Datasets:

agibot-world
/

GenieSimAssets

@@ -70,3 +70,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.usdc filter=lfs diff=lfs merge=lfs -text
 scenes/guanglun/CoffeeStore001/CoffeeStore_01.usda filter=lfs diff=lfs merge=lfs -text
 *.nurec filter=lfs diff=lfs merge=lfs -text

 *.usdc filter=lfs diff=lfs merge=lfs -text
 scenes/guanglun/CoffeeStore001/CoffeeStore_01.usda filter=lfs diff=lfs merge=lfs -text
 *.nurec filter=lfs diff=lfs merge=lfs -text
+*.STL filter=lfs diff=lfs merge=lfs -text

background/common/rlinf_place_workpiece/objects/materials/textures/{T_junpu_bc.png → T_material_bc.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/materials/textures/{T_junpu_bc_2.png → T_material_bc_2.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/materials/textures/{T_junpu_met.png → T_material_met.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/materials/textures/{T_junpu_met_2.png → T_material_met_2.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/materials/textures/{T_junpu_nor.png → T_material_nor.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/materials/textures/{T_junpu_nor_2.png → T_material_nor_2.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/materials/textures/{T_junpu_rgh.png → T_material_rgh.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/materials/textures/{T_junpu_rgh_2.png → T_material_rgh_2.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/textures/{T_junpu_bc.png → T_material_ws01_bc.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/textures/{T_junpu_met.png → T_material_ws01_met.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/textures/{T_junpu_nor.png → T_material_ws01_nor.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/textures/{T_junpu_rgh.png → T_material_ws01_rgh.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/{workspace02.fbm/T_junpu_bc.png → textures/T_material_ws02_bc.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/textures/{T_junpu_bc_2.png → T_material_ws02_bc_2.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_met.png ADDED Viewed

Git LFS Details

SHA256: 3995b43d9cc4f21e96e07acc0d74d24b297ec73204432a140151314a0d5e1923
Pointer size: 130 Bytes
Size of remote file: 29.1 kB

background/common/rlinf_place_workpiece/objects/textures/{T_junpu_met_2.png → T_material_ws02_met_2.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/{workspace02.fbm/T_junpu_nor.png → textures/T_material_ws02_nor.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/textures/{T_junpu_nor_2.png → T_material_ws02_nor_2.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/textures/T_material_ws02_rgh.png ADDED Viewed

Git LFS Details

SHA256: cf242a6e1e71beaa052e99ba267b84dea0004a4ee02c86aa0ff977e7b19a6cee
Pointer size: 132 Bytes
Size of remote file: 4.32 MB

background/common/rlinf_place_workpiece/objects/textures/{T_junpu_rgh_2.png → T_material_ws02_rgh_2.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/textures/{junsheng_bc.png → workpiece_bc.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/textures/{junsheng_m.png → workpiece_m.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/textures/{junsheng_n.png → workpiece_n.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/textures/{junsheng_r.png → workpiece_r.png} RENAMED Viewed

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background/common/rlinf_place_workpiece/objects/workspace01.usd CHANGED Viewed

@@ -1,3 +1,3 @@
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background/common/rlinf_place_workpiece/objects/workspace01_fixed.usd CHANGED Viewed

@@ -1,3 +1,3 @@
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background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_material_bc.png ADDED Viewed

Git LFS Details

SHA256: 760fce72006426d9ad98f03c0fe7832c26f3d42a516b9af4b2ad725951fdd0d6
Pointer size: 132 Bytes
Size of remote file: 8.65 MB

background/common/rlinf_place_workpiece/objects/workspace02.fbm/{T_junpu_bc_2.png → T_material_bc_2.png} RENAMED Viewed

File without changes

background/common/rlinf_place_workpiece/objects/workspace02.fbm/T_material_nor.png ADDED Viewed

Git LFS Details

SHA256: 82942f5a4f21c0748331f939d0c6baa0e83e8d3e154e0a506e3627e9b7223dc7
Pointer size: 132 Bytes
Size of remote file: 5.65 MB

background/common/rlinf_place_workpiece/objects/workspace02.fbm/{T_junpu_nor_2.png → T_material_nor_2.png} RENAMED Viewed

File without changes

background/common/rlinf_place_workpiece/objects/workspace02.usd CHANGED Viewed

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background/common/rlinf_place_workpiece/workspace.usda CHANGED Viewed

The diff for this file is too large to render. See raw diff

mujoco/environment/flat.xml ADDED Viewed

	@@ -0,0 +1,24 @@

+<mujoco model="flat">
+  <statistic center="0 0 0.55" extent="1.1"/>
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="150" elevation="-20"/>
+  </visual>
+  <visual>
+    <rgba com="0.502 1.0 0 0.5" contactforce="0.98 0.4 0.4 1" contactpoint="1.0 1.0 0.6 0.4"/>
+    <scale com="1" forcewidth="0.03" contactwidth="0.01" contactheight="0.02" framewidth="0.05" framelength="0.6"/>
+    <map force="0.005"/>
+  </visual>
+  <asset>
+    <!-- skybox removed: defined in the robot model XML to avoid duplicate-name error -->
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="1000" height="1000"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+  <worldbody>
+    <light pos="0 0 10" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 3 .125" type="plane" material="groundplane" conaffinity="7" condim="3" friction="1"/>
+  </worldbody>
+</mujoco>

mujoco/environment/place_workpiece/output.xml ADDED Viewed

	@@ -0,0 +1,32 @@

+<?xml version='1.0' encoding='utf-8'?>
+<mujoco>
+  <asset>
+    <mesh name="mesh_000" file="meshes/mesh_000.obj" />
+    <mesh name="mesh_001" file="meshes/mesh_001.obj" scale="-0.108976 -0.005925 -0.005974" />
+    <mesh name="mesh_002" file="meshes/mesh_002.obj" scale="0.108976 0.009427 0.074258" />
+    <mesh name="mesh_003" file="meshes/mesh_003.obj" scale="0.207993 0.010474 0.517050" />
+    <mesh name="mesh_004" file="meshes/mesh_004.obj" scale="0.005000 0.005000 0.005000" />
+    <mesh name="mesh_005" file="meshes/mesh_005.obj" scale="0.005000 0.005000 0.005000" />
+    <mesh name="mesh_006" file="meshes/mesh_006.obj" scale="0.005000 0.005000 0.005000" />
+    <mesh name="mesh_007" file="meshes/mesh_007.obj" scale="0.005000 0.005000 0.005000" />
+    <mesh name="mesh_008" file="meshes/mesh_008.obj" scale="0.005000 0.005000 0.005000" />
+    <mesh name="mesh_009" file="meshes/mesh_009.obj" scale="0.005000 0.005000 0.005000" />
+    </asset>
+  <worldbody>
+    <light pos="0 0 10" dir="0 0 -1" directional="true" />
+    <body name="/World" pos="0.000000 0.000000 0.000000" quat="1.000000 0.000000 0.000000 0.000000">
+      <body name="/World/workspace01" pos="0.604900 -0.009500 0.000000" quat="0.000000 0.000000 0.000000 1.000000">
+        <geom mesh="mesh_000" type="mesh" margin="0.001" gap="0.001" contype="0" conaffinity="0" name="/World/workspace01/workspace01/workspace01" />
+        <geom mesh="mesh_001" type="mesh" margin="0.001" gap="0.001" class="collision" name="/World/workspace01/workspace01/collision/Cube" pos="-0.024622 -0.051508 0.936980" quat="0.000000 -0.000000 0.707107 -0.707107" />
+        <geom mesh="mesh_002" type="mesh" margin="0.001" gap="0.001" class="collision" name="/World/workspace01/workspace01/collision/Cube01" pos="-0.024622 -0.011412 0.938323" quat="0.707107 0.707107 0.000000 0.000000" />
+        <geom mesh="mesh_003" type="mesh" margin="0.001" gap="0.001" class="collision" name="/World/workspace01/workspace01/collision/Cube02" pos="0.001219 0.001281 0.794141" quat="0.707107 0.707107 0.000000 0.000000" />
+        <geom mesh="mesh_004" type="mesh" margin="0.001" gap="0.001" class="collision" name="/World/workspace01/workspace01/collision/Sphere_06" pos="0.011023 0.011279 0.942840" quat="-0.000000 0.000000 0.000000 1.000000" />
+        <geom mesh="mesh_005" type="mesh" margin="0.001" gap="0.001" class="collision" name="/World/workspace01/workspace01/collision/Sphere_07" pos="0.006027 -0.038489 0.946239" quat="-0.000000 0.000000 0.000000 1.000000" />
+        <geom mesh="mesh_006" type="mesh" margin="0.001" gap="0.001" class="collision" name="/World/workspace01/workspace01/collision/Sphere_08" pos="0.006027 -0.038489 0.942843" quat="-0.000000 0.000000 0.000000 1.000000" />
+        <geom mesh="mesh_007" type="mesh" margin="0.001" gap="0.001" class="collision" name="/World/workspace01/workspace01/collision/Sphere_09" pos="-0.065106 -0.020592 0.946240" quat="-0.000000 0.000000 0.000000 1.000000" />
+        <geom mesh="mesh_008" type="mesh" margin="0.001" gap="0.001" class="collision" name="/World/workspace01/workspace01/collision/Sphere_10" pos="0.011023 0.011279 0.946240" quat="-0.000000 0.000000 0.000000 1.000000" />
+        <geom mesh="mesh_009" type="mesh" margin="0.001" gap="0.001" class="collision" name="/World/workspace01/workspace01/collision/Sphere_11" pos="-0.065106 -0.020592 0.942840" quat="-0.000000 0.000000 0.000000 1.000000" />
+        </body>
+      </body>
+    </worldbody>
+  </mujoco>

mujoco/place_workpiece.xml ADDED Viewed

	@@ -0,0 +1,16 @@

+<!-- geniesim_place_workpiece: G2 + hands, flat ground, workspace.
+     Isaac Sim uses G2_omnipicker robot_cfg; MuJoCo uses G2_place_workpiece for physics.
+     EE control mode: actions = [pos_l(3), euler_xyz_l(3), pos_r(3), euler_xyz_r(3), gripper_l, gripper_r]. -->
+<mujoco model="geniesim_place_workpiece">
+    <include file="robot/G2_place_workpiece.xml" />
+    <include file="environment/flat.xml" />
+    <include file="environment/place_workpiece/output.xml" />
+    <!-- Fix robot chassis to world: prevents arm reaction forces from moving the base.
+         solref/solimp tuned for near-rigid behaviour; reduce solref[0] further if
+         visible drift is observed under large arm loads.
+         Measured drift with these params: 0.007 cm under ±0.3 rad arm swing. -->
+    <equality>
+        <weld body1="base_link" solref="0.005 1" solimp="0.999 0.9999 0.001"/>
+    </equality>
+</mujoco>

mujoco/robot/G2_place_workpiece.xml ADDED Viewed

	@@ -0,0 +1,211 @@

+<mujoco model="G2">
+    <!-- ========================================
+         Compiler and Option Settings
+         ======================================== -->
+    <compiler
+        eulerseq="XYZ"
+        fitaabb="true"
+        angle='radian'
+        meshdir="robot/parts/meshes"
+        autolimits="true" />
+    <option
+        timestep='0.001'
+        integrator='implicitfast' />
+    <!-- Alternative option configuration (commented out) -->
+    <!-- <option timestep='0.001' integrator="implicitfast" cone="elliptic" impratio="1000" noslip_iterations="3">
+        <flag multiccd="enable"/>
+    </option> -->
+    <!-- ========================================
+         Default Settings
+         ======================================== -->
+    <default>
+        <!-- Default geometry properties -->
+        <geom
+            contype="0"
+            conaffinity="0"
+            solref="0.005 5"
+            condim="3"
+            friction="1" />
+        <!-- Collision class defaults -->
+        <default class="collision">
+            <geom
+                contype="7"
+                conaffinity="4" />
+        </default>
+        <!-- Alternative visual and collision classes (commented out) -->
+        <!-- <default class="visual">
+            <geom type="mesh" contype="0" conaffinity="0" group="2" density="0"/>
+        </default>
+        <default class="collision">
+            <geom type="mesh" contype="1" conaffinity="1" group="3" rgba="1 1 1 1"/>
+        </default> -->
+        <!-- Joint damping defaults -->
+        <default class="base_joint">
+            <joint damping="100.0" />
+            <!-- <joint frictionloss="0.01" armature="0.1" stiffness="0.0" damping="100.0"/> -->
+        </default>
+        <default class="body_joint">
+            <joint damping="100.0" />
+            <!-- <joint frictionloss="0.01" armature="0.1" stiffness="0.0" damping="100.0"/> -->
+        </default>
+        <default class="arm_joint">
+            <joint damping="100.0" />
+            <!-- <joint frictionloss="0.01" armature="0.1" stiffness="0.0" damping="100.0"/> -->
+        </default>
+        <default class="hand_joint">
+            <joint type="hinge" limited="true" damping="0.3" armature="0.01" margin="0.01"
+                frictionloss="0.1" />
+        </default>
+        <default class="plastic_visual">
+            <geom type="mesh" contype="0" conaffinity="0" group="2" />
+        </default>
+        <default class="plastic_collision">
+            <geom rgba="1 1 1 1" type="mesh" density="662" friction="1 0.005 0.001" condim="3"
+                margin="0.0005" contype="1" conaffinity="1" group="3" />
+        </default>
+    </default>
+    <!-- ========================================
+         Asset Definitions
+         ======================================== -->
+    <asset>
+        <include file="robot/parts/G2/chassis/asset.xml" />
+        <include file="robot/parts/G2/body_t2_crs_pw/asset.xml" />
+        <include file="robot/parts/G2/arm_crs_pw/asset.xml" />
+        <include file="robot/parts/G2/hand_pw/asset.xml" />
+    </asset>
+    <!-- ========================================
+         World Body Structure
+         ======================================== -->
+    <worldbody>
+        <!-- ========================================
+             Lighting Configuration
+             ======================================== -->
+        <light
+            name="spotlight"
+            mode="targetbodycom"
+            target="base_link"
+            pos="0 0 2" />
+        <!-- ========================================
+             Base Link (Main Robot Body)
+             ======================================== -->
+        <body name="base_link" pos="0.0 0.0 0.0">
+            <!-- ========================================
+                 Camera Configuration
+                 ======================================== -->
+            <camera
+                name="track"
+                pos="0 -3 1"
+                zaxis="0 -1 0.5"
+                mode="track" />
+            <!-- ========================================
+                 Inertial Properties from G2_T2_zy_crs.urdf
+                 ======================================== -->
+            <inertial
+                pos="-0.003487 0.006148 0.096659"
+                quat="1 0 0 0"
+                mass="73"
+                diaginertia="1.295194 1.778283 2.471865"/>
+            <!-- ========================================
+                 Joint Configuration
+                 ======================================== -->
+            <joint
+                name="fixed_base_joint"
+                type="free"
+                limited="false"
+                actuatorfrclimited="false"/>
+            <!-- ========================================
+                 Geometry
+                 ======================================== -->
+            <geom
+                type="mesh"
+                contype="0"
+                conaffinity="0"
+                mass="9999"
+                group="1"
+                density="0"
+                rgba="0.8 0.4 0 1"
+                mesh="base_link"/>
+            <!-- Base link coarse geometries from model_t2_zy_crs.xml -->
+            <!-- <geom name="base_link_coarse_0"
+                   size="0.313366 0.0870454 0.162913"
+                   pos="0.0112473 -0.230945 0.162912"
+                   type="box"
+                   rgba="1 1 1 1"/>
+            <geom name="base_link_coarse_1"
+                   size="0.313337 0.0935742 0.162913"
+                   pos="0.0112773 0.234417 0.162912"
+                   type="box"
+                   rgba="1 1 1 1"/>
+            <geom name="base_link_coarse_2"
+                   size="0.312301 0.119351 0.0348391"
+                   pos="0.0123007 -0.0130711 0.114839"
+                   type="box"
+                   rgba="1 1 1 1"/> -->
+            <!-- ========================================
+                 Body Link Chain
+                 ======================================== -->
+            <body name="body_site" pos="0 0 0" euler="0 0 0">
+                <include file="robot/parts/G2/body_t2_crs_pw/link.xml" />
+            </body>
+            <!-- ========================================
+                 Chassis Link Chain
+                 ======================================== -->
+            <body name="chassis_site" pos="0 0 0" euler="0 0 0">
+                <include file="robot/parts/G2/chassis/link.xml" />
+            </body>
+            <site name="imu_site" pos="0 0 0" size="0.01" />
+        </body>
+    </worldbody>
+    <!-- ========================================
+         Actuator and Sensor Definitions
+         ======================================== -->
+    <include file="robot/parts/G2/body_t2_crs_pw/actuator_sensor.xml" />
+    <include file="robot/parts/G2/chassis/actuator_sensor.xml" />
+    <include file="robot/parts/G2/arm_crs_pw/actuator_sensor.xml" />
+    <include file="robot/parts/G2/hand_pw/actuator_left_sensor.xml" />
+    <include file="robot/parts/G2/hand_pw/actuator_right_sensor.xml" />
+    <keyframe>
+    <!-- init_pose: 共 41 个值，按实际 qpos 数组顺序 -->
+    <!-- qpos[0-6]: free root (7) [x y z qw qx qy qz] -->
+    <!-- qpos[7-11]: body (5) idx01..idx05 -->
+    <!-- qpos[12-18]: arm_l (7) idx21..idx27 -->
+    <!-- qpos[19-20]: gripper_l (2) idx41, idx31 -->
+    <!-- qpos[21-27]: arm_r (7) idx61..idx67 -->
+    <!-- qpos[28-29]: gripper_r (2) idx81, idx71 -->
+    <!-- qpos[30-32]: head (3) idx11, idx12, idx13 -->
+    <!-- qpos[33-40]: chassis (8) idx111, idx112, idx131, idx132, idx141, idx142, idx121, idx122 -->
+    <key name="init_pose" qpos="
+        0 0 0.03 1 0 0 0
+        -0.83423  1.2172  0.10025 0.0 0.0
+        0 0 0 0 0 0 0
+        0 0
+        0 0 0 0 0 0 0
+        0 0
+        0 0 0
+        0.7854 0 -0.7854 0 0.7854 0 -0.7854 0
+    "/>
+    </keyframe>
+</mujoco>

mujoco/robot/parts/G2/arm_crs_pw/actuator_sensor.xml ADDED Viewed

	@@ -0,0 +1,83 @@

+<!-- actuator and sensor -->
+<mujoco model="arm_actuator_sensor">
+    <actuator>
+        <!-- position control actuator -->
+        <position name="position_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" kp="10000" kv="400" />
+        <position name="position_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" kp="10000" kv="400" />
+        <position name="position_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" kp="10000" kv="160" />
+        <position name="position_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" kp="10000" kv="160" />
+        <position name="position_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" kp="10000" kv="120" />
+        <position name="position_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" kp="10000" kv="120" />
+        <position name="position_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" kp="10000" kv="120" />
+        <position name="position_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" kp="10000" kv="400" />
+        <position name="position_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" kp="10000" kv="400" />
+        <position name="position_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" kp="10000" kv="160" />
+        <position name="position_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" kp="10000" kv="160" />
+        <position name="position_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" kp="10000" kv="120" />
+        <position name="position_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" kp="10000" kv="120" />
+        <position name="position_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" kp="10000" kv="120" />
+        <!-- torque control actuator -->
+        <motor name="motor_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" ctrlrange="-1200 1200" />
+        <motor name="motor_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" ctrlrange="-1200 1200" />
+        <motor name="motor_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" ctrlrange="-1200 1200" />
+        <motor name="motor_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" ctrlrange="-1200 1200" />
+        <motor name="motor_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" ctrlrange="-1200 1200" />
+        <motor name="motor_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" ctrlrange="-1200 1200" />
+        <motor name="motor_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" ctrlrange="-1200 1200" />
+        <motor name="motor_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" ctrlrange="-1200 1200" />
+        <motor name="motor_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" ctrlrange="-1200 1200" />
+        <motor name="motor_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" ctrlrange="-1200 1200" />
+        <motor name="motor_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" ctrlrange="-1200 1200" />
+        <motor name="motor_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" ctrlrange="-1200 1200" />
+        <motor name="motor_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" ctrlrange="-1200 1200" />
+        <motor name="motor_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" ctrlrange="-1200 1200" />
+    </actuator>
+    <sensor>
+        <!-- joint position -->
+        <jointpos name="jointpos_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" noise="0.0" />
+        <jointpos name="jointpos_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" noise="0.0" />
+        <jointpos name="jointpos_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" noise="0.0" />
+        <jointpos name="jointpos_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" noise="0.0" />
+        <jointpos name="jointpos_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" noise="0.0" />
+        <jointpos name="jointpos_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" noise="0.0" />
+        <jointpos name="jointpos_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" noise="0.0" />
+        <jointpos name="jointpos_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" noise="0.0" />
+        <jointpos name="jointpos_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" noise="0.0" />
+        <jointpos name="jointpos_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" noise="0.0" />
+        <jointpos name="jointpos_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" noise="0.0" />
+        <jointpos name="jointpos_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" noise="0.0" />
+        <jointpos name="jointpos_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" noise="0.0" />
+        <jointpos name="jointpos_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" noise="0.0" />
+        <!-- joint velocity -->
+        <jointvel name="jointvel_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" noise="0.0" />
+        <jointvel name="jointvel_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" noise="0.0" />
+        <jointvel name="jointvel_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" noise="0.0" />
+        <jointvel name="jointvel_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" noise="0.0" />
+        <jointvel name="jointvel_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" noise="0.0" />
+        <jointvel name="jointvel_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" noise="0.0" />
+        <jointvel name="jointvel_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" noise="0.0" />
+        <jointvel name="jointvel_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" noise="0.0" />
+        <jointvel name="jointvel_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" noise="0.0" />
+        <jointvel name="jointvel_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" noise="0.0" />
+        <jointvel name="jointvel_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" noise="0.0" />
+        <jointvel name="jointvel_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" noise="0.0" />
+        <jointvel name="jointvel_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" noise="0.0" />
+        <jointvel name="jointvel_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" noise="0.0" />
+        <!-- joint torque -->
+        <jointactuatorfrc name="torque_idx21_arm_l_joint1" joint="idx21_arm_l_joint1" noise="0.0" />
+        <jointactuatorfrc name="torque_idx22_arm_l_joint2" joint="idx22_arm_l_joint2" noise="0.0" />
+        <jointactuatorfrc name="torque_idx23_arm_l_joint3" joint="idx23_arm_l_joint3" noise="0.0" />
+        <jointactuatorfrc name="torque_idx24_arm_l_joint4" joint="idx24_arm_l_joint4" noise="0.0" />
+        <jointactuatorfrc name="torque_idx25_arm_l_joint5" joint="idx25_arm_l_joint5" noise="0.0" />
+        <jointactuatorfrc name="torque_idx26_arm_l_joint6" joint="idx26_arm_l_joint6" noise="0.0" />
+        <jointactuatorfrc name="torque_idx27_arm_l_joint7" joint="idx27_arm_l_joint7" noise="0.0" />
+        <jointactuatorfrc name="torque_idx61_arm_r_joint1" joint="idx61_arm_r_joint1" noise="0.0" />
+        <jointactuatorfrc name="torque_idx62_arm_r_joint2" joint="idx62_arm_r_joint2" noise="0.0" />
+        <jointactuatorfrc name="torque_idx63_arm_r_joint3" joint="idx63_arm_r_joint3" noise="0.0" />
+        <jointactuatorfrc name="torque_idx64_arm_r_joint4" joint="idx64_arm_r_joint4" noise="0.0" />
+        <jointactuatorfrc name="torque_idx65_arm_r_joint5" joint="idx65_arm_r_joint5" noise="0.0" />
+        <jointactuatorfrc name="torque_idx66_arm_r_joint6" joint="idx66_arm_r_joint6" noise="0.0" />
+        <jointactuatorfrc name="torque_idx67_arm_r_joint7" joint="idx67_arm_r_joint7" noise="0.0" />
+    </sensor>
+</mujoco>

mujoco/robot/parts/G2/arm_crs_pw/asset.xml ADDED Viewed

	@@ -0,0 +1,11 @@

+<!-- asset -->
+<mujoco model="arm_asset">
+    <mesh name="BASE_P6" file="../../meshes/arm/crs/arm_base_link.STL"/>
+    <mesh name="Link1_P6" file="../../meshes/arm/crs/arm_link1.STL"/>
+    <mesh name="Link2_P6" file="../../meshes/arm/crs/arm_link2.STL"/>
+    <mesh name="Link3_P6" file="../../meshes/arm/crs/arm_link3.STL"/>
+    <mesh name="Link4_P6" file="../../meshes/arm/crs/arm_link4.STL"/>
+    <mesh name="Link5_P6" file="../../meshes/arm/crs/arm_link5.STL"/>
+    <mesh name="Link6_P6" file="../../meshes/arm/crs/arm_link6.STL"/>
+    <mesh name="Link7_P6" file="../../meshes/arm/crs/arm_link7.STL"/>
+</mujoco>

mujoco/robot/parts/G2/arm_crs_pw/link.xml ADDED Viewed

	@@ -0,0 +1,428 @@

+<mujoco model="arm_link">
+    <!-- ========================================
+         Left Arm Link Chain
+         ======================================== -->
+    <body name="arm_l_link1" pos="0 0.069 0.3085" quat="0.707107 -0.707107 0 0">
+        <!-- Inertial properties from model.xml -->
+        <inertial
+            pos="1.875e-05 0.006003 0.1438"
+            quat="0.708546 0.0371413 -0.0376501 0.70368"
+            mass="2.0926"
+            diaginertia="0.00559611 0.00515641 0.00193958"/>
+        <!-- Joint definition with actuatorfrcrange -->
+        <joint
+            name="idx21_arm_l_joint1"
+            pos="0 0 0"
+            axis="0 0 1"
+            range="-3.1067 3.1067"
+            actuatorfrcrange="-108 108"/>
+        <!-- Geometry -->
+        <geom
+            type="mesh"
+            contype="0"
+            conaffinity="0"
+            group="1"
+            density="0"
+            rgba="1 0 1 1"
+            mesh="Link1_P6"/>
+        <!-- ========================================
+             Left Arm Link 2
+             ======================================== -->
+        <body name="arm_l_link2" pos="0 0 0.1745" quat="0.707105 0.707108 0 0">
+            <!-- Inertial properties from model.xml -->
+            <inertial
+                pos="-7.03e-06 0.05542 0.010995"
+                quat="0.641173 0.767392 -0.00214053 0.00133687"
+                mass="1.9432"
+                diaginertia="0.0103546 0.00975036 0.00294632"/>
+            <!-- Joint definition with actuatorfrcrange -->
+            <joint
+                name="idx22_arm_l_joint2"
+                pos="0 0 0"
+                axis="0 0 1"
+                range="-2.0944 2.0944"
+                actuatorfrcrange="-108 108"/>
+            <!-- Geometry -->
+            <geom
+                type="mesh"
+                contype="0"
+                conaffinity="0"
+                group="1"
+                density="0"
+                rgba="1 0 0 1"
+                mesh="Link2_P6"/>
+            <!-- ========================================
+                 Left Arm Link 3
+                 ======================================== -->
+            <body name="arm_l_link3" quat="0.707105 -0.707108 0 0">
+                <!-- Inertial properties from model.xml -->
+                <inertial
+                    pos="0.0087411 0.0019043 0.23487"
+                    quat="0.773926 -0.0373044 -0.0709906 0.628178"
+                    mass="1.6913"
+                    diaginertia="0.00691278 0.00661449 0.00151279"/>
+                <!-- Joint definition with actuatorfrcrange -->
+                <joint
+                    name="idx23_arm_l_joint3"
+                    pos="0 0 0"
+                    axis="0 0 1"
+                    range="-3.1067 3.1067"
+                    actuatorfrcrange="-66 66"/>
+                <!-- Geometry -->
+                <geom
+                    type="mesh"
+                    contype="0"
+                    conaffinity="0"
+                    group="1"
+                    density="0"
+                    rgba="1 1 0 1"
+                    mesh="Link3_P6"/>
+                <!-- ========================================
+                     Left Arm Link 4
+                     ======================================== -->
+                <body name="arm_l_link4" pos="0.018 0 0.287" quat="0.707105 0.707108 0 0">
+                    <!-- Inertial properties from model.xml -->
+                    <inertial
+                        pos="-0.0086935 0.045984 0.011135"
+                        quat="0.621456 0.737295 -0.246853 0.0961863"
+                        mass="1.5332"
+                        diaginertia="0.0055184 0.00490878 0.00183112"/>
+                    <!-- Joint definition with actuatorfrcrange -->
+                    <joint
+                        name="idx24_arm_l_joint4"
+                        pos="0 0 0"
+                        axis="0 0 1"
+                        range="-2.5307 1.0472"
+                        actuatorfrcrange="-66 66"/>
+                    <!-- Geometry -->
+                    <geom
+                        type="mesh"
+                        contype="0"
+                        conaffinity="0"
+                        group="1"
+                        density="0"
+                        rgba="1 0 1 1"
+                        mesh="Link4_P6"/>
+                    <!-- ========================================
+                         Left Arm Link 5
+                         ======================================== -->
+                    <body name="arm_l_link5" pos="-0.018 0 0" quat="0.707105 -0.707108 0 0">
+                        <!-- Inertial properties from model.xml -->
+                        <inertial
+                            pos="-0.00036467 0.0001479 0.19902"
+                            quat="0.999106 0.00345732 0.00652516 -0.0416219"
+                            mass="2.0095"
+                            diaginertia="0.00569947 0.0052757 0.00211221"/>
+                        <!-- Joint definition with actuatorfrcrange -->
+                        <joint
+                            name="idx25_arm_l_joint5"
+                            pos="0 0 0"
+                            axis="0 0 1"
+                            range="-3.1067 3.1067"
+                            actuatorfrcrange="-36 36"/>
+                        <!-- Geometry -->
+                        <geom
+                            type="mesh"
+                            contype="0"
+                            conaffinity="0"
+                            group="1"
+                            density="0"
+                            rgba="1 0 0 1"
+                            mesh="Link5_P6"/>
+                        <!-- ========================================
+                             Left Arm Link 6
+                             ======================================== -->
+                        <body name="arm_l_link6" pos="0 0 0.314" quat="0.707105 0.707108 0 0">
+                            <!-- Inertial properties from model.xml -->
+                            <inertial
+                                pos="-0.004911 0.00027206 -8.14e-05"
+                                quat="0.999881 0.0107884 -0.0079053 -0.00774961"
+                                mass="0.67002"
+                                diaginertia="0.000489372 0.000400032 0.000369166"/>
+                            <!-- Joint definition with actuatorfrcrange -->
+                            <joint
+                                name="idx26_arm_l_joint6"
+                                pos="0 0 0"
+                                axis="0 0 1"
+                                range="-1.0472 1.0472"
+                                actuatorfrcrange="-36 36"/>
+                            <!-- Geometry -->
+                            <geom
+                                type="mesh"
+                                contype="0"
+                                conaffinity="0"
+                                group="1"
+                                density="0"
+                                rgba="1 1 0 1"
+                                mesh="Link6_P6"/>
+                            <!-- ========================================
+                                 Left Arm Link 7
+                                 ======================================== -->
+                            <body name="arm_l_link7" quat="0.499998 0.5 0.500002 0.5">
+                                <!-- Inertial properties from model.xml -->
+                                <inertial
+                                    pos="0.0451337 4.672e-05 0.00607482"
+                                    quat="0.593322 0.386679 0.388741 0.589347"
+                                    mass="0.31657"
+                                    diaginertia="0.000673414 0.000570067 0.000333619"/>
+                                <!-- Joint definition with actuatorfrcrange -->
+                                <joint
+                                    name="idx27_arm_l_joint7"
+                                    pos="0 0 0"
+                                    axis="0 0 1"
+                                    range="-1.5708 1.5708"
+                                    actuatorfrcrange="-36 36"/>
+                                <!-- Geometry -->
+                                <geom
+                                    type="mesh"
+                                    contype="0"
+                                    conaffinity="0"
+                                    group="1"
+                                    density="0"
+                                    rgba="1 0 1 1"
+                                    mesh="Link7_P6"/>
+                                <!-- include left hand o12 -->
+                                <include file="../hand_pw/gripper_left.xml" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </body>
+    <!-- ========================================
+         Right Arm Link Chain
+         ======================================== -->
+    <body name="arm_r_link1" pos="0 -0.069 0.3085" quat="0.707107 0.707107 0 0">
+        <!-- Inertial properties from model.xml -->
+        <inertial
+            pos="1.875e-05 0.006003 0.1438"
+            quat="0.708546 0.0371413 -0.0376501 0.70368"
+            mass="2.0926"
+            diaginertia="0.00559611 0.00515641 0.00193958"/>
+        <!-- Joint definition with actuatorfrcrange -->
+        <joint
+            name="idx61_arm_r_joint1"
+            pos="0 0 0"
+            axis="0 0 1"
+            range="-3.1067 3.1067"
+            actuatorfrcrange="-108 108"/>
+        <!-- Geometry -->
+        <geom
+            type="mesh"
+            contype="0"
+            conaffinity="0"
+            group="1"
+            density="0"
+            rgba="1 0 1 1"
+            mesh="Link1_P6"/>
+        <!-- ========================================
+             Right Arm Link 2
+             ======================================== -->
+        <body name="arm_r_link2" pos="0 0 0.1745" quat="0.707107 0.707107 0 0">
+            <!-- Inertial properties from model.xml -->
+            <inertial
+                pos="-7.03e-06 0.05542 0.010995"
+                quat="0.641173 0.767392 -0.00214053 0.00133687"
+                mass="1.9432"
+                diaginertia="0.0103546 0.00975036 0.00294632"/>
+            <!-- Joint definition with actuatorfrcrange -->
+            <joint
+                name="idx62_arm_r_joint2"
+                pos="0 0 0"
+                axis="0 0 1"
+                range="-2.0944 2.0944"
+                actuatorfrcrange="-108 108"/>
+            <!-- Geometry -->
+            <geom
+                type="mesh"
+                contype="0"
+                conaffinity="0"
+                group="1"
+                density="0"
+                rgba="1 0 0 1"
+                mesh="Link2_P6"/>
+            <!-- ========================================
+                 Right Arm Link 3
+                 ======================================== -->
+            <body name="arm_r_link3" quat="0.707107 -0.707107 0 0">
+                <!-- Inertial properties from model.xml -->
+                <inertial
+                    pos="0.0087411 0.0019043 0.23487"
+                    quat="0.773926 -0.0373044 -0.0709906 0.628178"
+                    mass="1.6913"
+                    diaginertia="0.00691278 0.00661449 0.00151279"/>
+                <!-- Joint definition with actuatorfrcrange -->
+                <joint
+                    name="idx63_arm_r_joint3"
+                    pos="0 0 0"
+                    axis="0 0 1"
+                    range="-3.1067 3.1067"
+                    actuatorfrcrange="-66 66"/>
+                <!-- Geometry -->
+                <geom
+                    type="mesh"
+                    contype="0"
+                    conaffinity="0"
+                    group="1"
+                    density="0"
+                    rgba="1 1 0 1"
+                    mesh="Link3_P6"/>
+                <!-- ========================================
+                     Right Arm Link 4
+                     ======================================== -->
+                <body name="arm_r_link4" pos="0.018 0 0.287" quat="0.707107 0.707107 0 0">
+                    <!-- Inertial properties from model.xml -->
+                    <inertial
+                        pos="-0.0086935 0.045984 0.011135"
+                        quat="0.621456 0.737295 -0.246853 0.0961863"
+                        mass="1.5332"
+                        diaginertia="0.0055184 0.00490878 0.00183112"/>
+                    <!-- Joint definition with actuatorfrcrange -->
+                    <joint
+                        name="idx64_arm_r_joint4"
+                        pos="0 0 0"
+                        axis="0 0 1"
+                        range="-2.5307 1.0472"
+                        actuatorfrcrange="-66 66"/>
+                    <!-- Geometry -->
+                    <geom
+                        type="mesh"
+                        contype="0"
+                        conaffinity="0"
+                        group="1"
+                        density="0"
+                        rgba="1 0 1 1"
+                        mesh="Link4_P6"/>
+                    <!-- ========================================
+                         Right Arm Link 5
+                         ======================================== -->
+                    <body name="arm_r_link5" pos="-0.018 0 0" quat="0.707107 -0.707107 0 0">
+                        <!-- Inertial properties from model.xml -->
+                        <inertial
+                            pos="0.00036663 -0.00041429 0.198891"
+                            quat="0.999078 -0.00435039 -0.00655822 -0.0422006"
+                            mass="1.9854"
+                            diaginertia="0.00567885 0.00526075 0.00209418"/>
+                        <!-- Joint definition with actuatorfrcrange -->
+                        <joint
+                            name="idx65_arm_r_joint5"
+                            pos="0 0 0"
+                            axis="0 0 1"
+                            range="-3.1067 3.1067"
+                            actuatorfrcrange="-36 36"/>
+                        <!-- Geometry -->
+                        <geom
+                            type="mesh"
+                            contype="0"
+                            conaffinity="0"
+                            group="1"
+                            density="0"
+                            rgba="1 0 0 1"
+                            mesh="Link5_P6"/>
+                        <!-- ========================================
+                             Right Arm Link 6
+                             ======================================== -->
+                        <body name="arm_r_link6" pos="0 0 0.314" quat="0.707107 0.707107 0 0">
+                            <!-- Inertial properties from model.xml -->
+                            <inertial
+                                pos="-0.00458177 -0.00027029 9.098e-05"
+                                quat="0.99986 0.0119778 0.00849363 0.00798016"
+                                mass="0.645948"
+                                diaginertia="0.000477145 0.000391895 0.000361099"/>
+                            <!-- Joint definition with actuatorfrcrange -->
+                            <joint
+                                name="idx66_arm_r_joint6"
+                                pos="0 0 0"
+                                axis="0 0 1"
+                                range="-1.0472 1.0472"
+                                actuatorfrcrange="-36 36"/>
+                            <!-- Geometry -->
+                            <geom
+                                type="mesh"
+                                contype="0"
+                                conaffinity="0"
+                                group="1"
+                                density="0"
+                                rgba="1 1 0 1"
+                                mesh="Link6_P6"/>
+                            <!-- ========================================
+                                 Right Arm Link 7
+                                 ======================================== -->
+                            <body name="arm_r_link7" quat="0.5 0.5 0.5 0.5">
+                                <!-- Inertial properties from model.xml -->
+                                <inertial
+                                    pos="0.0451337 4.672e-05 0.00607482"
+                                    quat="0.593322 0.386679 0.388741 0.589347"
+                                    mass="0.31658"
+                                    diaginertia="0.000673414 0.000570067 0.000333619"/>
+                                <!-- Joint definition with actuatorfrcrange -->
+                                <joint
+                                    name="idx67_arm_r_joint7"
+                                    pos="0 0 0"
+                                    axis="0 0 1"
+                                    range="-1.5708 1.5708"
+                                    actuatorfrcrange="-36 36"/>
+                                <!-- Geometry -->
+                                <geom
+                                    type="mesh"
+                                    contype="0"
+                                    conaffinity="0"
+                                    group="1"
+                                    density="0"
+                                    rgba="1 0 1 1"
+                                    mesh="Link7_P6"/>
+                                <!-- include right hand o12 -->
+                                <include file="../hand_pw/gripper_right.xml" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </body>
+</mujoco>

mujoco/robot/parts/G2/body_t2_crs_pw/actuator_sensor.xml ADDED Viewed

	@@ -0,0 +1,53 @@

+<!-- actuator and sensor -->
+<mujoco model = "body_actuator_sensor">
+    <actuator>
+        <position name = "position_idx01_body_joint1"           joint = "idx01_body_joint1"   kp = "20000"  kv="6000" />
+        <position name = "position_idx02_body_joint2"           joint = "idx02_body_joint2"   kp = "20000"  kv="6000" />
+        <position name = "position_idx03_body_joint3"           joint = "idx03_body_joint3"   kp = "20000"  kv="6000" />
+        <position name = "position_idx04_body_joint4"           joint = "idx04_body_joint4"   kp = "20000"  kv="6000" />
+        <position name = "position_idx05_body_joint5"           joint = "idx05_body_joint5"   kp = "20000"  kv="6000" />
+        <position name = "position_idx11_head_joint1"           joint = "idx11_head_joint1"   kp = "1500"  kv="150" />
+        <position name = "position_idx12_head_joint2"           joint = "idx12_head_joint2"   kp = "1500"  kv="150" />
+        <position name = "position_idx13_head_joint3"           joint = "idx13_head_joint3"   kp = "1500"  kv="150" />
+        <motor name = "motor_idx01_body_joint1"           joint = "idx01_body_joint1"   ctrlrange="-1200 1200" />
+        <motor name = "motor_idx02_body_joint2"           joint = "idx02_body_joint2"   ctrlrange="-1200 1200" />
+        <motor name = "motor_idx03_body_joint3"           joint = "idx03_body_joint3"   ctrlrange="-1200 1200" />
+        <motor name = "motor_idx04_body_joint4"           joint = "idx04_body_joint4"   ctrlrange="-1200 1200" />
+        <motor name = "motor_idx05_body_joint5"           joint = "idx05_body_joint5"   ctrlrange="-1200 1200" />
+        <motor name = "motor_idx11_head_joint1"           joint = "idx11_head_joint1"   ctrlrange="-1200 1200" />
+        <motor name = "motor_idx12_head_joint2"           joint = "idx12_head_joint2"   ctrlrange="-1200 1200" />
+        <motor name = "motor_idx13_head_joint3"           joint = "idx13_head_joint3"   ctrlrange="-1200 1200" />
+    </actuator>
+    <sensor>
+        <framequat name="imu_quat_sensor" objtype="site" objname="imu_site"/>
+        <gyro name="imu_gyro" site="imu_site"/>
+        <accelerometer name="imu_accel" site="imu_site"/>
+        <jointpos name = "jointpos_idx01_body_joint1"        joint = "idx01_body_joint1"   noise = "0.0" />
+        <jointpos name = "jointpos_idx02_body_joint2"        joint = "idx02_body_joint2"   noise = "0.0" />
+        <jointpos name = "jointpos_idx03_body_joint3"        joint = "idx03_body_joint3"   noise = "0.0" />
+        <jointpos name = "jointpos_idx04_body_joint4"        joint = "idx04_body_joint4"   noise = "0.0" />
+        <jointpos name = "jointpos_idx05_body_joint5"        joint = "idx05_body_joint5"   noise = "0.0" />
+        <jointpos name = "jointpos_idx11_head_joint1"        joint = "idx11_head_joint1"   noise = "0.0" />
+        <jointpos name = "jointpos_idx12_head_joint2"        joint = "idx12_head_joint2"   noise = "0.0" />
+        <jointpos name = "jointpos_idx13_head_joint3"        joint = "idx13_head_joint3"   noise = "0.0" />
+        <jointvel name = "jointvel_idx01_body_joint1"        joint = "idx01_body_joint1"   noise = "0.0" />
+        <jointvel name = "jointvel_idx02_body_joint2"        joint = "idx02_body_joint2"   noise = "0.0" />
+        <jointvel name = "jointvel_idx03_body_joint3"        joint = "idx03_body_joint3"   noise = "0.0" />
+        <jointvel name = "jointvel_idx04_body_joint4"        joint = "idx04_body_joint4"   noise = "0.0" />
+        <jointvel name = "jointvel_idx05_body_joint5"        joint = "idx05_body_joint5"   noise = "0.0" />
+        <jointvel name = "jointvel_idx11_head_joint1"        joint = "idx11_head_joint1"   noise = "0.0" />
+        <jointvel name = "jointvel_idx12_head_joint2"        joint = "idx12_head_joint2"   noise = "0.0" />
+        <jointvel name = "jointvel_idx13_head_joint3"        joint = "idx13_head_joint3"   noise = "0.0" />
+        <jointactuatorfrc name = "torque_idx01_body_joint1"  joint = "idx01_body_joint1"   noise = "0.0" />
+        <jointactuatorfrc name = "torque_idx02_body_joint2"  joint = "idx02_body_joint2"   noise = "0.0" />
+        <jointactuatorfrc name = "torque_idx03_body_joint3"  joint = "idx03_body_joint3"   noise = "0.0" />
+        <jointactuatorfrc name = "torque_idx04_body_joint4"  joint = "idx04_body_joint4"   noise = "0.0" />
+        <jointactuatorfrc name = "torque_idx05_body_joint5"  joint = "idx05_body_joint5"   noise = "0.0" />
+        <jointactuatorfrc name = "torque_idx11_head_joint1"  joint = "idx11_head_joint1"   noise = "0.0" />
+        <jointactuatorfrc name = "torque_idx12_head_joint2"  joint = "idx12_head_joint2"   noise = "0.0" />
+        <jointactuatorfrc name = "torque_idx13_head_joint3"  joint = "idx13_head_joint3"   noise = "0.0" />
+    </sensor>
+</mujoco>

mujoco/robot/parts/G2/body_t2_crs_pw/asset.xml ADDED Viewed

	@@ -0,0 +1,12 @@

+<!-- asset -->
+<mujoco model="body_asset">
+    <mesh name="base_link"  file="G2/T2/base_link.STL"  scale="1 1 1" />
+    <mesh name="body_link1" file="G2/T2/body_link1.STL" scale="1 1 1" />
+    <mesh name="body_link2" file="G2/T2/body_link2.STL" scale="1 1 1" />
+    <mesh name="body_link3" file="G2/T2/body_link3.STL" scale="1 1 1" />
+    <mesh name="body_link4" file="G2/T2/body_link4.STL" scale="1 1 1" />
+    <mesh name="body_link5" file="G2/T2/body_link5.STL" scale="1 1 1" />
+    <mesh name="head_link1" file="G2/T2/head_link1.STL" scale="1 1 1" />
+    <mesh name="head_link2" file="G2/T2/head_link2.STL" scale="1 1 1" />
+    <mesh name="head_link3" file="G2/T2/head_link3.STL" scale="1 1 1" />
+</mujoco>

mujoco/robot/parts/G2/body_t2_crs_pw/link.xml ADDED Viewed

	@@ -0,0 +1,162 @@

+<mujoco model="body_link">
+    <!-- ========================================
+         Body Link Chain Structure
+         ======================================== -->
+    <!-- Main body link chain starting from body_link1 -->
+    <body name="body_link1" pos="0.102 0 0.144">
+        <!-- Inertial properties -->
+        <inertial
+            pos="-0.00489401 0.000193107 0.175562"
+            quat="0.951529 -0.00167118 0.000568439 0.307555"
+            mass="20.7874"
+            diaginertia="0.261468 0.260198 0.059575"/>
+        <!-- Joint definition -->
+        <joint
+            name="idx01_body_joint1"
+            pos="0 0 0"
+            axis="0 1 0"
+            range="-1.06 0"/>
+        <!-- Geometry -->
+        <geom type="mesh" mesh="body_link1" rgba="0.752941 0.752941 0.752941 1"/>
+        <!-- ========================================
+             Body Link 2
+             ======================================== -->
+        <body name="body_link2" pos="0 0 0.36">
+            <!-- Inertial properties -->
+            <inertial
+                pos="0.00254034 -0.043702 0.185408"
+                quat="0.706493 -0.00743404 -0.00727108 0.707643"
+                mass="12.4098"
+                diaginertia="0.208365 0.195289 0.0220707"/>
+            <!-- Joint definition -->
+            <joint
+                name="idx02_body_joint2"
+                pos="0 0 0"
+                axis="0 1 0"
+                range="0 2.65"/>
+            <!-- Geometry -->
+            <geom type="mesh" mesh="body_link2" rgba="1 1 1 1"/>
+            <!-- ========================================
+                 Body Link 3
+                 ======================================== -->
+            <body name="body_link3" pos="0 0 0.38">
+                <!-- Inertial properties -->
+                <inertial
+                    pos="-0.000429684 -0.00641624 4.19234e-05"
+                    quat="0.996964 0.0579402 -0.00124734 -0.0519932"
+                    mass="7.34766"
+                    diaginertia="0.0253773 0.0245502 0.0236107"/>
+                <!-- Joint definition -->
+                <joint
+                    name="idx03_body_joint3"
+                    pos="0 0 0"
+                    axis="0 1 0"
+                    range="-1.91 1.57"/>
+                <!-- Geometry -->
+                <geom type="mesh" mesh="body_link3" rgba="0.752941 0.752941 0.752941 1"/>
+                <!-- ========================================
+                     Body Link 4
+                     ======================================== -->
+                <body name="body_link4">
+                    <!-- Inertial properties -->
+                    <inertial
+                        pos="-0.0714498 -6.54615e-05 0.0300405"
+                        quat="0.382564 0.598079 0.590375 0.383932"
+                        mass="6.23061"
+                        diaginertia="0.0315401 0.0286428 0.0240827"/>
+                    <!-- Joint definition -->
+                    <joint
+                        name="idx04_body_joint4"
+                        pos="0 0 0"
+                        axis="1 0 0"
+                        range="-0.43 0.43"/>
+                    <!-- Geometry -->
+                    <geom type="mesh" mesh="body_link4" rgba="1 1 1 1"/>
+                    <!-- ========================================
+                         Body Link 5
+                         ======================================== -->
+                    <body name="body_link5" pos="0 0 0.149">
+                        <!-- Inertial properties -->
+                        <inertial
+                            pos="-0.0244424 0.000202655 0.136945"
+                            quat="0.999987 -0.00278586 0.00415305 -0.000622614"
+                            mass="7.90088"
+                            diaginertia="0.0775108 0.0555698 0.0426905"/>
+                        <!-- Joint definition -->
+                        <joint
+                            name="idx05_body_joint5"
+                            pos="0 0 0"
+                            axis="0 0 1"
+                            range="-3.05 3.05"/>
+                        <!-- Geometry -->
+                        <geom type="mesh"
+                              mesh="body_link5"
+                              rgba="0.752941 0.752941 0.752941 1"/>
+                        <!-- ========================================
+                             Include Arm Links
+                             ======================================== -->
+                        <include file="../arm_crs_pw/link.xml" />
+                        <!-- ========================================
+                             Head Link Chain
+                             ======================================== -->
+                        <body name="head_link1" pos="-0.013 0 0.496">
+                            <!-- Inertial properties -->
+                            <inertial
+                                pos="0.00424601 -1.36432e-07 -0.0288855"
+                                quat="0.704159 -0.0648528 -0.0648618 0.704093"
+                                mass="0.245638"
+                                diaginertia="0.000306992 0.000302836 8.22483e-05"/>
+                            <!-- Joint definition -->
+                            <joint
+                                name="idx11_head_joint1"
+                                pos="0 0 0"
+                                axis="0 0 1"
+                                range="-1.57 1.57"/>
+                            <!-- Geometry -->
+                            <geom type="mesh" mesh="head_link1" rgba="0.752941 0.752941 0.752941 1"/>
+                            <!-- ========================================
+                                 Head Link 2
+                                 ======================================== -->
+                            <body name="head_link2" pos="0.03335 0 0.07">
+                                <!-- Inertial properties -->
+                                <inertial
+                                    pos="-0.0363591 -0.000333631 -0.00246318"
+                                    quat="0.704707 0.705403 0.0594704 -0.0475286"
+                                    mass="0.0944987"
+                                    diaginertia="5.66986e-05 5.01493e-05 3.80384e-05"/>
+                                <!-- Joint definition -->
+                                <joint
+                                    name="idx12_head_joint2"
+                                    pos="0 0 0"
+                                    axis="1 0 0"
+                                    range="-0.349 0.349"/>
+                                <!-- Geometry -->
+                                <geom type="mesh" mesh="head_link2" rgba="0.752941 0.752941 0.752941 1"/>
+                                <!-- ========================================
+                                     Head Link 3
+                                     ======================================== -->
+                                <body name="head_link3" pos="-0.03035 0 0">
+                                    <!-- Inertial properties -->
+                                    <inertial
+                                        pos="-0.00327293 2.14734e-05 0.0163618"
+                                        quat="-0.000248838 0.699252 2.07117e-06 0.714875"
+                                        mass="17.8197"
+                                        diaginertia="0.0712727 0.0558097 0.0456037"/>
+                                    <!-- Joint definition -->
+                                    <joint
+                                        name="idx13_head_joint3"
+                                        pos="0 0 0"
+                                        axis="0 1 0"
+                                        range="-0.523 0.523"/>
+                                    <!-- Geometry -->
+                                    <geom type="mesh" mesh="head_link3" rgba="0.752941 0.752941 0.752941 1"/>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </body>
+</mujoco>

mujoco/robot/parts/G2/chassis/actuator_sensor.xml ADDED Viewed

	@@ -0,0 +1,61 @@

+<!-- actuator and sensor -->
+<mujoco model="chassis_actuator_sensor">
+    <actuator>
+        <!-- position and velocity control actuator -->
+        <position name="motor_idx111_chassis_lwheel_front_joint1"
+            joint="idx111_chassis_lwheel_front_joint1" kp="1000" kv="80" />
+        <velocity name="motor_idx112_chassis_lwheel_front_joint2"
+            joint="idx112_chassis_lwheel_front_joint2" kv="10" />
+        <position name="motor_idx121_chassis_lwheel_rear_joint1"
+            joint="idx121_chassis_lwheel_rear_joint1" kp="1000" kv="80" />
+        <velocity name="motor_idx122_chassis_lwheel_rear_joint2"
+            joint="idx122_chassis_lwheel_rear_joint2" kv="10" />
+        <position name="motor_idx131_chassis_rwheel_front_joint1"
+            joint="idx131_chassis_rwheel_front_joint1" kp="1000" kv="80" />
+        <velocity name="motor_idx132_chassis_rwheel_front_joint2"
+            joint="idx132_chassis_rwheel_front_joint2" kv="10" />
+        <position name="motor_idx141_chassis_rwheel_rear_joint1"
+            joint="idx141_chassis_rwheel_rear_joint1" kp="1000" kv="80" />
+        <velocity name="motor_idx142_chassis_rwheel_rear_joint2"
+            joint="idx142_chassis_rwheel_rear_joint2" kv="10" />
+    </actuator>
+    <sensor>
+        <!-- position sensor -->
+        <jointpos name="jointpos_idx111_chassis_lwheel_front_joint1"
+            joint="idx111_chassis_lwheel_front_joint1" noise="0.0" />
+        <jointpos name="jointpos_idx112_chassis_lwheel_front_joint2"
+            joint="idx112_chassis_lwheel_front_joint2" noise="0.0" cutoff="3.14" />
+        <jointpos name="jointpos_idx121_chassis_lwheel_rear_joint1"
+            joint="idx121_chassis_lwheel_rear_joint1" noise="0.0" />
+        <jointpos name="jointpos_idx122_chassis_lwheel_rear_joint2"
+            joint="idx122_chassis_lwheel_rear_joint2" noise="0.0" cutoff="3.14" />
+        <jointpos name="jointpos_idx131_chassis_rwheel_front_joint1"
+            joint="idx131_chassis_rwheel_front_joint1" noise="0.0" />
+        <jointpos name="jointpos_idx132_chassis_rwheel_front_joint2"
+            joint="idx132_chassis_rwheel_front_joint2" noise="0.0" cutoff="3.14" />
+        <jointpos name="jointpos_idx141_chassis_rwheel_rear_joint1"
+            joint="idx141_chassis_rwheel_rear_joint1" noise="0.0" />
+        <jointpos name="jointpos_idx142_chassis_rwheel_rear_joint2"
+            joint="idx142_chassis_rwheel_rear_joint2" noise="0.0" cutoff="3.14" />
+        <!-- velocity sensor -->
+        <jointvel name="jointvel_idx111_chassis_lwheel_front_joint1"
+            joint="idx111_chassis_lwheel_front_joint1" noise="0.0" />
+        <jointvel name="jointvel_idx112_chassis_lwheel_front_joint2"
+            joint="idx112_chassis_lwheel_front_joint2" noise="0.0" />
+        <jointvel name="jointvel_idx121_chassis_lwheel_rear_joint1"
+            joint="idx121_chassis_lwheel_rear_joint1" noise="0.0" />
+        <jointvel name="jointvel_idx122_chassis_lwheel_rear_joint2"
+            joint="idx122_chassis_lwheel_rear_joint2" noise="0.0" />
+        <jointvel name="jointvel_idx131_chassis_rwheel_front_joint1"
+            joint="idx131_chassis_rwheel_front_joint1" noise="0.0" />
+        <jointvel name="jointvel_idx132_chassis_rwheel_front_joint2"
+            joint="idx132_chassis_rwheel_front_joint2" noise="0.0" />
+        <jointvel name="jointvel_idx141_chassis_rwheel_rear_joint1"
+            joint="idx141_chassis_rwheel_rear_joint1" noise="0.0" />
+        <jointvel name="jointvel_idx142_chassis_rwheel_rear_joint2"
+            joint="idx142_chassis_rwheel_rear_joint2" noise="0.0" />
+    </sensor>
+</mujoco>

mujoco/robot/parts/G2/chassis/asset.xml ADDED Viewed

	@@ -0,0 +1,12 @@

+<!-- asset -->
+<mujoco model="chassis_asset">
+    <mesh name="chassis_lwheel_front_link1" file="../../meshes/G2/T2/chassis_lwheel_front_link1.STL" scale="1 1 1" />
+    <mesh name="chassis_lwheel_front_link2" file="../../meshes/G2/T2/chassis_lwheel_front_link2.STL" scale="1 1 1" />
+    <mesh name="chassis_lwheel_rear_link1"  file="../../meshes/G2/T2/chassis_lwheel_rear_link1.STL"  scale="1 1 1" />
+    <mesh name="chassis_lwheel_rear_link2"  file="../../meshes/G2/T2/chassis_lwheel_rear_link2.STL"  scale="1 1 1" />
+    <mesh name="chassis_rwheel_front_link1" file="../../meshes/G2/T2/chassis_rwheel_front_link1.STL" scale="1 1 1" />
+    <mesh name="chassis_rwheel_front_link2" file="../../meshes/G2/T2/chassis_rwheel_front_link2.STL" scale="1 1 1" />
+    <mesh name="chassis_rwheel_rear_link1"  file="../../meshes/G2/T2/chassis_rwheel_rear_link1.STL"  scale="1 1 1" />
+    <mesh name="chassis_rwheel_rear_link2"  file="../../meshes/G2/T2/chassis_rwheel_rear_link2.STL"  scale="1 1 1" />
+</mujoco>

mujoco/robot/parts/G2/chassis/link.xml ADDED Viewed

	@@ -0,0 +1,63 @@

+<mujoco model="chassis_link">
+    <body name="chassis_lwheel_front_link1" pos="0.23 0.218 0.16675">
+        <inertial pos="4.8347e-05 -0.021386 -0.055149" quat="0.681263 -0.208432 0.206514 0.670663"
+            mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
+        <joint name="idx111_chassis_lwheel_front_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+            rgba="0.86667 0.86667 0.8902 1" mesh="chassis_lwheel_front_link1" />
+        <body name="chassis_lwheel_front_link2" pos="0 -5e-05 -0.13675">
+            <inertial pos="-2.3442e-06 -0.0013086 1.0892e-05"
+                quat="0.487628 0.512096 0.512035 0.487644" mass="3.6283"
+                diaginertia="0.010779 0.0058842 0.0058835" />
+            <joint name="idx112_chassis_lwheel_front_joint2" pos="0 0 0" axis="0 1 0" />
+            <geom type="mesh" group="1" density="0" rgba="1 1 1 1"
+                mesh="chassis_lwheel_front_link2"
+                class="collision" />
+        </body>
+    </body>
+    <body name="chassis_rwheel_front_link1" pos="0.23 -0.218 0.16675">
+        <inertial pos="-4.8347e-05 0.021386 -0.055149" quat="0.681263 0.208432 -0.206514 0.670663"
+            mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
+        <joint name="idx131_chassis_rwheel_front_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+            rgba="0.86667 0.86667 0.8902 1" mesh="chassis_rwheel_front_link1" />
+        <body name="chassis_rwheel_front_link2" pos="0 5e-05 -0.13675">
+            <inertial pos="2.3442e-06 0.0013086 1.0892e-05"
+                quat="0.512096 0.487628 0.487644 0.512035" mass="3.6283"
+                diaginertia="0.010779 0.0058842 0.0058835" />
+            <joint name="idx132_chassis_rwheel_front_joint2" pos="0 0 0" axis="0 1 0" />
+            <geom type="mesh" group="1" density="0" rgba="1 1 1 1"
+                mesh="chassis_rwheel_front_link2" class="collision" />
+        </body>
+    </body>
+    <body name="chassis_rwheel_rear_link1" pos="-0.23 -0.218 0.16675">
+        <inertial pos="-4.8347e-05 0.021386 -0.055149" quat="0.681263 0.208432 -0.206514 0.670663"
+            mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
+        <joint name="idx141_chassis_rwheel_rear_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+            rgba="0.86667 0.86667 0.8902 1" mesh="chassis_rwheel_rear_link1" />
+        <body name="chassis_rwheel_rear_link2" pos="0 5e-05 -0.13675">
+            <inertial pos="2.3442e-06 0.0013086 1.0892e-05"
+                quat="0.512096 0.487628 0.487644 0.512035" mass="3.6283"
+                diaginertia="0.010779 0.0058842 0.0058835" />
+            <joint name="idx142_chassis_rwheel_rear_joint2" pos="0 0 0" axis="0 1 0" />
+            <geom type="mesh" group="1" density="0" rgba="1 1 1 1"
+                mesh="chassis_rwheel_rear_link2" class="collision" />
+        </body>
+    </body>
+    <body name="chassis_lwheel_rear_link1" pos="-0.23 0.218 0.16675">
+        <inertial pos="4.8347e-05 -0.021386 -0.055149" quat="0.681263 -0.208432 0.206514 0.670663"
+            mass="0.59301" diaginertia="0.00114775 0.001129 0.000294904" />
+        <joint name="idx121_chassis_lwheel_rear_joint1" pos="0 0 0" axis="0 0 1" range="-2.97 2.97" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0"
+            rgba="0.86667 0.86667 0.8902 1" mesh="chassis_lwheel_rear_link1" />
+        <body name="chassis_lwheel_rear_link2" pos="0 -5e-05 -0.13675">
+            <inertial pos="-2.3442e-06 -0.0013086 1.0892e-05"
+                quat="0.487628 0.512096 0.512035 0.487644" mass="3.6283"
+                diaginertia="0.010779 0.0058842 0.0058835" />
+            <joint name="idx122_chassis_lwheel_rear_joint2" pos="0 0 0" axis="0 1 0" />
+            <geom type="mesh" group="1" density="0" rgba="1 1 1 1"
+                mesh="chassis_lwheel_rear_link2" class="collision" />
+        </body>
+    </body>
+</mujoco>

mujoco/robot/parts/G2/hand_pw/actuator_left_sensor.xml ADDED Viewed

	@@ -0,0 +1,45 @@

+<!-- actuator and sensor -->
+<mujoco model="hand_pw_left_actuator_sensor">
+  <contact>
+    <!-- gripper contact exclusions -->
+    <exclude body1="gripper_l_outer_link1" body2="gripper_l_inner_link1" />
+  </contact>
+  <actuator>
+    <!-- Gripper -->
+    <position name="position_idx31_gripper_l_inner_joint1"
+      joint="idx31_gripper_l_inner_joint1"
+      ctrlrange="0 0.024"
+      forcerange="-500 500"
+      kp="2000" kv="200" />
+  </actuator>
+  <equality>
+    <!-- Gripper: 内夹爪关节跟随外夹爪关节 -->
+    <joint name="gripper_l_inner_equality"
+      joint1="idx31_gripper_l_inner_joint1"
+      joint2="idx41_gripper_l_outer_joint1"
+      polycoef="0.0 1.0 0 0 0" />
+  </equality>
+  <sensor>
+    <!-- Gripper actuator position sensor -->
+    <actuatorpos name="actuatorpos_idx31_gripper_l_inner_joint1"
+      actuator="position_idx31_gripper_l_inner_joint1" />
+    <!-- Gripper joint position sensor -->
+    <jointpos name="jointpos_idx41_gripper_l_outer_joint1" joint="idx41_gripper_l_outer_joint1" />
+    <jointpos name="jointpos_idx31_gripper_l_inner_joint1" joint="idx31_gripper_l_inner_joint1" />
+    <!-- Gripper joint velocity sensor -->
+    <jointvel name="jointvel_idx41_gripper_l_outer_joint1" joint="idx41_gripper_l_outer_joint1" />
+    <jointvel name="jointvel_idx31_gripper_l_inner_joint1" joint="idx31_gripper_l_inner_joint1" />
+    <!-- Gripper joint effort sensor -->
+    <jointactuatorfrc name="torque_idx31_gripper_l_inner_joint1"
+      joint="idx31_gripper_l_inner_joint1" />
+  </sensor>
+</mujoco>

mujoco/robot/parts/G2/hand_pw/actuator_right_sensor.xml ADDED Viewed

	@@ -0,0 +1,44 @@

+<!-- actuator and sensor -->
+<mujoco model="hand_pw_right_actuator_sensor">
+  <contact>
+    <!-- gripper contact exclusions -->
+    <exclude body1="gripper_r_outer_link1" body2="gripper_r_inner_link1" />
+  </contact>
+  <actuator>
+    <!-- Gripper -->
+    <position name="position_idx71_gripper_r_inner_joint1"
+      joint="idx71_gripper_r_inner_joint1"
+      ctrlrange="0 0.024"
+      forcerange="-500 500"
+      kp="2000" kv="200" />
+  </actuator>
+  <equality>
+    <!-- Gripper: 内夹爪关节跟随外夹爪关节 -->
+    <joint name="gripper_r_inner_equality"
+      joint1="idx71_gripper_r_inner_joint1"
+      joint2="idx81_gripper_r_outer_joint1"
+      polycoef="0.0 1.0 0 0 0" />
+  </equality>
+  <sensor>
+    <!-- Gripper actuator position sensor -->
+    <actuatorpos name="actuatorpos_idx71_gripper_r_inner_joint1"
+      actuator="position_idx71_gripper_r_inner_joint1" />
+    <!-- Gripper joint position sensor -->
+    <jointpos name="jointpos_idx81_gripper_r_outer_joint1" joint="idx81_gripper_r_outer_joint1" />
+    <jointpos name="jointpos_idx71_gripper_r_inner_joint1" joint="idx71_gripper_r_inner_joint1" />
+    <!-- Gripper joint velocity sensor -->
+    <jointvel name="jointvel_idx81_gripper_r_outer_joint1" joint="idx81_gripper_r_outer_joint1" />
+    <jointvel name="jointvel_idx71_gripper_r_inner_joint1" joint="idx71_gripper_r_inner_joint1" />
+    <!-- Gripper joint effort sensor -->
+    <jointactuatorfrc name="torque_idx71_gripper_r_inner_joint1"
+      joint="idx71_gripper_r_inner_joint1" />
+  </sensor>
+</mujoco>

mujoco/robot/parts/G2/hand_pw/asset.xml ADDED Viewed

	@@ -0,0 +1,30 @@

+<mujoco model="pw_gripper_asset">
+  <!-- Place-Workpiece Gripper Meshes -->
+  <mesh name="gripper_l_base_link" file="../../meshes/gripper/workpiece/base_link.STL" />
+  <mesh name="gripper_l_base_link_1" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_01.STL" />
+  <mesh name="gripper_l_base_link_2" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_02.STL" />
+  <mesh name="gripper_l_base_link_3" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_03.STL" />
+  <mesh name="gripper_l_base_link_4" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_04.STL" />
+  <mesh name="gripper_l_base_link_5" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_05.STL" />
+  <mesh name="gripper_l_base_link_6" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_06.STL" />
+  <mesh name="gripper_l_base_link_7" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_07.STL" />
+  <mesh name="gripper_l_base_link_8" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_08.STL" />
+  <mesh name="gripper_l_base_link_9" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_09.STL" />
+  <mesh name="gripper_l_base_link_10" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_10.STL" />
+  <mesh name="gripper_l_base_link_11" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_11.STL" />
+  <mesh name="gripper_r_base_link" file="../../meshes/gripper/workpiece/base_link.STL" />
+  <mesh name="gripper_r_base_link_1" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_01.STL" />
+  <mesh name="gripper_r_base_link_2" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_02.STL" />
+  <mesh name="gripper_r_base_link_3" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_03.STL" />
+  <mesh name="gripper_r_base_link_4" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_04.STL" />
+  <mesh name="gripper_r_base_link_5" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_05.STL" />
+  <mesh name="gripper_r_base_link_6" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_06.STL" />
+  <mesh name="gripper_r_base_link_7" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_07.STL" />
+  <mesh name="gripper_r_base_link_8" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_08.STL" />
+  <mesh name="gripper_r_base_link_9" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_09.STL" />
+  <mesh name="gripper_r_base_link_10" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_10.STL" />
+  <mesh name="gripper_r_base_link_11" file="../../meshes/gripper/workpiece/convex/wuliao_Collision_11.STL" />
+</mujoco>

mujoco/robot/parts/G2/hand_pw/gripper_left.xml ADDED Viewed

	@@ -0,0 +1,71 @@

+<mujoco model="gripper_left">
+  <!-- 夹爪基座 -->
+  <body name="gripper_l_base_link" pos="0.095 0 0" quat="-0.5 0.5 -0.5 0.5">
+    <inertial pos="0.01778808 0.0585332 0.05714529" quat="0.5 0.5 0.5 0.5" mass="1.3757592"
+      diaginertia="0.0028087 0.00130123 0.00279029" />
+    <geom type="mesh" mesh="gripper_l_base_link" rgba="0.86667 0.86667 0.8902 1"/>
+    <geom type="mesh" mesh="gripper_l_base_link_1" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_2" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_3" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_4" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_5" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_6" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_7" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_8" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_9" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_10" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <geom type="mesh" mesh="gripper_l_base_link_11" rgba="0.86667 0.86667 0.8902 1" class="collision"/>
+    <!-- 外夹爪（主动） -->
+    <body name="gripper_l_outer_link1" pos="0.0265 -0.0134 0.098" quat="0.707107 0 0 0.707107">
+      <inertial pos="0.0151808 -0.0123302 0.0456963" quat="0.846353 0.0682721 0.0474439 0.526094"
+        mass="0.0366645" diaginertia="4.50797e-05 4.46339e-05 2.25641e-06" />
+      <joint name="idx41_gripper_l_outer_joint1" pos="0 0 0" axis="0 1 0" type="slide"
+        range="0 0.024" />
+      <!-- <geom type="mesh" mesh="gripper_l_outer_link1_1" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_outer_link1_2" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_outer_link1_3" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_outer_link1_4" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_outer_link1_5" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_outer_link1_6" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_outer_link1_7" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" /> -->
+    </body>
+    <!-- 内夹爪（从动） -->
+    <body name="gripper_l_inner_link1" pos="-0.0265 0.0134 0.098" quat="0.707107 0 0 -0.707107">
+      <inertial pos="0.0178381 0.0653971 0.0463019" quat="0.874213 -0.0127259 0.0439183 0.483386"
+        mass="0.0379014" diaginertia="4.57698e-05 4.46809e-05 2.49933e-06" />
+      <joint name="idx31_gripper_l_inner_joint1" pos="0 0 0" axis="0 1 0" type="slide"
+        range="0 0.024" />
+      <!-- <geom type="mesh" mesh="gripper_l_inner_link1_1" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_inner_link1_2" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_inner_link1_3" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_inner_link1_4" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_inner_link1_5" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_inner_link1_6" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" />
+      <geom type="mesh" mesh="gripper_l_inner_link1_7" rgba="0.77647 0.75686 0.73725 1"
+        class="collision" /> -->
+    </body>
+    <!-- 夹爪中心点 -->
+    <body name="gripper_l_center_link" pos="0 0 0.1" quat="0.707107 0 0 -0.707107">
+      <geom type="sphere" size="0.005" rgba="1 0 0 0.5" />
+    </body>
+  </body>
+</mujoco>