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GR1T1_raw.mjcf
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<mujoco model="GR1T1">
<compiler angle="radian" />
<asset>
<mesh name="base" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/base.STL" />
<mesh name="l_thigh_roll" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/l_thigh_roll.STL" />
<mesh name="l_thigh_yaw" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/l_thigh_yaw.STL" />
<mesh name="l_thigh_pitch" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/l_thigh_pitch.STL" />
<mesh name="l_shank_pitch" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/l_shank_pitch.STL" />
<mesh name="l_foot_pitch" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/l_foot_pitch.STL" />
<mesh name="l_foot_roll" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/l_foot_roll.STL" />
<mesh name="r_thigh_roll" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/r_thigh_roll.STL" />
<mesh name="r_thigh_yaw" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/r_thigh_yaw.STL" />
<mesh name="r_thigh_pitch" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/r_thigh_pitch.STL" />
<mesh name="r_shank_pitch" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/r_shank_pitch.STL" />
<mesh name="r_foot_pitch" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/r_foot_pitch.STL" />
<mesh name="r_foot_roll" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/r_foot_roll.STL" />
<mesh name="waist_yaw" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/waist_yaw.STL" />
<mesh name="waist_pitch" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/waist_pitch.STL" />
<mesh name="waist_roll" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/waist_roll.STL" />
<mesh name="head_yaw" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/head_yaw.STL" />
<mesh name="head_roll" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/head_roll.STL" />
<mesh name="head_pitch" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/head_pitch.STL" />
<mesh name="l_upper_arm_pitch" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/l_upper_arm_pitch.STL" />
<mesh name="l_upper_arm_roll" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/l_upper_arm_roll.STL" />
<mesh name="l_upper_arm_yaw" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/l_upper_arm_yaw.STL" />
<mesh name="l_lower_arm_pitch" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/l_lower_arm_pitch.STL" />
<mesh name="l_hand_yaw" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/l_hand_yaw.STL" />
<mesh name="l_hand_roll" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/l_hand_roll.STL" />
<mesh name="l_hand_pitch" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/l_hand_pitch.STL" />
<mesh name="r_upper_arm_pitch" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/r_upper_arm_pitch.STL" />
<mesh name="r_upper_arm_roll" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/r_upper_arm_roll.STL" />
<mesh name="r_upper_arm_yaw" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/r_upper_arm_yaw.STL" />
<mesh name="r_lower_arm_pitch" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/r_lower_arm_pitch.STL" />
<mesh name="r_hand_yaw" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/r_hand_yaw.STL" />
<mesh name="r_hand_roll" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/r_hand_roll.STL" />
<mesh name="r_hand_pitch" file="/home/fftai/Repository/wiki-mjcf/urdf/GR1/GR1T1/urdf/../meshes/r_hand_pitch.STL" />
</asset>
<worldbody>
<body name="base">
<inertial pos="-0.0508888 0.000109183 -0.0455794" quat="0.706855 0.707166 0.0123661 -0.0109307" mass="6.45117" diaginertia="0.0149302 0.0127972 0.00640923" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="base" />
<body name="l_thigh_roll" pos="-0.047999 0.105 -0.057493">
<inertial pos="0.04163 3.4568e-05 -0.0021382" quat="0.575529 0.581908 -0.40597 0.406619" mass="1.1437" diaginertia="0.00117548 0.00100413 0.000943892" />
<joint name="l_hip_roll" pos="0 0 0" axis="1 0 1.221e-05" range="-0.09 0.79" actuatorfrcrange="-100 100" />
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="l_thigh_roll" />
<body name="l_thigh_yaw" pos="0.048 0 -0.030499">
<inertial pos="0.00018348 0.046462 -0.10389" quat="0.704251 -0.0226446 -0.0453749 0.708138" mass="3.9888" diaginertia="0.0163385 0.0100158 0.00924336" />
<joint name="l_hip_yaw" pos="0 0 0" axis="1.2209e-05 6.8349e-05 1" range="-0.7 0.7" actuatorfrcrange="-82.5 82.5" />
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="l_thigh_yaw" />
<body name="l_thigh_pitch" pos="0 0 -0.11">
<inertial pos="0.0028493 -0.021688 -0.090886" quat="0.707411 -0.0125435 -0.0111264 0.706604" mass="6.369" diaginertia="0.0532352 0.0425096 0.0134363" />
<joint name="l_hip_pitch" pos="0 0 0" axis="0 1 -6.8349e-05" range="-1.75 0.7" actuatorfrcrange="-160 160" />
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="l_thigh_pitch" />
<body name="l_shank_pitch" pos="0 2.4606e-05 -0.36">
<inertial pos="0.0024312 -2.9945e-05 -0.11554" quat="0.692137 0.00134576 0.00140217 0.721764" mass="2.1895" diaginertia="0.0162703 0.016117 0.00113627" />
<joint name="l_knee_pitch" pos="0 0 0" axis="0 1 6.8349e-05" range="-0.09 1.92" actuatorfrcrange="-160 160" />
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="l_shank_pitch" />
<body name="l_foot_pitch" pos="0 2.3239e-05 -0.34">
<inertial pos="1.748e-11 4.3804e-11 0" quat="1 3.42295e-05 -6.07362e-06 -2.07897e-10" mass="0.080335" diaginertia="5.1022e-06 4.3976e-06 4.188e-06" />
<joint name="l_ankle_pitch" pos="0 0 0" axis="0 1 6.8349e-05" range="-1.05 0.52" actuatorfrcrange="-8 8" />
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="l_foot_pitch" />
<body name="l_foot_roll">
<inertial pos="0.039446 0.00035757 -0.038101" quat="-0.00087198 0.709539 -0.00177594 0.704664" mass="0.584" diaginertia="0.00271032 0.0024027 0.000369145" />
<joint name="l_ankle_roll" pos="0 0 0" axis="1 0 1.221e-05" range="-0.44 0.44" actuatorfrcrange="-3 3" />
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="l_foot_roll" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="r_thigh_roll" pos="-0.047999 -0.105 -0.057508">
<inertial pos="0.0416295 3.45678e-05 -0.00213824" quat="0.57555 0.581927 -0.405942 0.406589" mass="1.14367" diaginertia="0.00117548 0.00100417 0.000943891" />
<joint name="r_hip_roll" pos="0 0 0" axis="1 0 1.221e-05" range="-0.79 0.09" actuatorfrcrange="-100 100" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="r_thigh_roll" />
<body name="r_thigh_yaw" pos="0.048 0 -0.030499">
<inertial pos="-0.00159762 -0.0464482 -0.103899" quat="0.709186 -0.0420808 -0.0194028 0.703497" mass="3.98882" diaginertia="0.0163388 0.0100142 0.00924469" />
<joint name="r_hip_yaw" pos="0 0 0" axis="1.2209e-05 6.8349e-05 1" range="-0.7 0.7" actuatorfrcrange="-82.5 82.5" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="r_thigh_yaw" />
<body name="r_thigh_pitch" pos="0 0 -0.11">
<inertial pos="0.002842 0.0217009 -0.0919987" quat="0.706586 -0.0113774 -0.0126258 0.707423" mass="6.36895" diaginertia="0.0532349 0.0424818 0.0134641" />
<joint name="r_hip_pitch" pos="0 0 0" axis="0 1 6.8349e-05" range="-1.75 0.7" actuatorfrcrange="-160 160" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="r_thigh_pitch" />
<body name="r_shank_pitch" pos="0 2.4606e-05 -0.36">
<inertial pos="0.00236658 4.56188e-05 -0.115532" quat="0.71872 0.00154106 0.00120241 0.695296" mass="2.18947" diaginertia="0.0162708 0.0161183 0.00113536" />
<joint name="r_knee_pitch" pos="0 0 0" axis="0 1 -6.8349e-05" range="-0.09 1.92" actuatorfrcrange="-160 160" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="r_shank_pitch" />
<body name="r_foot_pitch" pos="0 2.3239e-05 -0.34">
<inertial pos="1.75705e-11 4.40342e-11 0" quat="1 3.42336e-05 -6.07409e-06 -2.07938e-10" mass="0.0799219" diaginertia="5.11122e-06 4.40004e-06 4.17954e-06" />
<joint name="r_ankle_pitch" pos="0 0 0" axis="0 1 6.8349e-05" range="-1.05 0.52" actuatorfrcrange="-8 8" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="r_foot_pitch" />
<body name="r_foot_roll">
<inertial pos="0.043909 -0.00032475 -0.039419" quat="0.000727105 0.710094 0.00155959 0.704104" mass="0.58089" diaginertia="0.00280098 0.0024886 0.000368482" />
<joint name="r_ankle_roll" pos="0 0 0" axis="1 0 1.221e-05" range="-0.44 0.44" actuatorfrcrange="-3 3" />
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="r_foot_roll" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="waist_yaw" pos="0 0 0.0065">
<inertial pos="-0.010388 -0.00169636 0.0224709" quat="8.03475e-05 0.752953 -6.91813e-06 0.658075" mass="0.37886" diaginertia="0.000387148 0.000354992 0.000193448" />
<joint name="waist_yaw" pos="0 0 0" axis="-1.221e-05 -6.8349e-05 1" range="-1.05 1.05" actuatorfrcrange="-82.5 82.5" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="waist_yaw" />
<body name="waist_pitch" pos="0 0 0.055">
<inertial pos="0.00229173 -0.00229364 0.0425378" quat="0.998452 -0.0194486 0.0162447 0.0495079" mass="4.40328" diaginertia="0.00487449 0.00487146 0.00355351" />
<joint name="waist_pitch" pos="0 0 0" axis="0 1 -6.8349e-05" range="-0.52 1.22" actuatorfrcrange="-82.5 82.5" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="waist_pitch" />
<body name="waist_roll" pos="0 0 0.085">
<inertial pos="-0.00982804 -1.2954e-05 0.160653" quat="0.999997 1.84368e-05 -0.00260593 -4.00255e-05" mass="7.34393" diaginertia="0.0305266 0.0217567 0.0136783" />
<joint name="waist_roll" pos="0 0 0" axis="1 0 1.221e-05" range="-0.7 0.7" actuatorfrcrange="-82.5 82.5" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="waist_roll" />
<body name="head_yaw" pos="0 -2.3548e-05 0.34453">
<inertial pos="0.000255273 -1.43143e-05 0.0571737" quat="0.698659 0.111628 0.112302 0.697713" mass="0.168425" diaginertia="0.00013241 0.000126266 6.86988e-05" />
<joint name="head_yaw" pos="0 0 0" axis="-1.221e-05 -6.8349e-05 1" range="-2.71 2.71" actuatorfrcrange="-10.2 10.2" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="head_yaw" />
<body name="head_roll" pos="0 0 0.1225">
<inertial pos="-0.000539717 0.00299723 -0.00194711" quat="0.498775 0.509039 0.50481 0.487104" mass="0.0189574" diaginertia="5.66154e-06 3.71917e-06 3.07146e-06" />
<joint name="head_roll" pos="0 0 0" axis="1 0 1.221e-05" range="-0.35 0.35" actuatorfrcrange="-3.95 3.95" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="head_roll" />
<body name="head_pitch">
<inertial pos="0.0179937 0.000157203 -0.0107884" quat="-0.00317787 0.890883 0.0047882 0.454197" mass="0.315067" diaginertia="0.00129389 0.00105273 0.000852366" />
<joint name="head_pitch" pos="0 0 0" axis="0 1 6.8349e-05" range="-0.52 0.35" actuatorfrcrange="-3.95 3.95" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="head_pitch" />
</body>
</body>
</body>
<body name="l_upper_arm_pitch" pos="0 0.12661 0.21727" quat="0.976289 0.216473 0 0">
<inertial pos="0.00515733 0.0588337 0.000122944" quat="0.999793 0.0203364 -0.000117253 0.0011083" mass="0.777394" diaginertia="0.000546411 0.000340581 0.000319359" />
<joint name="l_shoulder_pitch" pos="0 0 0" axis="0 1 0" range="-2.79 1.92" actuatorfrcrange="-38 38" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="l_upper_arm_pitch" />
<body name="l_upper_arm_roll" pos="0 0.067 0" quat="0.976289 -0.216473 0 0">
<inertial pos="0.0260055 0.0238305 -0.0272078" quat="0.906707 0.298574 0.228734 -0.190834" mass="0.084111" diaginertia="9.66711e-05 8.99184e-05 2.54726e-05" />
<joint name="l_shoulder_roll" pos="0 0 0" axis="1 0 -1.221e-05" range="-0.57 3.27" actuatorfrcrange="-38 38" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="l_upper_arm_roll" />
<body name="l_upper_arm_yaw" pos="0 0.040004 -0.057502">
<inertial pos="-4.12427e-05 0.00135031 -0.101007" quat="0.706543 0.0248514 -0.0268343 0.706724" mass="0.78993" diaginertia="0.000480863 0.000420363 0.000315608" />
<joint name="l_shoulder_yaw" pos="0 0 0" axis="1.221e-05 6.8349e-05 1" range="-2.97 2.97" actuatorfrcrange="-30 30" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="l_upper_arm_yaw" />
<body name="l_lower_arm_pitch" pos="0 1.28869e-05 -0.188546">
<inertial pos="2.60519e-07 0.0196937 -0.0210902" quat="0.675254 -0.209845 0.209837 0.675252" mass="0.0553958" diaginertia="2.92256e-05 2.63267e-05 1.3293e-05" />
<joint name="l_elbow_pitch" pos="0 0 0" axis="0 1 6.83491e-05" range="-2.27 2.27" actuatorfrcrange="-30 30" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="l_lower_arm_pitch" />
<body name="l_hand_yaw" pos="0 0 -0.0405043">
<inertial pos="-4.20996e-05 0.000336116 -0.0559829" quat="0.999784 -0.0189715 -0.00676208 0.00509819" mass="0.606076" diaginertia="0.000747266 0.000709257 0.000280769" />
<joint name="l_wrist_yaw" pos="0 0 0" axis="1.221e-05 6.83491e-05 1" range="-2.97 2.97" actuatorfrcrange="-10.2 10.2" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="l_hand_yaw" />
<body name="l_hand_roll" pos="0 1.3775e-05 -0.20155">
<inertial pos="-1.5483e-08 -0.00044846 -1.9394e-08" quat="0 0.7071 0 0.707114" mass="0.0054473" diaginertia="3.6036e-07 3.5527e-07 7.344e-08" />
<joint name="l_wrist_roll" pos="0 0 0" axis="1 0 -1.2211e-05" range="-0.61 0.61" actuatorfrcrange="-3.95 3.95" />
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="l_hand_roll" />
<body name="l_hand_pitch">
<inertial pos="0.0071289 -0.0026192 -0.078567" quat="0.298548 0.646339 0.631172 0.307795" mass="0.5239" diaginertia="0.000345825 0.000211684 0.000195941" />
<joint name="l_wrist_pitch" pos="0 0 0" axis="0 1 6.8349e-05" range="-0.61 0.61" actuatorfrcrange="-3.95 3.95" />
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="l_hand_pitch" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="r_upper_arm_pitch" pos="0 -0.12664 0.21725" quat="0.976303 -0.216409 0 0">
<inertial pos="0.00515735 -0.0587916 0.000122944" quat="0.999675 -0.0254775 -0.000125407 -0.000494276" mass="0.777391" diaginertia="0.00054641 0.000340601 0.00031934" />
<joint name="r_shoulder_pitch" pos="0 0 0" axis="0 1 0" range="-2.79 1.92" actuatorfrcrange="-38 38" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="r_upper_arm_pitch" />
<body name="r_upper_arm_roll" pos="0 -0.067 0" quat="0.976303 0.216409 0 0">
<inertial pos="0.0260059 -0.0238264 -0.0272109" quat="0.906733 -0.298529 0.228698 0.190821" mass="0.0840989" diaginertia="9.66585e-05 8.99068e-05 2.54689e-05" />
<joint name="r_shoulder_roll" pos="0 0 0" axis="1 0 -1.221e-05" range="-3.27 0.57" actuatorfrcrange="-38 38" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="r_upper_arm_roll" />
<body name="r_upper_arm_yaw" pos="0 -0.039996 -0.057473">
<inertial pos="0.00017083 -0.00124148 -0.100981" quat="0.712176 -0.02561 0.0250075 0.701088" mass="0.78993" diaginertia="0.000481112 0.000420147 0.000315576" />
<joint name="r_shoulder_yaw" pos="0 0 0" axis="1.221e-05 6.8349e-05 1" range="-2.97 2.97" actuatorfrcrange="-30 30" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="r_upper_arm_yaw" />
<body name="r_lower_arm_pitch" pos="0 1.28859e-05 -0.18853">
<inertial pos="2.54538e-07 -0.0196908 -0.0210929" quat="0.675237 0.209883 -0.209892 0.67524" mass="0.0553958" diaginertia="2.92256e-05 2.63267e-05 1.3293e-05" />
<joint name="r_elbow_pitch" pos="0 0 0" axis="0 1 -6.835e-05" range="-2.27 2.27" actuatorfrcrange="-30 30" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="r_lower_arm_pitch" />
<body name="r_hand_yaw" pos="0 0 -0.0405">
<inertial pos="0.000158044 -0.000478822 -0.0559415" quat="0.999772 0.019131 0.00724385 -0.00608553" mass="0.606076" diaginertia="0.000748132 0.000708413 0.000280748" />
<joint name="r_wrist_yaw" pos="0 0 0" axis="1.221e-05 6.835e-05 1" range="-2.97 2.97" actuatorfrcrange="-10.2 10.2" />
<geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="r_hand_yaw" />
<body name="r_hand_roll" pos="0 1.3775e-05 -0.20153">
<inertial pos="1.5545e-08 0.00044846 4.1938e-08" quat="0 0.707105 0 0.707108" mass="0.0054473" diaginertia="3.6036e-07 3.5527e-07 7.344e-08" />
<joint name="r_wrist_roll" pos="0 0 0" axis="1 0 1.221e-05" range="-0.61 0.61" actuatorfrcrange="-3.95 3.95" />
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="r_hand_roll" />
<body name="r_hand_pitch">
<inertial pos="0.0060733 0.0018907 -0.084578" quat="0.647336 -0.27161 -0.257721 0.6639" mass="0.53221" diaginertia="0.000319947 0.000196296 0.000182477" />
<joint name="r_wrist_pitch" pos="0 0 0" axis="0 1 -6.835e-05" range="-0.61 0.61" actuatorfrcrange="-3.95 3.95" />
<geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="r_hand_pitch" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
</mujoco>