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[update] URDF related and README

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silencht 2 years ago
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d5346edaf3
97 changed files with 1555 additions and 179 deletions
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  1. 17
      README.md
  2. 2
      assets/h1_2/README.md
  3. 134
      assets/h1_2/h1_2.urdf
  4. 208
      assets/h1_2/h1_2.xml
  5. 1369
      assets/h1_2/h1_2_simplified.urdf
  6. 0
      assets/h1_2/meshes/L_hand_base_link.STL
  7. 0
      assets/h1_2/meshes/L_index_intermediate.STL
  8. 0
      assets/h1_2/meshes/L_index_proximal.STL
  9. 0
      assets/h1_2/meshes/L_middle_intermediate.STL
  10. 0
      assets/h1_2/meshes/L_middle_proximal.STL
  11. 0
      assets/h1_2/meshes/L_pinky_intermediate.STL
  12. 0
      assets/h1_2/meshes/L_pinky_proximal.STL
  13. 0
      assets/h1_2/meshes/L_ring_intermediate.STL
  14. 0
      assets/h1_2/meshes/L_ring_proximal.STL
  15. 0
      assets/h1_2/meshes/L_thumb_distal.STL
  16. 0
      assets/h1_2/meshes/L_thumb_intermediate.STL
  17. 0
      assets/h1_2/meshes/L_thumb_proximal.STL
  18. 0
      assets/h1_2/meshes/L_thumb_proximal_base.STL
  19. 0
      assets/h1_2/meshes/R_hand_base_link.STL
  20. 0
      assets/h1_2/meshes/R_index_intermediate.STL
  21. 0
      assets/h1_2/meshes/R_index_proximal.STL
  22. 0
      assets/h1_2/meshes/R_middle_intermediate.STL
  23. 0
      assets/h1_2/meshes/R_middle_proximal.STL
  24. 0
      assets/h1_2/meshes/R_pinky_intermediate.STL
  25. 0
      assets/h1_2/meshes/R_pinky_proximal.STL
  26. 0
      assets/h1_2/meshes/R_ring_intermediate.STL
  27. 0
      assets/h1_2/meshes/R_ring_proximal.STL
  28. 0
      assets/h1_2/meshes/R_thumb_distal.STL
  29. 0
      assets/h1_2/meshes/R_thumb_intermediate.STL
  30. 0
      assets/h1_2/meshes/R_thumb_proximal.STL
  31. 0
      assets/h1_2/meshes/R_thumb_proximal_base.STL
  32. 0
      assets/h1_2/meshes/left_ankle_A_link.STL
  33. 0
      assets/h1_2/meshes/left_ankle_A_rod_link.STL
  34. 0
      assets/h1_2/meshes/left_ankle_B_link.STL
  35. 0
      assets/h1_2/meshes/left_ankle_B_rod_link.STL
  36. 0
      assets/h1_2/meshes/left_ankle_pitch_link.STL
  37. 0
      assets/h1_2/meshes/left_ankle_roll_link.STL
  38. 0
      assets/h1_2/meshes/left_elbow_pitch_link.STL
  39. 0
      assets/h1_2/meshes/left_elbow_roll_link.STL
  40. 0
      assets/h1_2/meshes/left_hand_link.STL
  41. 0
      assets/h1_2/meshes/left_hip_pitch_link.STL
  42. 0
      assets/h1_2/meshes/left_hip_roll_link.STL
  43. 0
      assets/h1_2/meshes/left_hip_yaw_link.STL
  44. 0
      assets/h1_2/meshes/left_knee_link.STL
  45. 0
      assets/h1_2/meshes/left_shoulder_pitch_link.STL
  46. 0
      assets/h1_2/meshes/left_shoulder_roll_link.STL
  47. 0
      assets/h1_2/meshes/left_shoulder_yaw_link.STL
  48. 0
      assets/h1_2/meshes/left_wrist_pitch_link.STL
  49. 0
      assets/h1_2/meshes/link11_L.STL
  50. 0
      assets/h1_2/meshes/link11_R.STL
  51. 0
      assets/h1_2/meshes/link12_L.STL
  52. 0
      assets/h1_2/meshes/link12_R.STL
  53. 0
      assets/h1_2/meshes/link13_L.STL
  54. 0
      assets/h1_2/meshes/link13_R.STL
  55. 0
      assets/h1_2/meshes/link14_L.STL
  56. 0
      assets/h1_2/meshes/link14_R.STL
  57. 0
      assets/h1_2/meshes/link15_L.STL
  58. 0
      assets/h1_2/meshes/link15_R.STL
  59. 0
      assets/h1_2/meshes/link16_L.STL
  60. 0
      assets/h1_2/meshes/link16_R.STL
  61. 0
      assets/h1_2/meshes/link17_L.STL
  62. 0
      assets/h1_2/meshes/link17_R.STL
  63. 0
      assets/h1_2/meshes/link18_L.STL
  64. 0
      assets/h1_2/meshes/link18_R.STL
  65. 0
      assets/h1_2/meshes/link19_L.STL
  66. 0
      assets/h1_2/meshes/link19_R.STL
  67. 0
      assets/h1_2/meshes/link20_L.STL
  68. 0
      assets/h1_2/meshes/link20_R.STL
  69. 0
      assets/h1_2/meshes/link21_L.STL
  70. 0
      assets/h1_2/meshes/link21_R.STL
  71. 0
      assets/h1_2/meshes/link22_L.STL
  72. 0
      assets/h1_2/meshes/link22_R.STL
  73. 0
      assets/h1_2/meshes/logo_link.STL
  74. 0
      assets/h1_2/meshes/pelvis.STL
  75. 0
      assets/h1_2/meshes/right_ankle_A_link.STL
  76. 0
      assets/h1_2/meshes/right_ankle_A_rod_link.STL
  77. 0
      assets/h1_2/meshes/right_ankle_B_link.STL
  78. 0
      assets/h1_2/meshes/right_ankle_B_rod_link.STL
  79. 0
      assets/h1_2/meshes/right_ankle_link.STL
  80. 0
      assets/h1_2/meshes/right_ankle_pitch_link.STL
  81. 0
      assets/h1_2/meshes/right_ankle_roll_link.STL
  82. 0
      assets/h1_2/meshes/right_elbow_pitch_link.STL
  83. 0
      assets/h1_2/meshes/right_elbow_roll_link.STL
  84. 0
      assets/h1_2/meshes/right_hand_link.STL
  85. 0
      assets/h1_2/meshes/right_hip_pitch_link.STL
  86. 0
      assets/h1_2/meshes/right_hip_roll_link.STL
  87. 0
      assets/h1_2/meshes/right_hip_yaw_link.STL
  88. 0
      assets/h1_2/meshes/right_knee_link.STL
  89. 0
      assets/h1_2/meshes/right_pitch_link.STL
  90. 0
      assets/h1_2/meshes/right_shoulder_pitch_link.STL
  91. 0
      assets/h1_2/meshes/right_shoulder_roll_link.STL
  92. 0
      assets/h1_2/meshes/right_shoulder_yaw_link.STL
  93. 0
      assets/h1_2/meshes/right_wrist_pitch_link.STL
  94. 0
      assets/h1_2/meshes/torso_link.STL
  95. 0
      assets/h1_2/meshes/wrist_yaw_link.STL
  96. 2
      assets/h1_2/scene.xml
  97. 2
      teleop/robot_control/robot_arm_ik.py

17
README.md
View File

@ -129,17 +129,22 @@ settings > Apps > Safari > Advanced > Feature Flags > Enable WebXR Related Featu
## Dexterous hands service ## Dexterous hands service
On Unitree H1_2's PC, execute command:
You can refer to Dexterous Hand Development to configure related environments and compile control programs. First, use [this URL](https://oss-global-cdn.unitree.com/static/0a8335f7498548d28412c31ea047d4be.zip) to download the dexterous hand control interface program and copy it to PC of Unitree H1_2. On Unitree H1_2's PC, execute command:
```bash ```bash
sudo apt install libboost-all-dev libspdlog-dev
# Build project
cd h1_inspire_service & mkdir build & cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make
# Terminal 1. Run h1 inspire hand service
sudo ./inspire_hand -s /dev/ttyUSB0 sudo ./inspire_hand -s /dev/ttyUSB0
# Terminal 2. Run example
./h1_hand_example
``` ```
Open another terminal and execute the following command to test. If two hands open and close continuously, it indicates success.
If two hands open and close continuously, it indicates success. Once successful, close the `./h1_hand_example` program in Terminal 2.
```bash
./h1_hand_example
```
## Image Server ## Image Server
@ -157,6 +162,8 @@ python image_client.py
## Start ## Start
> Warning : Before the program starts, all persons must maintain an adequate safety distance from the robot to avoid danger!
```bash ```bash
python unitree_human_robot.py python unitree_human_robot.py
``` ```

2
assets/H1_5/README.md → assets/h1_2/README.md
View File

@ -5,7 +5,7 @@
This package includes a streamlined robot description (URDF & MJCF) for the [Unitree H1](https://www.unitree.com/h1/), developed by [Unitree Robotics](https://www.unitree.com/). This package includes a streamlined robot description (URDF & MJCF) for the [Unitree H1](https://www.unitree.com/h1/), developed by [Unitree Robotics](https://www.unitree.com/).
<p align="center"> <p align="center">
<img src="h1_5.png" width="500"/>
<img src="h1_2.png" width="500"/>
</p> </p>
Unitree H1 have 51 DOFs: Unitree H1 have 51 DOFs:

134
assets/H1_5/h1_5.urdf → assets/h1_2/h1_2.urdf
View File

@ -1,4 +1,4 @@
<robot name="h1_5">
<robot name="h1_2">
<mujoco> <mujoco>
<compiler meshdir="meshes" discardvisual="false"/> <compiler meshdir="meshes" discardvisual="false"/>
@ -22,7 +22,7 @@
<geometry> <geometry>
<mesh filename="meshes/pelvis.STL"/> <mesh filename="meshes/pelvis.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -46,7 +46,7 @@
<geometry> <geometry>
<mesh filename="meshes/left_hip_yaw_link.STL"/> <mesh filename="meshes/left_hip_yaw_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -75,7 +75,7 @@
<geometry> <geometry>
<mesh filename="meshes/left_hip_pitch_link.STL"/> <mesh filename="meshes/left_hip_pitch_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -104,7 +104,7 @@
<geometry> <geometry>
<mesh filename="meshes/left_hip_roll_link.STL"/> <mesh filename="meshes/left_hip_roll_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -133,7 +133,7 @@
<geometry> <geometry>
<mesh filename="meshes/left_knee_link.STL"/> <mesh filename="meshes/left_knee_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -162,7 +162,7 @@
<geometry> <geometry>
<mesh filename="meshes/left_ankle_pitch_link.STL"/> <mesh filename="meshes/left_ankle_pitch_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -191,7 +191,7 @@
<geometry> <geometry>
<mesh filename="meshes/left_ankle_roll_link.STL"/> <mesh filename="meshes/left_ankle_roll_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -222,7 +222,7 @@
<geometry> <geometry>
<mesh filename="meshes/right_hip_yaw_link.STL"/> <mesh filename="meshes/right_hip_yaw_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -251,7 +251,7 @@
<geometry> <geometry>
<mesh filename="meshes/right_hip_pitch_link.STL"/> <mesh filename="meshes/right_hip_pitch_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -280,7 +280,7 @@
<geometry> <geometry>
<mesh filename="meshes/right_hip_roll_link.STL"/> <mesh filename="meshes/right_hip_roll_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -309,7 +309,7 @@
<geometry> <geometry>
<mesh filename="meshes/right_knee_link.STL"/> <mesh filename="meshes/right_knee_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -338,7 +338,7 @@
<geometry> <geometry>
<mesh filename="meshes/right_ankle_pitch_link.STL"/> <mesh filename="meshes/right_ankle_pitch_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -367,7 +367,7 @@
<geometry> <geometry>
<mesh filename="meshes/right_ankle_roll_link.STL"/> <mesh filename="meshes/right_ankle_roll_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -398,7 +398,7 @@
<geometry> <geometry>
<mesh filename="meshes/torso_link.STL"/> <mesh filename="meshes/torso_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -429,7 +429,7 @@
<geometry> <geometry>
<mesh filename="meshes/left_shoulder_pitch_link.STL"/> <mesh filename="meshes/left_shoulder_pitch_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -458,7 +458,7 @@
<geometry> <geometry>
<mesh filename="meshes/left_shoulder_roll_link.STL"/> <mesh filename="meshes/left_shoulder_roll_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -487,7 +487,7 @@
<geometry> <geometry>
<mesh filename="meshes/left_shoulder_yaw_link.STL"/> <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -503,7 +503,7 @@
<parent link="left_shoulder_roll_link"/> <parent link="left_shoulder_roll_link"/>
<child link="left_shoulder_yaw_link"/> <child link="left_shoulder_yaw_link"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit lower="-3.01" upper="2.66" effort="18" velocity="20"/>
<limit lower="-2.66" upper="3.01" effort="18" velocity="20"/>
</joint> </joint>
<link name="left_elbow_pitch_link"> <link name="left_elbow_pitch_link">
<inertial> <inertial>
@ -516,7 +516,7 @@
<geometry> <geometry>
<mesh filename="meshes/left_elbow_pitch_link.STL"/> <mesh filename="meshes/left_elbow_pitch_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -532,7 +532,7 @@
<parent link="left_shoulder_yaw_link"/> <parent link="left_shoulder_yaw_link"/>
<child link="left_elbow_pitch_link"/> <child link="left_elbow_pitch_link"/>
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<limit lower="-2.53" upper="1.6" effort="18" velocity="20"/>
<limit lower="-0.95" upper="3.18" effort="18" velocity="20"/>
</joint> </joint>
<link name="left_elbow_roll_link"> <link name="left_elbow_roll_link">
@ -546,7 +546,7 @@
<geometry> <geometry>
<mesh filename="meshes/left_elbow_roll_link.STL"/> <mesh filename="meshes/left_elbow_roll_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -561,7 +561,7 @@
<parent link="left_elbow_pitch_link"/> <parent link="left_elbow_pitch_link"/>
<child link="left_elbow_roll_link"/> <child link="left_elbow_roll_link"/>
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<limit lower="-2.967" upper="2.967" effort="19" velocity="31.4"/>
<limit lower="-3.01" upper="2.75" effort="19" velocity="31.4"/>
</joint> </joint>
<link name="left_wrist_pitch_link"> <link name="left_wrist_pitch_link">
@ -575,7 +575,7 @@
<geometry> <geometry>
<mesh filename="meshes/left_wrist_pitch_link.STL"/> <mesh filename="meshes/left_wrist_pitch_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -590,7 +590,7 @@
<parent link="left_elbow_roll_link"/> <parent link="left_elbow_roll_link"/>
<child link="left_wrist_pitch_link"/> <child link="left_wrist_pitch_link"/>
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<limit lower="-0.471" upper="0.349" effort="19" velocity="31.4"/>
<limit lower="-0.47" upper="0.47" effort="19" velocity="31.4"/>
</joint> </joint>
<link name="left_wrist_yaw_link"> <link name="left_wrist_yaw_link">
<inertial> <inertial>
@ -603,7 +603,7 @@
<geometry> <geometry>
<mesh filename="meshes/wrist_yaw_link.STL"/> <mesh filename="meshes/wrist_yaw_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -619,7 +619,7 @@
<parent link="left_wrist_pitch_link"/> <parent link="left_wrist_pitch_link"/>
<child link="left_wrist_yaw_link"/> <child link="left_wrist_yaw_link"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit lower="-1.012" upper="1.012" effort="19" velocity="31.4"/>
<limit lower="-1.27" upper="1.27" effort="19" velocity="31.4"/>
</joint> </joint>
<!-- R arm --> <!-- R arm -->
@ -634,7 +634,7 @@
<geometry> <geometry>
<mesh filename="meshes/right_shoulder_pitch_link.STL"/> <mesh filename="meshes/right_shoulder_pitch_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -650,7 +650,7 @@
<parent link="torso_link"/> <parent link="torso_link"/>
<child link="right_shoulder_pitch_link"/> <child link="right_shoulder_pitch_link"/>
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<limit lower="-1.57" upper="3.14" effort="40" velocity="9"/>
<limit lower="-3.14" upper="1.57" effort="40" velocity="9"/>
</joint> </joint>
<link name="right_shoulder_roll_link"> <link name="right_shoulder_roll_link">
<inertial> <inertial>
@ -663,7 +663,7 @@
<geometry> <geometry>
<mesh filename="meshes/right_shoulder_roll_link.STL"/> <mesh filename="meshes/right_shoulder_roll_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -693,7 +693,7 @@
<geometry> <geometry>
<mesh filename="meshes/right_shoulder_yaw_link.STL"/> <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -709,7 +709,7 @@
<parent link="right_shoulder_roll_link"/> <parent link="right_shoulder_roll_link"/>
<child link="right_shoulder_yaw_link"/> <child link="right_shoulder_yaw_link"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit lower="-2.66" upper="3.01" effort="18" velocity="20"/>
<limit lower="-3.01" upper="2.66" effort="18" velocity="20"/>
</joint> </joint>
<link name="right_elbow_pitch_link"> <link name="right_elbow_pitch_link">
<inertial> <inertial>
@ -722,7 +722,7 @@
<geometry> <geometry>
<mesh filename="meshes/right_elbow_pitch_link.STL"/> <mesh filename="meshes/right_elbow_pitch_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -738,7 +738,7 @@
<parent link="right_shoulder_yaw_link"/> <parent link="right_shoulder_yaw_link"/>
<child link="right_elbow_pitch_link"/> <child link="right_elbow_pitch_link"/>
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<limit lower="-1.6" upper="2.53" effort="18" velocity="20"/>
<limit lower="-0.95" upper="3.18" effort="18" velocity="20"/>
</joint> </joint>
<link name="right_elbow_roll_link"> <link name="right_elbow_roll_link">
@ -752,7 +752,7 @@
<geometry> <geometry>
<mesh filename="meshes/right_elbow_roll_link.STL"/> <mesh filename="meshes/right_elbow_roll_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -767,7 +767,7 @@
<parent link="right_elbow_pitch_link"/> <parent link="right_elbow_pitch_link"/>
<child link="right_elbow_roll_link"/> <child link="right_elbow_roll_link"/>
<axis xyz="1 0 0"/> <axis xyz="1 0 0"/>
<limit lower="-2.967" upper="2.967" effort="19" velocity="31.4"/>
<limit lower="-2.75" upper="3.01" effort="19" velocity="31.4"/>
</joint> </joint>
<link name="right_wrist_pitch_link"> <link name="right_wrist_pitch_link">
@ -781,7 +781,7 @@
<geometry> <geometry>
<mesh filename="meshes/right_wrist_pitch_link.STL"/> <mesh filename="meshes/right_wrist_pitch_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -796,7 +796,7 @@
<parent link="right_elbow_roll_link"/> <parent link="right_elbow_roll_link"/>
<child link="right_wrist_pitch_link"/> <child link="right_wrist_pitch_link"/>
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<limit lower="-0.471" upper="0.349" effort="19" velocity="31.4"/>
<limit lower="-0.47" upper="0.47" effort="19" velocity="31.4"/>
</joint> </joint>
<link name="right_wrist_yaw_link"> <link name="right_wrist_yaw_link">
<inertial> <inertial>
@ -809,7 +809,7 @@
<geometry> <geometry>
<mesh filename="meshes/wrist_yaw_link.STL"/> <mesh filename="meshes/wrist_yaw_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -825,7 +825,7 @@
<parent link="right_wrist_pitch_link"/> <parent link="right_wrist_pitch_link"/>
<child link="right_wrist_yaw_link"/> <child link="right_wrist_yaw_link"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<limit lower="-1.012" upper="1.012" effort="19" velocity="31.4"/>
<limit lower="-1.27" upper="1.27" effort="19" velocity="31.4"/>
</joint> </joint>
<!-- LOGO --> <!-- LOGO -->
@ -835,7 +835,7 @@
<geometry> <geometry>
<mesh filename="meshes/logo_link.STL"/> <mesh filename="meshes/logo_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="white">
<color rgba="1 1 1 1"/> <color rgba="1 1 1 1"/>
</material> </material>
</visual> </visual>
@ -872,7 +872,7 @@
<geometry> <geometry>
<mesh filename="meshes/L_hand_base_link.STL"/> <mesh filename="meshes/L_hand_base_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -894,7 +894,7 @@
<geometry> <geometry>
<mesh filename="meshes/link11_L.STL"/> <mesh filename="meshes/link11_L.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -923,7 +923,7 @@
<geometry> <geometry>
<mesh filename="meshes/link12_L.STL"/> <mesh filename="meshes/link12_L.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -952,7 +952,7 @@
<geometry> <geometry>
<mesh filename="meshes/link13_L.STL"/> <mesh filename="meshes/link13_L.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -982,7 +982,7 @@
<geometry> <geometry>
<mesh filename="meshes/link14_L.STL"/> <mesh filename="meshes/link14_L.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1012,7 +1012,7 @@
<geometry> <geometry>
<mesh filename="meshes/link15_L.STL"/> <mesh filename="meshes/link15_L.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1041,7 +1041,7 @@
<geometry> <geometry>
<mesh filename="meshes/link16_L.STL"/> <mesh filename="meshes/link16_L.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1071,7 +1071,7 @@
<geometry> <geometry>
<mesh filename="meshes/link17_L.STL"/> <mesh filename="meshes/link17_L.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1100,7 +1100,7 @@
<geometry> <geometry>
<mesh filename="meshes/link18_L.STL"/> <mesh filename="meshes/link18_L.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1130,7 +1130,7 @@
<geometry> <geometry>
<mesh filename="meshes/link19_L.STL"/> <mesh filename="meshes/link19_L.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1159,7 +1159,7 @@
<geometry> <geometry>
<mesh filename="meshes/link20_L.STL"/> <mesh filename="meshes/link20_L.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1189,7 +1189,7 @@
<geometry> <geometry>
<mesh filename="meshes/link21_L.STL"/> <mesh filename="meshes/link21_L.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1218,7 +1218,7 @@
<geometry> <geometry>
<mesh filename="meshes/link22_L.STL"/> <mesh filename="meshes/link22_L.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1255,7 +1255,7 @@
<geometry> <geometry>
<mesh filename="meshes/R_hand_base_link.STL"/> <mesh filename="meshes/R_hand_base_link.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1277,7 +1277,7 @@
<geometry> <geometry>
<mesh filename="meshes/link11_R.STL"/> <mesh filename="meshes/link11_R.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1306,7 +1306,7 @@
<geometry> <geometry>
<mesh filename="meshes/link12_R.STL"/> <mesh filename="meshes/link12_R.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1335,7 +1335,7 @@
<geometry> <geometry>
<mesh filename="meshes/link13_R.STL"/> <mesh filename="meshes/link13_R.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1365,7 +1365,7 @@
<geometry> <geometry>
<mesh filename="meshes/link14_R.STL"/> <mesh filename="meshes/link14_R.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1395,7 +1395,7 @@
<geometry> <geometry>
<mesh filename="meshes/link15_R.STL"/> <mesh filename="meshes/link15_R.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1424,7 +1424,7 @@
<geometry> <geometry>
<mesh filename="meshes/link16_R.STL"/> <mesh filename="meshes/link16_R.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1454,7 +1454,7 @@
<geometry> <geometry>
<mesh filename="meshes/link17_R.STL"/> <mesh filename="meshes/link17_R.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1483,7 +1483,7 @@
<geometry> <geometry>
<mesh filename="meshes/link18_R.STL"/> <mesh filename="meshes/link18_R.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1513,7 +1513,7 @@
<geometry> <geometry>
<mesh filename="meshes/link19_R.STL"/> <mesh filename="meshes/link19_R.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1542,7 +1542,7 @@
<geometry> <geometry>
<mesh filename="meshes/link20_R.STL"/> <mesh filename="meshes/link20_R.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1572,7 +1572,7 @@
<geometry> <geometry>
<mesh filename="meshes/link21_R.STL"/> <mesh filename="meshes/link21_R.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>
@ -1601,7 +1601,7 @@
<geometry> <geometry>
<mesh filename="meshes/link22_R.STL"/> <mesh filename="meshes/link22_R.STL"/>
</geometry> </geometry>
<material name="">
<material name="dark">
<color rgba="0.1 0.1 0.1 1"/> <color rgba="0.1 0.1 0.1 1"/>
</material> </material>
</visual> </visual>

208
assets/H1_5/h1_5.xml → assets/h1_2/h1_2.xml
View File

@ -1,4 +1,4 @@
<mujoco model="h1_5">
<mujoco model="h1_2">
<compiler angle="radian" meshdir="meshes/" autolimits="true"/> <compiler angle="radian" meshdir="meshes/" autolimits="true"/>
<statistic meansize="0.112107" extent="1.95557" center="0.0256948 1.86841e-05 -0.178443"/> <statistic meansize="0.112107" extent="1.95557" center="0.0256948 1.86841e-05 -0.178443"/>
<asset> <asset>
@ -60,37 +60,37 @@
<worldbody> <worldbody>
<body name="pelvis" pos="0 0 1.03"> <body name="pelvis" pos="0 0 1.03">
<inertial pos="-0.0004 3.7e-05 -0.046864" quat="0.497097 0.496809 -0.503132 0.502925" mass="5.983" diaginertia="0.0531565 0.0491678 0.00902583"/> <inertial pos="-0.0004 3.7e-05 -0.046864" quat="0.497097 0.496809 -0.503132 0.502925" mass="5.983" diaginertia="0.0531565 0.0491678 0.00902583"/>
<joint name="floating_base_joint" type="free"/>
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="pelvis"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="pelvis"/>
<geom size="0.05" rgba="0.1 0.1 0.1 1"/> <geom size="0.05" rgba="0.1 0.1 0.1 1"/>
<body name="left_hip_yaw_link" pos="0 0.0875 -0.1632"> <body name="left_hip_yaw_link" pos="0 0.0875 -0.1632">
<inertial pos="0 -0.026197 0.006647" quat="0.704899 -0.0553755 0.0548434 0.705013" mass="2.829" diaginertia="0.00574303 0.00455361 0.00349461"/> <inertial pos="0 -0.026197 0.006647" quat="0.704899 -0.0553755 0.0548434 0.705013" mass="2.829" diaginertia="0.00574303 0.00455361 0.00349461"/>
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43"/>
<joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43" actuatorfrcrange="-200 200"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_yaw_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_yaw_link"/>
<geom size="0.01 0.01" pos="0.02 0 0" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.1 0.1 0.1 1"/> <geom size="0.01 0.01" pos="0.02 0 0" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
<body name="left_hip_pitch_link" pos="0 0.0755 0"> <body name="left_hip_pitch_link" pos="0 0.0755 0">
<inertial pos="-0.00781 -0.004724 -6.3e-05" quat="0.701575 0.711394 0.0330266 0.0249149" mass="2.92" diaginertia="0.00560661 0.00445055 0.00385068"/> <inertial pos="-0.00781 -0.004724 -6.3e-05" quat="0.701575 0.711394 0.0330266 0.0249149" mass="2.92" diaginertia="0.00560661 0.00445055 0.00385068"/>
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5"/>
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5" actuatorfrcrange="-200 200"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_pitch_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_pitch_link"/>
<geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/> <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
<body name="left_hip_roll_link"> <body name="left_hip_roll_link">
<inertial pos="0.004171 -0.008576 -0.194509" quat="0.634842 0.0146079 0.0074063 0.772469" mass="4.962" diaginertia="0.0480229 0.0462788 0.00887409"/> <inertial pos="0.004171 -0.008576 -0.194509" quat="0.634842 0.0146079 0.0074063 0.772469" mass="4.962" diaginertia="0.0480229 0.0462788 0.00887409"/>
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.43 3.14"/>
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.43 3.14" actuatorfrcrange="-200 200"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_roll_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_hip_roll_link"/>
<geom size="0.02 0.005" pos="0 0.06 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.1 0.1 0.1 1"/> <geom size="0.02 0.005" pos="0 0.06 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
<body name="left_knee_link" pos="0 0 -0.4"> <body name="left_knee_link" pos="0 0 -0.4">
<inertial pos="0.000179 0.000121 -0.168936" quat="0.416585 0.0104983 0.00514003 0.909021" mass="3.839" diaginertia="0.0391044 0.038959 0.00501125"/> <inertial pos="0.000179 0.000121 -0.168936" quat="0.416585 0.0104983 0.00514003 0.909021" mass="3.839" diaginertia="0.0391044 0.038959 0.00501125"/>
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.26 2.05"/>
<joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.26 2.05" actuatorfrcrange="-300 300"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_knee_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_knee_link"/>
<geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/> <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
<body name="left_ankle_pitch_link" pos="0 0 -0.4"> <body name="left_ankle_pitch_link" pos="0 0 -0.4">
<inertial pos="-0.000294 0 -0.010794" quat="0.999984 0 -0.00574445 0" mass="0.102" diaginertia="2.39454e-05 2.1837e-05 1.34126e-05"/> <inertial pos="-0.000294 0 -0.010794" quat="0.999984 0 -0.00574445 0" mass="0.102" diaginertia="2.39454e-05 2.1837e-05 1.34126e-05"/>
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598"/>
<joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598" actuatorfrcrange="-60 60"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_ankle_pitch_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_ankle_pitch_link"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_ankle_pitch_link"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_ankle_pitch_link"/>
<body name="left_ankle_roll_link" pos="0 0 -0.02"> <body name="left_ankle_roll_link" pos="0 0 -0.02">
<inertial pos="0.029589 0 -0.015973" quat="0 0.725858 0 0.687845" mass="0.747" diaginertia="0.00359178 0.00343534 0.000640307"/> <inertial pos="0.029589 0 -0.015973" quat="0 0.725858 0 0.687845" mass="0.747" diaginertia="0.00359178 0.00343534 0.000640307"/>
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799"/>
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799" actuatorfrcrange="-40 40"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_ankle_roll_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_ankle_roll_link"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_ankle_roll_link"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_ankle_roll_link"/>
</body> </body>
@ -101,32 +101,32 @@
</body> </body>
<body name="right_hip_yaw_link" pos="0 -0.0875 -0.1632"> <body name="right_hip_yaw_link" pos="0 -0.0875 -0.1632">
<inertial pos="0 0.026197 0.006647" quat="0.705013 0.0548434 -0.0553755 0.704899" mass="2.829" diaginertia="0.00574303 0.00455361 0.00349461"/> <inertial pos="0 0.026197 0.006647" quat="0.705013 0.0548434 -0.0553755 0.704899" mass="2.829" diaginertia="0.00574303 0.00455361 0.00349461"/>
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43"/>
<joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.43 0.43" actuatorfrcrange="-200 200"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_yaw_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_yaw_link"/>
<geom size="0.01 0.01" pos="0.02 0 0" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.1 0.1 0.1 1"/> <geom size="0.01 0.01" pos="0.02 0 0" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
<body name="right_hip_pitch_link" pos="0 -0.0755 0"> <body name="right_hip_pitch_link" pos="0 -0.0755 0">
<inertial pos="-0.00781 0.004724 -6.3e-05" quat="0.711394 0.701575 -0.0249149 -0.0330266" mass="2.92" diaginertia="0.00560661 0.00445055 0.00385068"/> <inertial pos="-0.00781 0.004724 -6.3e-05" quat="0.711394 0.701575 -0.0249149 -0.0330266" mass="2.92" diaginertia="0.00560661 0.00445055 0.00385068"/>
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5"/>
<joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 2.5" actuatorfrcrange="-200 200"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_pitch_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_pitch_link"/>
<geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/> <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
<body name="right_hip_roll_link"> <body name="right_hip_roll_link">
<inertial pos="0.004171 0.008576 -0.194509" quat="0.772469 0.0074063 0.0146079 0.634842" mass="4.962" diaginertia="0.0480229 0.0462788 0.00887409"/> <inertial pos="0.004171 0.008576 -0.194509" quat="0.772469 0.0074063 0.0146079 0.634842" mass="4.962" diaginertia="0.0480229 0.0462788 0.00887409"/>
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.14 0.43"/>
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.14 0.43" actuatorfrcrange="-200 200"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_roll_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_hip_roll_link"/>
<geom size="0.02 0.005" pos="0 -0.06 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.1 0.1 0.1 1"/> <geom size="0.02 0.005" pos="0 -0.06 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.1 0.1 0.1 1"/>
<body name="right_knee_link" pos="0 0 -0.4"> <body name="right_knee_link" pos="0 0 -0.4">
<inertial pos="0.000179 -0.000121 -0.168936" quat="0.909021 0.00514003 0.0104983 0.416585" mass="3.839" diaginertia="0.0391044 0.038959 0.00501125"/> <inertial pos="0.000179 -0.000121 -0.168936" quat="0.909021 0.00514003 0.0104983 0.416585" mass="3.839" diaginertia="0.0391044 0.038959 0.00501125"/>
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.26 2.05"/>
<joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.26 2.05" actuatorfrcrange="-300 300"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_knee_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_knee_link"/>
<geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/> <geom size="0.02 0.1" pos="0 0 -0.2" type="cylinder" rgba="0.1 0.1 0.1 1"/>
<body name="right_ankle_pitch_link" pos="0 0 -0.4"> <body name="right_ankle_pitch_link" pos="0 0 -0.4">
<inertial pos="-0.000294 0 -0.010794" quat="0.999984 0 -0.00574445 0" mass="0.102" diaginertia="2.39454e-05 2.1837e-05 1.34126e-05"/> <inertial pos="-0.000294 0 -0.010794" quat="0.999984 0 -0.00574445 0" mass="0.102" diaginertia="2.39454e-05 2.1837e-05 1.34126e-05"/>
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598"/>
<joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.897334 0.523598" actuatorfrcrange="-60 60"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_ankle_pitch_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_ankle_pitch_link"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_ankle_pitch_link"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_ankle_pitch_link"/>
<body name="right_ankle_roll_link" pos="0 0 -0.02"> <body name="right_ankle_roll_link" pos="0 0 -0.02">
<inertial pos="0.029589 0 -0.015973" quat="0 0.725858 0 0.687845" mass="0.747" diaginertia="0.00359178 0.00343534 0.000640307"/> <inertial pos="0.029589 0 -0.015973" quat="0 0.725858 0 0.687845" mass="0.747" diaginertia="0.00359178 0.00343534 0.000640307"/>
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799"/>
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.261799 0.261799" actuatorfrcrange="-40 40"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_ankle_roll_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_ankle_roll_link"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_ankle_roll_link"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_ankle_roll_link"/>
</body> </body>
@ -137,65 +137,65 @@
</body> </body>
<body name="torso_link"> <body name="torso_link">
<inertial pos="0.000489 0.002797 0.20484" quat="0.999989 -0.00130808 -0.00282289 -0.00349105" mass="17.789" diaginertia="0.487315 0.409628 0.127837"/> <inertial pos="0.000489 0.002797 0.20484" quat="0.999989 -0.00130808 -0.00282289 -0.00349105" mass="17.789" diaginertia="0.487315 0.409628 0.127837"/>
<joint name="torso_joint" pos="0 0 0" axis="0 0 1" range="-2.35 2.35"/>
<joint name="torso_joint" pos="0 0 0" axis="0 0 1" range="-2.35 2.35" actuatorfrcrange="-200 200"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="torso_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="torso_link"/>
<geom size="0.04 0.08 0.05" pos="0 0 0.15" type="box" rgba="0.1 0.1 0.1 1"/> <geom size="0.04 0.08 0.05" pos="0 0 0.15" type="box" rgba="0.1 0.1 0.1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="logo_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="logo_link"/>
<site name="imu" size="0.01" pos="-0.04452 -0.01891 0.27756"/> <site name="imu" size="0.01" pos="-0.04452 -0.01891 0.27756"/>
<body name="left_shoulder_pitch_link" pos="0 0.14806 0.42333" quat="0.991445 0.130526 0 0"> <body name="left_shoulder_pitch_link" pos="0 0.14806 0.42333" quat="0.991445 0.130526 0 0">
<inertial pos="0.003053 0.06042 -0.0059" quat="0.761799 0.645681 -0.0378496 -0.0363943" mass="1.327" diaginertia="0.000588757 0.00053309 0.000393023"/> <inertial pos="0.003053 0.06042 -0.0059" quat="0.761799 0.645681 -0.0378496 -0.0363943" mass="1.327" diaginertia="0.000588757 0.00053309 0.000393023"/>
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 1.57"/>
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 1.57" actuatorfrcrange="-40 40"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_pitch_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_pitch_link"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_pitch_link"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_pitch_link"/>
<body name="left_shoulder_roll_link" pos="0.0342 0.061999 -0.0060011" quat="0.991445 -0.130526 0 0"> <body name="left_shoulder_roll_link" pos="0.0342 0.061999 -0.0060011" quat="0.991445 -0.130526 0 0">
<inertial pos="-0.030932 -1e-06 -0.10609" quat="0.986055 0.000456937 0.166408 0.00213553" mass="1.393" diaginertia="0.00200869 0.00193464 0.000449847"/> <inertial pos="-0.030932 -1e-06 -0.10609" quat="0.986055 0.000456937 0.166408 0.00213553" mass="1.393" diaginertia="0.00200869 0.00193464 0.000449847"/>
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.38 3.4"/>
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.38 3.4" actuatorfrcrange="-40 40"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_roll_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_roll_link"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_roll_link"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_roll_link"/>
<body name="left_shoulder_yaw_link" pos="-0.0342 0 -0.1456"> <body name="left_shoulder_yaw_link" pos="-0.0342 0 -0.1456">
<inertial pos="0.004583 0.001128 -0.001128" quat="0.663644 -0.0108866 -0.0267235 0.747492" mass="1.505" diaginertia="0.00431782 0.00420697 0.000645658"/> <inertial pos="0.004583 0.001128 -0.001128" quat="0.663644 -0.0108866 -0.0267235 0.747492" mass="1.505" diaginertia="0.00431782 0.00420697 0.000645658"/>
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-3.01 2.66"/>
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.66 3.01" actuatorfrcrange="-18 18"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_yaw_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_yaw_link"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_yaw_link"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_shoulder_yaw_link"/>
<body name="left_elbow_pitch_link" pos="0.006 0.0329 -0.182"> <body name="left_elbow_pitch_link" pos="0.006 0.0329 -0.182">
<inertial pos="0.077092 -0.028751 -0.009714" quat="0.544921 0.610781 0.423352 0.388305" mass="0.691" diaginertia="0.000942091 0.000905273 0.00023025"/> <inertial pos="0.077092 -0.028751 -0.009714" quat="0.544921 0.610781 0.423352 0.388305" mass="0.691" diaginertia="0.000942091 0.000905273 0.00023025"/>
<joint name="left_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.53 1.6"/>
<joint name="left_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.95 3.18" actuatorfrcrange="-18 18"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_elbow_pitch_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_elbow_pitch_link"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_elbow_pitch_link"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_elbow_pitch_link"/>
<body name="left_elbow_roll_link" pos="0.121 -0.0329 -0.011"> <body name="left_elbow_roll_link" pos="0.121 -0.0329 -0.011">
<inertial pos="0.035281 -0.00232 0.000337" quat="0.334998 0.622198 -0.240131 0.66557" mass="0.683" diaginertia="0.00034681 0.000328248 0.000294628"/> <inertial pos="0.035281 -0.00232 0.000337" quat="0.334998 0.622198 -0.240131 0.66557" mass="0.683" diaginertia="0.00034681 0.000328248 0.000294628"/>
<joint name="left_elbow_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.967 2.967"/>
<joint name="left_elbow_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.01 2.75" actuatorfrcrange="-19 19"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_elbow_roll_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_elbow_roll_link"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_elbow_roll_link"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_elbow_roll_link"/>
<body name="left_wrist_pitch_link" pos="0.085 0 0"> <body name="left_wrist_pitch_link" pos="0.085 0 0">
<inertial pos="0.020395 3.6e-05 -0.002973" quat="0.915893 -0.228405 -0.327262 -0.0432527" mass="0.484" diaginertia="7.25675e-05 7.00325e-05 6.9381e-05"/> <inertial pos="0.020395 3.6e-05 -0.002973" quat="0.915893 -0.228405 -0.327262 -0.0432527" mass="0.484" diaginertia="7.25675e-05 7.00325e-05 6.9381e-05"/>
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.471 0.349"/>
<joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.47 0.47" actuatorfrcrange="-19 19"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_wrist_pitch_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="left_wrist_pitch_link"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_wrist_pitch_link"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="left_wrist_pitch_link"/>
<body name="left_wrist_yaw_link" pos="0.02 0 0"> <body name="left_wrist_yaw_link" pos="0.02 0 0">
<inertial pos="0.0770303 -0.00131441 -0.00068617" quat="0.499919 0.510625 0.506813 0.482165" mass="0.26543" diaginertia="0.000854397 0.000723298 0.00022115"/> <inertial pos="0.0770303 -0.00131441 -0.00068617" quat="0.499919 0.510625 0.506813 0.482165" mass="0.26543" diaginertia="0.000854397 0.000723298 0.00022115"/>
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.012 1.012"/>
<joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.27 1.27" actuatorfrcrange="-19 19"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wrist_yaw_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wrist_yaw_link"/>
<geom pos="0.054 0 0" quat="0.707107 0 0 0.707107" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/> <geom pos="0.054 0 0" quat="0.707107 0 0 0.707107" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
<geom pos="0.054 0 0" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/> <geom pos="0.054 0 0" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.1 0.1 0.1 1" mesh="L_hand_base_link"/>
<body name="L_thumb_proximal_base" pos="0.1231 -0.01696 0.02045" quat="-2.59735e-06 0.707107 0 0.707107"> <body name="L_thumb_proximal_base" pos="0.1231 -0.01696 0.02045" quat="-2.59735e-06 0.707107 0 0.707107">
<inertial pos="0.0048817 0.00038782 -0.00722" quat="0.445981 0.352284 0.495833 0.656617" mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08"/> <inertial pos="0.0048817 0.00038782 -0.00722" quat="0.445981 0.352284 0.495833 0.656617" mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08"/>
<joint name="L_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3"/>
<joint name="L_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 1" range="-0.1 1.3" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link11_L"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link11_L"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link11_L"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link11_L"/>
<body name="L_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167"> <body name="L_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167">
<inertial pos="0.021936 -0.01279 -0.0080386" quat="0.25452 0.660687 -0.251949 0.659723" mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07"/> <inertial pos="0.021936 -0.01279 -0.0080386" quat="0.25452 0.660687 -0.251949 0.659723" mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07"/>
<joint name="L_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 0.6"/>
<joint name="L_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 0.6" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link12_L"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link12_L"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link12_L"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link12_L"/>
<body name="L_thumb_intermediate" pos="0.04407 -0.034553 -0.0008"> <body name="L_thumb_intermediate" pos="0.04407 -0.034553 -0.0008">
<inertial pos="0.0095531 0.0016282 -0.0072002" quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844" diaginertia="4.6532e-07 4.48114e-07 2.45646e-07"/> <inertial pos="0.0095531 0.0016282 -0.0072002" quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844" diaginertia="4.6532e-07 4.48114e-07 2.45646e-07"/>
<joint name="L_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8"/>
<joint name="L_thumb_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 0.8" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link13_L"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link13_L"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link13_L"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link13_L"/>
<body name="L_thumb_distal" pos="0.020248 -0.010156 -0.0012"> <body name="L_thumb_distal" pos="0.020248 -0.010156 -0.0012">
<inertial pos="0.0092888 -0.004953 -0.0060033" quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344" diaginertia="2.0026e-07 1.95246e-07 8.1594e-08"/> <inertial pos="0.0092888 -0.004953 -0.0060033" quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344" diaginertia="2.0026e-07 1.95246e-07 8.1594e-08"/>
<joint name="L_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2"/>
<joint name="L_thumb_distal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.2" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link14_L"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link14_L"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link14_L"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link14_L"/>
</body> </body>
@ -204,48 +204,48 @@
</body> </body>
<body name="L_index_proximal" pos="0.19053 0.00028533 0.032268" quat="0.706999 -0.0123409 -0.0123409 0.706999"> <body name="L_index_proximal" pos="0.19053 0.00028533 0.032268" quat="0.706999 -0.0123409 -0.0123409 0.706999">
<inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/> <inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
<joint name="L_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
<joint name="L_index_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link15_L"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link15_L"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link15_L"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link15_L"/>
<body name="L_index_intermediate" pos="-0.0024229 -0.032041 -0.001"> <body name="L_index_intermediate" pos="-0.0024229 -0.032041 -0.001">
<inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08"/> <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08"/>
<joint name="L_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
<joint name="L_index_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link16_L"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link16_L"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link16_L"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link16_L"/>
</body> </body>
</body> </body>
<body name="L_middle_proximal" pos="0.1911 0.00028533 0.01295" quat="0.707107 0 0 0.707107"> <body name="L_middle_proximal" pos="0.1911 0.00028533 0.01295" quat="0.707107 0 0 0.707107">
<inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/> <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
<joint name="L_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
<joint name="L_middle_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link17_L"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link17_L"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link17_L"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link17_L"/>
<body name="L_middle_intermediate" pos="-0.0024229 -0.032041 -0.001"> <body name="L_middle_intermediate" pos="-0.0024229 -0.032041 -0.001">
<inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08"/> <inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08"/>
<joint name="L_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
<joint name="L_middle_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link18_L"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link18_L"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link18_L"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link18_L"/>
</body> </body>
</body> </body>
<body name="L_ring_proximal" pos="0.19091 0.00028533 -0.0062872" quat="0.706864 0.0185099 0.0185099 0.706864"> <body name="L_ring_proximal" pos="0.19091 0.00028533 -0.0062872" quat="0.706864 0.0185099 0.0185099 0.706864">
<inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/> <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
<joint name="L_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
<joint name="L_ring_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link19_L"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link19_L"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link19_L"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link19_L"/>
<body name="L_ring_intermediate" pos="-0.0024229 -0.032041 -0.001"> <body name="L_ring_intermediate" pos="-0.0024229 -0.032041 -0.001">
<inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08"/> <inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08"/>
<joint name="L_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
<joint name="L_ring_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link20_L"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link20_L"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link20_L"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link20_L"/>
</body> </body>
</body> </body>
<body name="L_pinky_proximal" pos="0.18971 0.00028533 -0.025488" quat="0.706138 0.0370072 0.0370072 0.706138"> <body name="L_pinky_proximal" pos="0.18971 0.00028533 -0.025488" quat="0.706138 0.0370072 0.0370072 0.706138">
<inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/> <inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/>
<joint name="L_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
<joint name="L_pinky_proximal_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link21_L"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link21_L"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link21_L"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link21_L"/>
<body name="L_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001"> <body name="L_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001">
<inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08"/> <inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08"/>
<joint name="L_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7"/>
<joint name="L_pinky_intermediate_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link22_L"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link22_L"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link22_L"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link22_L"/>
</body> </body>
@ -259,58 +259,58 @@
</body> </body>
<body name="right_shoulder_pitch_link" pos="0 -0.14806 0.42333" quat="0.991445 -0.130526 0 0"> <body name="right_shoulder_pitch_link" pos="0 -0.14806 0.42333" quat="0.991445 -0.130526 0 0">
<inertial pos="0.003053 -0.06042 -0.0059" quat="0.645681 0.761799 0.0363943 0.0378496" mass="1.327" diaginertia="0.000588757 0.00053309 0.000393023"/> <inertial pos="0.003053 -0.06042 -0.0059" quat="0.645681 0.761799 0.0363943 0.0378496" mass="1.327" diaginertia="0.000588757 0.00053309 0.000393023"/>
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.57 3.14"/>
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.14 1.57" actuatorfrcrange="-40 40"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_pitch_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_pitch_link"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_pitch_link"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_pitch_link"/>
<body name="right_shoulder_roll_link" pos="0.0342 -0.061999 -0.0060011" quat="0.991445 0.130526 0 0"> <body name="right_shoulder_roll_link" pos="0.0342 -0.061999 -0.0060011" quat="0.991445 0.130526 0 0">
<inertial pos="-0.030932 1e-06 -0.10609" quat="0.986055 -0.000456937 0.166408 -0.00213553" mass="1.393" diaginertia="0.00200869 0.00193464 0.000449847"/> <inertial pos="-0.030932 1e-06 -0.10609" quat="0.986055 -0.000456937 0.166408 -0.00213553" mass="1.393" diaginertia="0.00200869 0.00193464 0.000449847"/>
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.4 0.38"/>
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-3.4 0.38" actuatorfrcrange="-40 40"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_roll_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_roll_link"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_roll_link"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_roll_link"/>
<body name="right_shoulder_yaw_link" pos="-0.0342 0 -0.1456"> <body name="right_shoulder_yaw_link" pos="-0.0342 0 -0.1456">
<inertial pos="0.004583 -0.001128 -0.001128" quat="0.747492 -0.0267235 -0.0108866 0.663644" mass="1.505" diaginertia="0.00431782 0.00420697 0.000645658"/> <inertial pos="0.004583 -0.001128 -0.001128" quat="0.747492 -0.0267235 -0.0108866 0.663644" mass="1.505" diaginertia="0.00431782 0.00420697 0.000645658"/>
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.66 3.01"/>
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-3.01 2.66" actuatorfrcrange="-18 18"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_yaw_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_yaw_link"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_yaw_link"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_shoulder_yaw_link"/>
<body name="right_elbow_pitch_link" pos="0.006 -0.0329 -0.182"> <body name="right_elbow_pitch_link" pos="0.006 -0.0329 -0.182">
<inertial pos="0.077092 0.028751 -0.009714" quat="0.388305 0.423352 0.610781 0.544921" mass="0.691" diaginertia="0.000942091 0.000905273 0.00023025"/> <inertial pos="0.077092 0.028751 -0.009714" quat="0.388305 0.423352 0.610781 0.544921" mass="0.691" diaginertia="0.000942091 0.000905273 0.00023025"/>
<joint name="right_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.6 2.53"/>
<joint name="right_elbow_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.95 3.18" actuatorfrcrange="-18 18"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_elbow_pitch_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_elbow_pitch_link"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_elbow_pitch_link"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_elbow_pitch_link"/>
<body name="right_elbow_roll_link" pos="0.121 0.0329 -0.011"> <body name="right_elbow_roll_link" pos="0.121 0.0329 -0.011">
<inertial pos="0.035281 -0.00232 0.000337" quat="0.334998 0.622198 -0.240131 0.66557" mass="0.683" diaginertia="0.00034681 0.000328248 0.000294628"/> <inertial pos="0.035281 -0.00232 0.000337" quat="0.334998 0.622198 -0.240131 0.66557" mass="0.683" diaginertia="0.00034681 0.000328248 0.000294628"/>
<joint name="right_elbow_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.967 2.967"/>
<joint name="right_elbow_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.75 3.01" actuatorfrcrange="-19 19"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_elbow_roll_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_elbow_roll_link"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_elbow_roll_link"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_elbow_roll_link"/>
<body name="right_wrist_pitch_link" pos="0.085 0 0"> <body name="right_wrist_pitch_link" pos="0.085 0 0">
<inertial pos="0.020395 3.6e-05 -0.002973" quat="0.915893 -0.228405 -0.327262 -0.0432527" mass="0.484" diaginertia="7.25675e-05 7.00325e-05 6.9381e-05"/> <inertial pos="0.020395 3.6e-05 -0.002973" quat="0.915893 -0.228405 -0.327262 -0.0432527" mass="0.484" diaginertia="7.25675e-05 7.00325e-05 6.9381e-05"/>
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.471 0.349"/>
<joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.47 0.47" actuatorfrcrange="-19 19"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_wrist_pitch_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="right_wrist_pitch_link"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_wrist_pitch_link"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="right_wrist_pitch_link"/>
<body name="right_wrist_yaw_link" pos="0.02 0 0"> <body name="right_wrist_yaw_link" pos="0.02 0 0">
<inertial pos="0.0770303 0.0013013 -0.000699011" quat="0.482149 0.506915 0.510629 0.499827" mass="0.26543" diaginertia="0.00085381 0.000722728 0.000221145"/> <inertial pos="0.0770303 0.0013013 -0.000699011" quat="0.482149 0.506915 0.510629 0.499827" mass="0.26543" diaginertia="0.00085381 0.000722728 0.000221145"/>
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.012 1.012"/>
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.27 1.27" actuatorfrcrange="-19 19"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wrist_yaw_link"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wrist_yaw_link"/>
<geom pos="0.054 0 0" quat="0 0.707107 -0.707107 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/> <geom pos="0.054 0 0" quat="0 0.707107 -0.707107 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
<geom pos="0.054 0 0" quat="0 0.707107 -0.707107 0" type="mesh" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/> <geom pos="0.054 0 0" quat="0 0.707107 -0.707107 0" type="mesh" rgba="0.1 0.1 0.1 1" mesh="R_hand_base_link"/>
<body name="R_thumb_proximal_base" pos="0.1231 0.01696 0.02045" quat="-0.707107 -2.59735e-06 -0.707107 0"> <body name="R_thumb_proximal_base" pos="0.1231 0.01696 0.02045" quat="-0.707107 -2.59735e-06 -0.707107 0">
<inertial pos="-0.0048064 0.0009382 -0.00757" quat="0.515015 0.680854 0.408023 0.323596" mass="0.0018869" diaginertia="8.66026e-08 6.8732e-08 4.94194e-08"/> <inertial pos="-0.0048064 0.0009382 -0.00757" quat="0.515015 0.680854 0.408023 0.323596" mass="0.0018869" diaginertia="8.66026e-08 6.8732e-08 4.94194e-08"/>
<joint name="R_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 1.3"/>
<joint name="R_thumb_proximal_yaw_joint" pos="0 0 0" axis="0 0 -1" range="-0.1 1.3" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link11_R"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link11_R"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link11_R"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link11_R"/>
<body name="R_thumb_proximal" pos="-0.0088099 0.010892 -0.00925" quat="0.0996843 0.0996847 0.700046 0.700044"> <body name="R_thumb_proximal" pos="-0.0088099 0.010892 -0.00925" quat="0.0996843 0.0996847 0.700046 0.700044">
<inertial pos="0.021932 0.012785 -0.0080386" quat="-0.254474 0.660716 0.251893 0.659733" mass="0.0066075" diaginertia="2.78601e-06 2.43933e-06 8.64566e-07"/> <inertial pos="0.021932 0.012785 -0.0080386" quat="-0.254474 0.660716 0.251893 0.659733" mass="0.0066075" diaginertia="2.78601e-06 2.43933e-06 8.64566e-07"/>
<joint name="R_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="-0.1 0.6"/>
<joint name="R_thumb_proximal_pitch_joint" pos="0 0 0" axis="0 0 1" range="-0.1 0.6" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link12_R"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link12_R"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link12_R"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link12_R"/>
<body name="R_thumb_intermediate" pos="0.04407 0.034553 -0.0008"> <body name="R_thumb_intermediate" pos="0.04407 0.034553 -0.0008">
<inertial pos="0.0095544 -0.0016282 -0.0071997" quat="0.636718 0.307389 -0.636802 0.307548" mass="0.0037847" diaginertia="4.6531e-07 4.48089e-07 2.45661e-07"/> <inertial pos="0.0095544 -0.0016282 -0.0071997" quat="0.636718 0.307389 -0.636802 0.307548" mass="0.0037847" diaginertia="4.6531e-07 4.48089e-07 2.45661e-07"/>
<joint name="R_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8"/>
<joint name="R_thumb_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 0.8" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link13_R"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link13_R"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link13_R"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link13_R"/>
<body name="R_thumb_distal" pos="0.020248 0.010156 -0.0012"> <body name="R_thumb_distal" pos="0.020248 0.010156 -0.0012">
<inertial pos="0.0092888 0.0049529 -0.0060033" quat="-0.266294 0.655967 0.262806 0.655537" mass="0.0033441" diaginertia="2.0026e-07 1.95247e-07 8.1593e-08"/> <inertial pos="0.0092888 0.0049529 -0.0060033" quat="-0.266294 0.655967 0.262806 0.655537" mass="0.0033441" diaginertia="2.0026e-07 1.95247e-07 8.1593e-08"/>
<joint name="R_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2"/>
<joint name="R_thumb_distal_joint" pos="0 0 0" axis="0 0 1" range="0 1.2" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link14_R"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link14_R"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link14_R"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link14_R"/>
</body> </body>
@ -319,48 +319,48 @@
</body> </body>
<body name="R_index_proximal" pos="0.19053 -0.00028533 0.032268" quat="0.706999 0.0123358 -0.0123358 -0.706999"> <body name="R_index_proximal" pos="0.19053 -0.00028533 0.032268" quat="0.706999 0.0123358 -0.0123358 -0.706999">
<inertial pos="0.0012259 0.011942 -0.0060001" quat="0.50867 0.49121 -0.508643 0.491172" mass="0.0042403" diaginertia="6.9398e-07 6.62871e-07 2.10909e-07"/> <inertial pos="0.0012259 0.011942 -0.0060001" quat="0.50867 0.49121 -0.508643 0.491172" mass="0.0042403" diaginertia="6.9398e-07 6.62871e-07 2.10909e-07"/>
<joint name="R_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
<joint name="R_index_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link15_R"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link15_R"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link15_R"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link15_R"/>
<body name="R_index_intermediate" pos="-0.0026138 0.032026 -0.001"> <body name="R_index_intermediate" pos="-0.0026138 0.032026 -0.001">
<inertial pos="0.0019697 0.019589 -0.005" quat="0.466773 0.531152 -0.466773 0.531153" mass="0.0045683" diaginertia="7.8179e-07 7.72465e-07 8.47212e-08"/> <inertial pos="0.0019697 0.019589 -0.005" quat="0.466773 0.531152 -0.466773 0.531153" mass="0.0045683" diaginertia="7.8179e-07 7.72465e-07 8.47212e-08"/>
<joint name="R_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
<joint name="R_index_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link16_R"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link16_R"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link16_R"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link16_R"/>
</body> </body>
</body> </body>
<body name="R_middle_proximal" pos="0.1911 -0.00028533 0.01295" quat="0.707107 -2.59735e-06 2.59735e-06 -0.707107"> <body name="R_middle_proximal" pos="0.1911 -0.00028533 0.01295" quat="0.707107 -2.59735e-06 2.59735e-06 -0.707107">
<inertial pos="0.001297 0.011934 -0.0060001" quat="0.510131 0.489693 -0.510105 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/> <inertial pos="0.001297 0.011934 -0.0060001" quat="0.510131 0.489693 -0.510105 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
<joint name="R_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
<joint name="R_middle_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link17_R"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link17_R"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link17_R"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link17_R"/>
<body name="R_middle_intermediate" pos="-0.0024229 0.032041 -0.001"> <body name="R_middle_intermediate" pos="-0.0024229 0.032041 -0.001">
<inertial pos="0.001921 0.020796 -0.005" quat="0.466148 0.531627 -0.466229 0.531705" mass="0.0050396" diaginertia="9.8384e-07 9.73279e-07 9.14014e-08"/> <inertial pos="0.001921 0.020796 -0.005" quat="0.466148 0.531627 -0.466229 0.531705" mass="0.0050396" diaginertia="9.8384e-07 9.73279e-07 9.14014e-08"/>
<joint name="R_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
<joint name="R_middle_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link18_R"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link18_R"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link18_R"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link18_R"/>
</body> </body>
</body> </body>
<body name="R_ring_proximal" pos="0.19091 -0.00028533 -0.0062872" quat="-0.706864 0.0185215 -0.0185215 0.706864"> <body name="R_ring_proximal" pos="0.19091 -0.00028533 -0.0062872" quat="-0.706864 0.0185215 -0.0185215 0.706864">
<inertial pos="0.001297 0.011934 -0.0060002" quat="0.510129 0.489691 -0.510107 0.489654" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/> <inertial pos="0.001297 0.011934 -0.0060002" quat="0.510129 0.489691 -0.510107 0.489654" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
<joint name="R_ring_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
<joint name="R_ring_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link19_R"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link19_R"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link19_R"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link19_R"/>
<body name="R_ring_intermediate" pos="-0.0024229 0.032041 -0.001"> <body name="R_ring_intermediate" pos="-0.0024229 0.032041 -0.001">
<inertial pos="0.0021753 0.019567 -0.005" quat="0.469554 0.528695 -0.469554 0.528695" mass="0.0045683" diaginertia="7.8177e-07 7.72448e-07 8.4722e-08"/> <inertial pos="0.0021753 0.019567 -0.005" quat="0.469554 0.528695 -0.469554 0.528695" mass="0.0045683" diaginertia="7.8177e-07 7.72448e-07 8.4722e-08"/>
<joint name="R_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
<joint name="R_ring_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link20_R"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link20_R"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link20_R"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link20_R"/>
</body> </body>
</body> </body>
<body name="R_pinky_proximal" pos="0.18971 -0.00028533 -0.025488" quat="-0.706138 0.0369975 -0.0369975 0.706138"> <body name="R_pinky_proximal" pos="0.18971 -0.00028533 -0.025488" quat="-0.706138 0.0369975 -0.0369975 0.706138">
<inertial pos="0.001297 0.011934 -0.0060001" quat="0.51013 0.489693 -0.510106 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/> <inertial pos="0.001297 0.011934 -0.0060001" quat="0.51013 0.489693 -0.510106 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/>
<joint name="R_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
<joint name="R_pinky_proximal_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link21_R"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link21_R"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link21_R"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link21_R"/>
<body name="R_pinky_intermediate" pos="-0.0024229 0.032041 -0.001"> <body name="R_pinky_intermediate" pos="-0.0024229 0.032041 -0.001">
<inertial pos="0.0024748 0.016203 -0.0050031" quat="0.47398 0.528862 -0.469291 0.524799" mass="0.0035996" diaginertia="4.4867e-07 4.43723e-07 6.56538e-08"/> <inertial pos="0.0024748 0.016203 -0.0050031" quat="0.47398 0.528862 -0.469291 0.524799" mass="0.0035996" diaginertia="4.4867e-07 4.43723e-07 6.56538e-08"/>
<joint name="R_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7"/>
<joint name="R_pinky_intermediate_joint" pos="0 0 0" axis="0 0 1" range="0 1.7" actuatorfrcrange="-1 1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link22_R"/> <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="link22_R"/>
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link22_R"/> <geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link22_R"/>
</body> </body>
@ -378,57 +378,57 @@
<actuator> <actuator>
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint" ctrlrange="-200 200"/>
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint" ctrlrange="-200 200"/>
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint" ctrlrange="-200 200"/>
<motor name="left_knee_joint" joint="left_knee_joint" ctrlrange="-300 300"/>
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint" ctrlrange="-60 60"/>
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint" ctrlrange="-40 40"/>
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint" ctrlrange="-200 200"/>
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint" ctrlrange="-200 200"/>
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint" ctrlrange="-200 200"/>
<motor name="right_knee_joint" joint="right_knee_joint" ctrlrange="-300 300"/>
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" ctrlrange="-60 60"/>
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint" ctrlrange="-40 40"/>
<motor name="torso_joint" joint="torso_joint" ctrlrange="-200 200"/>
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint" ctrlrange="-40 40"/>
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint" ctrlrange="-40 40"/>
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint" ctrlrange="-18 18"/>
<motor name="left_elbow_pitch_joint" joint="left_elbow_pitch_joint" ctrlrange="-18 18"/>
<motor name="left_elbow_roll_joint" joint="left_elbow_roll_joint" ctrlrange="-19 19"/>
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint" ctrlrange="-19 19"/>
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint" ctrlrange="-19 19"/>
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint" ctrlrange="-40 40"/>
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint" ctrlrange="-40 40"/>
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint" ctrlrange="-18 18"/>
<motor name="right_elbow_pitch_joint" joint="right_elbow_pitch_joint" ctrlrange="-18 18"/>
<motor name="right_elbow_roll_joint" joint="right_elbow_roll_joint" ctrlrange="-19 19"/>
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint" ctrlrange="-19 19"/>
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint" ctrlrange="-19 19"/>
<motor name="L_index_proximal_joint" joint="L_index_proximal_joint" ctrlrange="-1 1"/>
<motor name="L_index_intermediate_joint" joint="L_index_intermediate_joint" ctrlrange="-1 1"/>
<motor name="L_middle_proximal_joint" joint="L_middle_proximal_joint" ctrlrange="-1 1"/>
<motor name="L_middle_intermediate_joint" joint="L_middle_intermediate_joint" ctrlrange="-1 1"/>
<motor name="L_ring_proximal_joint" joint="L_ring_proximal_joint" ctrlrange="-1 1"/>
<motor name="L_ring_intermediate_joint" joint="L_ring_intermediate_joint" ctrlrange="-1 1"/>
<motor name="L_pinky_proximal_joint" joint="L_pinky_proximal_joint" ctrlrange="-1 1"/>
<motor name="L_pinky_intermediate_joint" joint="L_pinky_intermediate_joint" ctrlrange="-1 1"/>
<motor name="L_thumb_proximal_yaw_joint" joint="L_thumb_proximal_yaw_joint" ctrlrange="-1 1"/>
<motor name="L_thumb_proximal_pitch_joint" joint="L_thumb_proximal_pitch_joint" ctrlrange="-1 1"/>
<motor name="L_thumb_intermediate_joint" joint="L_thumb_intermediate_joint" ctrlrange="-1 1"/>
<motor name="L_thumb_distal_joint" joint="L_thumb_distal_joint" ctrlrange="-1 1"/>
<motor name="R_index_proximal_joint" joint="R_index_proximal_joint" ctrlrange="-1 1"/>
<motor name="R_index_intermediate_joint" joint="R_index_intermediate_joint" ctrlrange="-1 1"/>
<motor name="R_middle_proximal_joint" joint="R_middle_proximal_joint" ctrlrange="-1 1"/>
<motor name="R_middle_intermediate_joint" joint="R_middle_intermediate_joint" ctrlrange="-1 1"/>
<motor name="R_ring_proximal_joint" joint="R_ring_proximal_joint" ctrlrange="-1 1"/>
<motor name="R_ring_intermediate_joint" joint="R_ring_intermediate_joint" ctrlrange="-1 1"/>
<motor name="R_pinky_proximal_joint" joint="R_pinky_proximal_joint" ctrlrange="-1 1"/>
<motor name="R_pinky_intermediate_joint" joint="R_pinky_intermediate_joint" ctrlrange="-1 1"/>
<motor name="R_thumb_proximal_yaw_joint" joint="R_thumb_proximal_yaw_joint" ctrlrange="-1 1"/>
<motor name="R_thumb_proximal_pitch_joint" joint="R_thumb_proximal_pitch_joint" ctrlrange="-1 1"/>
<motor name="R_thumb_intermediate_joint" joint="R_thumb_intermediate_joint" ctrlrange="-1 1"/>
<motor name="R_thumb_distal_joint" joint="R_thumb_distal_joint" ctrlrange="-1 1"/>
<motor name="left_hip_yaw_joint" joint="left_hip_yaw_joint"/>
<motor name="left_hip_pitch_joint" joint="left_hip_pitch_joint"/>
<motor name="left_hip_roll_joint" joint="left_hip_roll_joint"/>
<motor name="left_knee_joint" joint="left_knee_joint"/>
<motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint"/>
<motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint"/>
<motor name="right_hip_yaw_joint" joint="right_hip_yaw_joint"/>
<motor name="right_hip_pitch_joint" joint="right_hip_pitch_joint"/>
<motor name="right_hip_roll_joint" joint="right_hip_roll_joint"/>
<motor name="right_knee_joint" joint="right_knee_joint"/>
<motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint"/>
<motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint"/>
<motor name="torso_joint" joint="torso_joint"/>
<motor name="left_shoulder_pitch_joint" joint="left_shoulder_pitch_joint"/>
<motor name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint"/>
<motor name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint"/>
<motor name="left_elbow_pitch_joint" joint="left_elbow_pitch_joint"/>
<motor name="left_elbow_roll_joint" joint="left_elbow_roll_joint"/>
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
<motor name="right_elbow_pitch_joint" joint="right_elbow_pitch_joint"/>
<motor name="right_elbow_roll_joint" joint="right_elbow_roll_joint"/>
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
<motor name="L_index_proximal_joint" joint="L_index_proximal_joint"/>
<motor name="L_index_intermediate_joint" joint="L_index_intermediate_joint"/>
<motor name="L_middle_proximal_joint" joint="L_middle_proximal_joint"/>
<motor name="L_middle_intermediate_joint" joint="L_middle_intermediate_joint"/>
<motor name="L_ring_proximal_joint" joint="L_ring_proximal_joint"/>
<motor name="L_ring_intermediate_joint" joint="L_ring_intermediate_joint"/>
<motor name="L_pinky_proximal_joint" joint="L_pinky_proximal_joint"/>
<motor name="L_pinky_intermediate_joint" joint="L_pinky_intermediate_joint"/>
<motor name="L_thumb_proximal_yaw_joint" joint="L_thumb_proximal_yaw_joint"/>
<motor name="L_thumb_proximal_pitch_joint" joint="L_thumb_proximal_pitch_joint"/>
<motor name="L_thumb_intermediate_joint" joint="L_thumb_intermediate_joint"/>
<motor name="L_thumb_distal_joint" joint="L_thumb_distal_joint"/>
<motor name="R_index_proximal_joint" joint="R_index_proximal_joint"/>
<motor name="R_index_intermediate_joint" joint="R_index_intermediate_joint"/>
<motor name="R_middle_proximal_joint" joint="R_middle_proximal_joint"/>
<motor name="R_middle_intermediate_joint" joint="R_middle_intermediate_joint"/>
<motor name="R_ring_proximal_joint" joint="R_ring_proximal_joint"/>
<motor name="R_ring_intermediate_joint" joint="R_ring_intermediate_joint"/>
<motor name="R_pinky_proximal_joint" joint="R_pinky_proximal_joint"/>
<motor name="R_pinky_intermediate_joint" joint="R_pinky_intermediate_joint"/>
<motor name="R_thumb_proximal_yaw_joint" joint="R_thumb_proximal_yaw_joint"/>
<motor name="R_thumb_proximal_pitch_joint" joint="R_thumb_proximal_pitch_joint"/>
<motor name="R_thumb_intermediate_joint" joint="R_thumb_intermediate_joint"/>
<motor name="R_thumb_distal_joint" joint="R_thumb_distal_joint"/>
</actuator> </actuator>
<sensor> <sensor>

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assets/H1_5/scene.xml → assets/h1_2/scene.xml
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@ -1,5 +1,5 @@
<mujoco model="h1 scene"> <mujoco model="h1 scene">
<include file="h1_5.xml"/>
<include file="h1_2.xml"/>
<statistic center="1.0 0.7 1.5" extent="0.8"/> <statistic center="1.0 0.7 1.5" extent="0.8"/>

2
teleop/robot_control/robot_arm_ik.py
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@ -17,7 +17,7 @@ class Arm_IK:
def __init__(self): def __init__(self):
np.set_printoptions(precision=5, suppress=True, linewidth=200) np.set_printoptions(precision=5, suppress=True, linewidth=200)
self.robot = pin.RobotWrapper.BuildFromURDF('../assets/H1_5/h1_5.urdf', '../assets/H1_5')
self.robot = pin.RobotWrapper.BuildFromURDF('../assets/h1_2/h1_2.urdf', '../assets/h1_2')
self.mixed_jointsToLockIDs = ["left_hip_yaw_joint", self.mixed_jointsToLockIDs = ["left_hip_yaw_joint",
"left_hip_pitch_joint", "left_hip_pitch_joint",

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