rubber_hand"/>
|
|
<geom name="robot/right_hand_collision" class="robot/collision" size="0.035 0.0412311" pos="0.11 0.01 0" quat="0.707107 0.171499 -0.685994 0" condim="1" rgba="0.2 0.6 0.2 0.2"/>
|
|
<site name="robot/right_palm" pos="0.08 0 0" size="0.01"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="skateboard/skateboard_deck" pos="0 0 0.1">
|
|
<inertial pos="0 0 0" mass="1.5" diaginertia="0.005 0.08 0.085"/>
|
|
<joint name="skateboard/floating_base_joint_skateboard" type="free"/>
|
|
<body name="skateboard/board_tilt_body">
|
|
<joint name="skateboard/board_tilt_joint" pos="0 0 0" axis="-1 0 0" range="-0.2 0.2"/>
|
|
<geom name="skateboard/skateboard_deck_collision" size="0.4 0.1 0.01" type="box" priority="1"/>
|
|
<geom name="skateboard/skateboard_marker_collision" size="0.15 0.075 0.005" pos="-0.2 0 0.005" type="box" priority="1"/>
|
|
<site name="skateboard/rear_marker" pos="-0.2 -0.03 0" size="0.025"/>
|
|
<site name="skateboard/front_marker" pos="0.2 -0.03 0" size="0.025"/>
|
|
</body>
|
|
<body name="skateboard/front_truck" pos="0.2 0 0.02">
|
|
<inertial pos="0 0 -0.09" quat="0.707388 0 0 0.706825" mass="0.5" diaginertia="0.00043 3.3e-05 0.00043"/>
|
|
<joint name="skateboard/front_truck_roll_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 0.1" actuatorfrcrange="-20 20"/>
|
|
<geom name="skateboard/front_truck_collision" size="0.05 0.01 0.01" pos="0 0 -0.09" quat="0.707388 0 0 0.706825" type="box" priority="1"/>
|
|
<body name="skateboard/front_left_wheel" pos="0 0 -0.09">
|
|
<inertial pos="0 0.07 0" mass="0.2" diaginertia="1e-05 1e-05 1e-05"/>
|
|
<joint name="skateboard/front_left_wheel_joint" pos="0 0 0" axis="0 1 0" actuatorfrcrange="-5 5"/>
|
|
<geom name="skateboard/front_left_wheel_collision" class="skateboard/wheel_geom" pos="0 0.07 0" quat="0.707388 0.706825 0 0" condim="6" priority="1" friction="1 0.01 0.001"/>
|
|
</body>
|
|
<body name="skateboard/front_right_wheel" pos="0 0 -0.09">
|
|
<inertial pos="0 -0.07 0" mass="0.2" diaginertia="1e-05 1e-05 1e-05"/>
|
|
<joint name="skateboard/front_right_wheel_joint" pos="0 0 0" axis="0 1 0" actuatorfrcrange="-5 5"/>
|
|
<geom name="skateboard/front_right_wheel_collision" class="skateboard/wheel_geom" pos="0 -0.07 0" quat="0.707388 0.706825 0 0" condim="6" priority="1" friction="1 0.01 0.001"/>
|
|
</body>
|
|
</body>
|
|
<body name="skateboard/rear_truck" pos="-0.2 0 0.02">
|
|
<inertial pos="0 0 -0.09" quat="0.707388 0 0 0.706825" mass="0.5" diaginertia="0.00043 3.3e-05 0.00043"/>
|
|
<joint name="skateboard/rear_truck_roll_joint" pos="0 0 0" axis="0 0 1" range="-0.1 0.1" actuatorfrcrange="-20 20"/>
|
|
<geom name="skateboard/rear_truck_collision" size="0.05 0.01 0.01" pos="0 0 -0.09" quat="0.707388 0 0 0.706825" type="box" priority="1"/>
|
|
<body name="skateboard/rear_left_wheel" pos="0 0 -0.09">
|
|
<inertial pos="0 0.07 0" mass="0.2" diaginertia="1e-05 1e-05 1e-05"/>
|
|
<joint name="skateboard/rear_left_wheel_joint" pos="0 0 0" axis="0 1 0" actuatorfrcrange="-5 5"/>
|
|
<geom name="skateboard/rear_left_wheel_collision" class="skateboard/wheel_geom" pos="0 0.07 0" quat="0.707388 0.706825 0 0" condim="6" priority="1" friction="1 0.01 0.001"/>
|
|
</body>
|
|
<body name="skateboard/rear_right_wheel" pos="0 0 -0.09">
|
|
<inertial pos="0 -0.07 0" mass="0.2" diaginertia="1e-05 1e-05 1e-05"/>
|
|
<joint name="skateboard/rear_right_wheel_joint" pos="0 0 0" axis="0 1 0" actuatorfrcrange="-5 5"/>
|
|
<geom name="skateboard/rear_right_wheel_collision" class="skateboard/wheel_geom" pos="0 -0.07 0" quat="0.707388 0.706825 0 0" condim="6" priority="1" friction="1 0.01 0.001"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</worldbody>
|
|
|
|
<contact>
|
|
<exclude body1="robot/pelvis" body2="robot/left_hip_roll_link"/>
|
|
<exclude body1="robot/pelvis" body2="robot/right_hip_roll_link"/>
|
|
<exclude body1="robot/left_elbow_link" body2="robot/left_wrist_pitch_link"/>
|
|
<exclude body1="robot/right_elbow_link" body2="robot/right_wrist_pitch_link"/>
|
|
</contact>
|
|
|
|
<equality>
|
|
<joint joint1="skateboard/board_tilt_joint" joint2="skateboard/front_truck_roll_joint" polycoef="0 -0.577 0 0 0"/>
|
|
<joint joint1="skateboard/board_tilt_joint" joint2="skateboard/rear_truck_roll_joint" polycoef="0 -0.577 0 0 0"/>
|
|
</equality>
|
|
|
|
<actuator>
|
|
<general name="robot/left_shoulder_pitch_joint" joint="robot/left_shoulder_pitch_joint" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="14.2506" biasprm="0 -14.2506 -0.907223"/>
|
|
<general name="robot/left_shoulder_roll_joint" joint="robot/left_shoulder_roll_joint" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="14.2506" biasprm="0 -14.2506 -0.907223"/>
|
|
<general name="robot/left_shoulder_yaw_joint" joint="robot/left_shoulder_yaw_joint" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="14.2506" biasprm="0 -14.2506 -0.907223"/>
|
|
<general name="robot/left_elbow_joint" joint="robot/left_elbow_joint" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="14.2506" biasprm="0 -14.2506 -0.907223"/>
|
|
<general name="robot/right_shoulder_pitch_joint" joint="robot/right_shoulder_pitch_joint" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="14.2506" biasprm="0 -14.2506 -0.907223"/>
|
|
<general name="robot/right_shoulder_roll_joint" joint="robot/right_shoulder_roll_joint" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="14.2506" biasprm="0 -14.2506 -0.907223"/>
|
|
<general name="robot/right_shoulder_yaw_joint" joint="robot/right_shoulder_yaw_joint" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="14.2506" biasprm="0 -14.2506 -0.907223"/>
|
|
<general name="robot/right_elbow_joint" joint="robot/right_elbow_joint" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="14.2506" biasprm="0 -14.2506 -0.907223"/>
|
|
<general name="robot/left_hip_pitch_joint" joint="robot/left_hip_pitch_joint" ctrllimited="false" forcelimited="true" forcerange="-88 88" biastype="affine" gainprm="40.1792" biasprm="0 -40.1792 -2.55789"/>
|
|
<general name="robot/left_hip_yaw_joint" joint="robot/left_hip_yaw_joint" ctrllimited="false" forcelimited="true" forcerange="-88 88" biastype="affine" gainprm="40.1792" biasprm="0 -40.1792 -2.55789"/>
|
|
<general name="robot/right_hip_pitch_joint" joint="robot/right_hip_pitch_joint" ctrllimited="false" forcelimited="true" forcerange="-88 88" biastype="affine" gainprm="40.1792" biasprm="0 -40.1792 -2.55789"/>
|
|
<general name="robot/right_hip_yaw_joint" joint="robot/right_hip_yaw_joint" ctrllimited="false" forcelimited="true" forcerange="-88 88" biastype="affine" gainprm="40.1792" biasprm="0 -40.1792 -2.55789"/>
|
|
<general name="robot/waist_yaw_joint" joint="robot/waist_yaw_joint" ctrllimited="false" forcelimited="true" forcerange="-88 88" biastype="affine" gainprm="40.1792" biasprm="0 -40.1792 -2.55789"/>
|
|
<general name="robot/left_hip_roll_joint" joint="robot/left_hip_roll_joint" ctrllimited="false" forcelimited="true" forcerange="-139 139" biastype="affine" gainprm="99.0984" biasprm="0 -99.0984 -6.3088"/>
|
|
<general name="robot/left_knee_joint" joint="robot/left_knee_joint" ctrllimited="false" forcelimited="true" forcerange="-139 139" biastype="affine" gainprm="99.0984" biasprm="0 -99.0984 -6.3088"/>
|
|
<general name="robot/right_hip_roll_joint" joint="robot/right_hip_roll_joint" ctrllimited="false" forcelimited="true" forcerange="-139 139" biastype="affine" gainprm="99.0984" biasprm="0 -99.0984 -6.3088"/>
|
|
<general name="robot/right_knee_joint" joint="robot/right_knee_joint" ctrllimited="false" forcelimited="true" forcerange="-139 139" biastype="affine" gainprm="99.0984" biasprm="0 -99.0984 -6.3088"/>
|
|
<general name="robot/waist_roll_joint" joint="robot/waist_roll_joint" ctrllimited="false" forcelimited="true" forcerange="-50 50" biastype="affine" gainprm="28.5012" biasprm="0 -28.5012 -1.81445"/>
|
|
<general name="robot/waist_pitch_joint" joint="robot/waist_pitch_joint" ctrllimited="false" forcelimited="true" forcerange="-50 50" biastype="affine" gainprm="28.5012" biasprm="0 -28.5012 -1.81445"/>
|
|
<general name="robot/left_ankle_pitch_joint" joint="robot/left_ankle_pitch_joint" ctrllimited="false" forcelimited="true" forcerange="-50 50" biastype="affine" gainprm="28.5012" biasprm="0 -28.5012 -1.81445"/>
|
|
<general name="robot/left_ankle_roll_joint" joint="robot/left_ankle_roll_joint" ctrllimited="false" forcelimited="true" forcerange="-50 50" biastype="affine" gainprm="28.5012" biasprm="0 -28.5012 -1.81445"/>
|
|
<general name="robot/right_ankle_pitch_joint" joint="robot/right_ankle_pitch_joint" ctrllimited="false" forcelimited="true" forcerange="-50 50" biastype="affine" gainprm="28.5012" biasprm="0 -28.5012 -1.81445"/>
|
|
<general name="robot/right_ankle_roll_joint" joint="robot/right_ankle_roll_joint" ctrllimited="false" forcelimited="true" forcerange="-50 50" biastype="affine" gainprm="28.5012" biasprm="0 -28.5012 -1.81445"/>
|
|
<general name="skateboard/board_tilt_joint" joint="skateboard/board_tilt_joint" ctrllimited="false" forcelimited="false" biastype="affine" gainprm="14.67" biasprm="0 -14.67 -0.402"/>
|
|
<general name="skateboard/front_truck_roll_joint" joint="skateboard/front_truck_roll_joint" ctrllimited="false" forcelimited="true" forcerange="-20 20" biastype="affine" gainprm="10" biasprm="0 -10 -0.5"/>
|
|
<general name="skateboard/rear_truck_roll_joint" joint="skateboard/rear_truck_roll_joint" ctrllimited="false" forcelimited="true" forcerange="-20 20" biastype="affine" gainprm="10" biasprm="0 -10 -0.5"/>
|
|
<general name="skateboard/front_left_wheel_joint" joint="skateboard/front_left_wheel_joint" ctrllimited="false" forcelimited="true" forcerange="-3 3" biastype="affine" gainprm="0"/>
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<general name="skateboard/front_right_wheel_joint" joint="skateboard/front_right_wheel_joint" ctrllimited="false" forcelimited="true" forcerange="-3 3" biastype="affine" gainprm="0"/>
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<general name="skateboard/rear_left_wheel_joint" joint="skateboard/rear_left_wheel_joint" ctrllimited="false" forcelimited="true" forcerange="-3 3" biastype="affine" gainprm="0"/>
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<general name="skateboard/rear_right_wheel_joint" joint="skateboard/rear_right_wheel_joint" ctrllimited="false" forcelimited="true" forcerange="-3 3" biastype="affine" gainprm="0"/>
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</actuator>
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<sensor>
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<gyro site="robot/imu_in_pelvis" name="robot/imu_ang_vel"/>
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<velocimeter site="robot/imu_in_pelvis" name="robot/imu_lin_vel"/>
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<accelerometer site="robot/imu_in_pelvis" name="robot/imu_lin_acc"/>
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<subtreeangmom body="robot/pelvis" name="robot/root_angmom"/>
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</sensor>
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<keyframe>
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<key name="init_state" qpos="-0.03 0.1 0.78 1 0 0 0 0 0 0 0.23 -0.2 0 -0.7 0 0 1.17 -0.45 0 0 0 0 -0.03 0.45 -0.21 1.32 -0.7 -0.845 0.83 1.19 0 0 0.1 1 0 0 0 0 0 0 0 0 0 0" ctrl="-0.03 0.45 -0.21 1.32 -0.7 -0.845 0.83 1.19 0 0 -0.7 0 0 0 0.23 0 1.17 0 0 -0.2 0 -0.45 0 0 0 0 0 0 0 0"/>
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</keyframe>
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</mujoco>
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