forked from apirrone/Open_Duck_Mini
-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathrobotc.xml
More file actions
670 lines (670 loc) · 72.3 KB
/
robotc.xml
File metadata and controls
670 lines (670 loc) · 72.3 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
<?xml version="1.0" ?>
<!-- Generated using onshape-to-robot -->
<!-- Onshape https://cad.onshape.com/documents/5717d51cc060fb69adc23ecb/w/e587684c069293fc9bd98847/e/b0779f032a5ca2ddc11ebda5 -->
<mujoco model="robotb">
<compiler angle="radian" meshdir="assets" autolimits="true"/>
<default>
<default class="robotb">
<joint frictionloss="0.1" armature="0.005"/>
<position kp="50" dampratio="1"/>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2"/>
</default>
<default class="collision">
<geom group="3"/>
</default>
</default>
</default>
<worldbody>
<!-- Link trunk_assembly -->
<body name="trunk_assembly" pos="0 0 0" quat="1 0 0 0" childclass="robotb">
<freejoint name="trunk_assembly_freejoint"/>
<inertial pos="-0.0483271 -9.97796e-05 0.0384971" mass="0.698545" fullinertia="0.00167701 0.00344483 0.00292639 -1.31661e-05 -3.24929e-05 -2.15582e-06"/>
<!-- Part body_front -->
<geom type="mesh" class="visual" pos="-0.019 0 0.0648909" quat="1 0 0 0" mesh="body_front" material="body_front_material"/>
<geom type="mesh" class="collision" pos="-0.019 0 0.0648909" quat="1 0 0 0" mesh="body_front" material="body_front_material"/>
<!-- Part usb_c_charger -->
<geom type="mesh" class="visual" pos="-0.1263 -0.0257 0.0576079" quat="0.5 0.5 -0.5 0.5" mesh="usb_c_charger" material="usb_c_charger_material"/>
<geom type="mesh" class="collision" pos="-0.1263 -0.0257 0.0576079" quat="0.5 0.5 -0.5 0.5" mesh="usb_c_charger" material="usb_c_charger_material"/>
<!-- Part body_back -->
<geom type="mesh" class="visual" pos="-0.019 3.46945e-18 0.0648909" quat="1 0 0 0" mesh="body_back" material="body_back_material"/>
<geom type="mesh" class="collision" pos="-0.019 3.46945e-18 0.0648909" quat="1 0 0 0" mesh="body_back" material="body_back_material"/>
<!-- Part body_middle_bottom -->
<geom type="mesh" class="visual" pos="-0.019 -3.46945e-18 0.0648909" quat="1 0 0 0" mesh="body_middle_bottom" material="body_middle_bottom_material"/>
<geom type="mesh" class="collision" pos="-0.019 -3.46945e-18 0.0648909" quat="1 0 0 0" mesh="body_middle_bottom" material="body_middle_bottom_material"/>
<!-- Part power_switch -->
<geom type="mesh" class="visual" pos="-0.12034 -2.77556e-17 0.0899126" quat="0.901303 1.98433e-16 -0.433189 1.73775e-17" mesh="power_switch" material="power_switch_material"/>
<geom type="mesh" class="collision" pos="-0.12034 -2.77556e-17 0.0899126" quat="0.901303 1.98433e-16 -0.433189 1.73775e-17" mesh="power_switch" material="power_switch_material"/>
<!-- Part bms -->
<geom type="mesh" class="visual" pos="-0.0752028 -0.0249 0.0294899" quat="0.5 0.5 0.5 -0.5" mesh="bms" material="bms_material"/>
<geom type="mesh" class="collision" pos="-0.0752028 -0.0249 0.0294899" quat="0.5 0.5 0.5 -0.5" mesh="bms" material="bms_material"/>
<!-- Part battery_pack_lid -->
<geom type="mesh" class="visual" pos="-0.019 0 0.0648909" quat="1 -1.69241e-16 0 0" mesh="battery_pack_lid" material="battery_pack_lid_material"/>
<geom type="mesh" class="collision" pos="-0.019 0 0.0648909" quat="1 -1.69241e-16 0 0" mesh="battery_pack_lid" material="battery_pack_lid_material"/>
<!-- Part body_middle_top -->
<geom type="mesh" class="visual" pos="-0.019 0 0.0648909" quat="1 0 0 0" mesh="body_middle_top" material="body_middle_top_material"/>
<geom type="mesh" class="collision" pos="-0.019 0 0.0648909" quat="1 0 0 0" mesh="body_middle_top" material="body_middle_top_material"/>
<!-- Part bno055 -->
<geom type="mesh" class="visual" pos="-0.08711 1.30104e-16 0.0417909" quat="1 -2.01998e-17 0 0" mesh="bno055" material="bno055_material"/>
<geom type="mesh" class="collision" pos="-0.08711 1.30104e-16 0.0417909" quat="1 -2.01998e-17 0 0" mesh="bno055" material="bno055_material"/>
<!-- Part roll_bearing -->
<geom type="mesh" class="visual" pos="-0.019 -6.93889e-18 0.0648909" quat="1 0 0 0" mesh="roll_bearing" material="roll_bearing_material"/>
<geom type="mesh" class="collision" pos="-0.019 -6.93889e-18 0.0648909" quat="1 0 0 0" mesh="roll_bearing" material="roll_bearing_material"/>
<!-- Part trunk_bottom -->
<geom type="mesh" class="visual" pos="-0.019 9.1073e-18 0.0648909" quat="1 -1.88322e-17 0 5.42101e-20" mesh="trunk_bottom" material="trunk_bottom_material"/>
<geom type="mesh" class="collision" pos="-0.019 9.1073e-18 0.0648909" quat="1 -1.88322e-17 0 5.42101e-20" mesh="trunk_bottom" material="trunk_bottom_material"/>
<!-- Part trunk_top -->
<geom type="mesh" class="visual" pos="-0.019 -2.42428e-16 0.0648909" quat="1 -4.61902e-17 -5.30594e-15 2.60413e-17" mesh="trunk_top" material="trunk_top_material"/>
<geom type="mesh" class="collision" pos="-0.019 -2.42428e-16 0.0648909" quat="1 -4.61902e-17 -5.30594e-15 2.60413e-17" mesh="trunk_top" material="trunk_top_material"/>
<!-- Part board -->
<geom type="mesh" class="visual" pos="-0.06349 0.0165 0.0603909" quat="2.41142e-17 -1.11022e-14 2.22045e-16 1" mesh="board" material="board_material"/>
<geom type="mesh" class="collision" pos="-0.06349 0.0165 0.0603909" quat="2.41142e-17 -1.11022e-14 2.22045e-16 1" mesh="board" material="board_material"/>
<!-- Part roll_bearing_2 -->
<geom type="mesh" class="visual" pos="-0.019 -0.07 0.0648909" quat="1 0 0 0" mesh="roll_bearing" material="roll_bearing_material"/>
<geom type="mesh" class="collision" pos="-0.019 -0.07 0.0648909" quat="1 0 0 0" mesh="roll_bearing" material="roll_bearing_material"/>
<!-- Part cell -->
<geom type="mesh" class="visual" pos="-0.129625 -0.0105 0.0650134" quat="2.12636e-17 -0.457466 -0.889227 1.60556e-16" mesh="cell" material="cell_material"/>
<geom type="mesh" class="collision" pos="-0.129625 -0.0105 0.0650134" quat="2.12636e-17 -0.457466 -0.889227 1.60556e-16" mesh="cell" material="cell_material"/>
<!-- Part holder -->
<geom type="mesh" class="visual" pos="-0.139625 -0.0635245 0.031455" quat="0.707107 -1.39197e-16 0.707107 -5.87939e-17" mesh="holder" material="holder_material"/>
<geom type="mesh" class="collision" pos="-0.139625 -0.0635245 0.031455" quat="0.707107 -1.39197e-16 0.707107 -5.87939e-17" mesh="holder" material="holder_material"/>
<!-- Part cell_2 -->
<geom type="mesh" class="visual" pos="-0.129625 0.0105 1.34322e-05" quat="0.930459 6.27867e-17 2.4996e-16 0.366396" mesh="cell" material="cell_material"/>
<geom type="mesh" class="collision" pos="-0.129625 0.0105 1.34322e-05" quat="0.930459 6.27867e-17 2.4996e-16 0.366396" mesh="cell" material="cell_material"/>
<!-- Part wj_wk00_0123middlecase_56 -->
<geom type="mesh" class="visual" pos="0.001 0.0097 0.0645009" quat="0.707107 0 0.707107 -1.11022e-16" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<geom type="mesh" class="collision" pos="0.001 0.0097 0.0645009" quat="0.707107 0 0.707107 -1.11022e-16" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<!-- Part drive_palonier -->
<geom type="mesh" class="visual" pos="0.001 0.0097 0.0645009" quat="0.707107 0 0.707107 -1.11022e-16" mesh="drive_palonier" material="drive_palonier_material"/>
<geom type="mesh" class="collision" pos="0.001 0.0097 0.0645009" quat="0.707107 0 0.707107 -1.11022e-16" mesh="drive_palonier" material="drive_palonier_material"/>
<!-- Part wj_wk00_0124bottomcase_45 -->
<geom type="mesh" class="visual" pos="0.001 0.0097 0.0645009" quat="0.707107 0 0.707107 -1.11022e-16" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<geom type="mesh" class="collision" pos="0.001 0.0097 0.0645009" quat="0.707107 0 0.707107 -1.11022e-16" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<!-- Part wj_wk00_0122topcabinetcase_95 -->
<geom type="mesh" class="visual" pos="0.001 0.0097 0.0645009" quat="0.707107 0 0.707107 -1.11022e-16" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<geom type="mesh" class="collision" pos="0.001 0.0097 0.0645009" quat="0.707107 0 0.707107 -1.11022e-16" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<!-- Part passive_palonier -->
<geom type="mesh" class="visual" pos="0.001 0.0126 0.0645009" quat="0.707107 0 0.707107 -1.11022e-16" mesh="passive_palonier" material="passive_palonier_material"/>
<geom type="mesh" class="collision" pos="0.001 0.0126 0.0645009" quat="0.707107 0 0.707107 -1.11022e-16" mesh="passive_palonier" material="passive_palonier_material"/>
<!-- Part wj_wk00_0123middlecase_56_2 -->
<geom type="mesh" class="visual" pos="-0.0445 -0.035 0.0553909" quat="7.85711e-15 7.85046e-15 0.707107 -0.707107" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<geom type="mesh" class="collision" pos="-0.0445 -0.035 0.0553909" quat="7.85711e-15 7.85046e-15 0.707107 -0.707107" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<!-- Part drive_palonier_2 -->
<geom type="mesh" class="visual" pos="-0.0445 -0.035 0.0553909" quat="7.85711e-15 7.85046e-15 0.707107 -0.707107" mesh="drive_palonier" material="drive_palonier_material"/>
<geom type="mesh" class="collision" pos="-0.0445 -0.035 0.0553909" quat="7.85711e-15 7.85046e-15 0.707107 -0.707107" mesh="drive_palonier" material="drive_palonier_material"/>
<!-- Part wj_wk00_0124bottomcase_45_2 -->
<geom type="mesh" class="visual" pos="-0.0445 -0.035 0.0553909" quat="7.85711e-15 7.85046e-15 0.707107 -0.707107" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<geom type="mesh" class="collision" pos="-0.0445 -0.035 0.0553909" quat="7.85711e-15 7.85046e-15 0.707107 -0.707107" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<!-- Part wj_wk00_0122topcabinetcase_95_2 -->
<geom type="mesh" class="visual" pos="-0.0445 -0.035 0.0553909" quat="7.85711e-15 7.85046e-15 0.707107 -0.707107" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<geom type="mesh" class="collision" pos="-0.0445 -0.035 0.0553909" quat="7.85711e-15 7.85046e-15 0.707107 -0.707107" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<!-- Part passive_palonier_2 -->
<geom type="mesh" class="visual" pos="-0.0445 -0.035 0.0524909" quat="7.85711e-15 7.85046e-15 0.707107 -0.707107" mesh="passive_palonier" material="passive_palonier_material"/>
<geom type="mesh" class="collision" pos="-0.0445 -0.035 0.0524909" quat="7.85711e-15 7.85046e-15 0.707107 -0.707107" mesh="passive_palonier" material="passive_palonier_material"/>
<!-- Part wj_wk00_0123middlecase_56_3 -->
<geom type="mesh" class="visual" pos="-0.0445 0.035 0.0553909" quat="7.85046e-15 7.85046e-15 0.707107 -0.707107" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<geom type="mesh" class="collision" pos="-0.0445 0.035 0.0553909" quat="7.85046e-15 7.85046e-15 0.707107 -0.707107" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<!-- Part drive_palonier_3 -->
<geom type="mesh" class="visual" pos="-0.0445 0.035 0.0553909" quat="7.85046e-15 7.85046e-15 0.707107 -0.707107" mesh="drive_palonier" material="drive_palonier_material"/>
<geom type="mesh" class="collision" pos="-0.0445 0.035 0.0553909" quat="7.85046e-15 7.85046e-15 0.707107 -0.707107" mesh="drive_palonier" material="drive_palonier_material"/>
<!-- Part wj_wk00_0124bottomcase_45_3 -->
<geom type="mesh" class="visual" pos="-0.0445 0.035 0.0553909" quat="7.85046e-15 7.85046e-15 0.707107 -0.707107" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<geom type="mesh" class="collision" pos="-0.0445 0.035 0.0553909" quat="7.85046e-15 7.85046e-15 0.707107 -0.707107" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<!-- Part wj_wk00_0122topcabinetcase_95_3 -->
<geom type="mesh" class="visual" pos="-0.0445 0.035 0.0553909" quat="7.85046e-15 7.85046e-15 0.707107 -0.707107" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<geom type="mesh" class="collision" pos="-0.0445 0.035 0.0553909" quat="7.85046e-15 7.85046e-15 0.707107 -0.707107" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<!-- Part passive_palonier_3 -->
<geom type="mesh" class="visual" pos="-0.0445 0.035 0.0524909" quat="7.85046e-15 7.85046e-15 0.707107 -0.707107" mesh="passive_palonier" material="passive_palonier_material"/>
<geom type="mesh" class="collision" pos="-0.0445 0.035 0.0524909" quat="7.85046e-15 7.85046e-15 0.707107 -0.707107" mesh="passive_palonier" material="passive_palonier_material"/>
<!-- Frame trunk -->
<site group="3" name="trunk" pos="-0.024 -2.41127e-16 0.0881909" quat="1 -1.88322e-17 0 0"/>
<!-- Frame imu -->
<site group="3" name="imu" pos="-0.08711 1.249e-16 0.0422909" quat="1 -7.03105e-17 -5.71342e-17 -2.28112e-16"/>
<!-- Link hip_roll_assembly -->
<body name="hip_roll_assembly" pos="-0.019 0.035 0.0459409" quat="0.965926 -2.75967e-15 -1.08802e-14 0.258819">
<!-- Joint from trunk_assembly to hip_roll_assembly -->
<joint axis="0 0 1" name="left_hip_yaw" type="hinge" range="-1.0471975511965963 1.3322676295501878e-15"/>
<inertial pos="0.000795081 -5.46541e-06 -0.03306" mass="0.06648" fullinertia="2.44411e-05 2.81818e-05 1.42687e-05 2.35658e-09 -3.81059e-07 -7.50036e-09"/>
<!-- Part roll_motor_bottom -->
<geom type="mesh" class="visual" pos="-3.35018e-16 -0.035 0.01905" quat="1 -4.77619e-16 3.33067e-16 -3.33067e-16" mesh="roll_motor_bottom" material="roll_motor_bottom_material"/>
<geom type="mesh" class="collision" pos="-3.35018e-16 -0.035 0.01905" quat="1 -4.77619e-16 3.33067e-16 -3.33067e-16" mesh="roll_motor_bottom" material="roll_motor_bottom_material"/>
<!-- Part roll_motor_top -->
<geom type="mesh" class="visual" pos="6.50521e-19 -0.035 0.01905" quat="1 0 5.55112e-17 4.84877e-17" mesh="roll_motor_top" material="roll_motor_top_material"/>
<geom type="mesh" class="collision" pos="6.50521e-19 -0.035 0.01905" quat="1 0 5.55112e-17 4.84877e-17" mesh="roll_motor_top" material="roll_motor_top_material"/>
<!-- Part wj_wk00_0123middlecase_56_4 -->
<geom type="mesh" class="visual" pos="0.0096 1.15134e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<geom type="mesh" class="collision" pos="0.0096 1.15134e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<!-- Part drive_palonier_4 -->
<geom type="mesh" class="visual" pos="0.0096 1.15134e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="drive_palonier" material="drive_palonier_material"/>
<geom type="mesh" class="collision" pos="0.0096 1.15134e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="drive_palonier" material="drive_palonier_material"/>
<!-- Part wj_wk00_0124bottomcase_45_4 -->
<geom type="mesh" class="visual" pos="0.0096 1.15134e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<geom type="mesh" class="collision" pos="0.0096 1.15134e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<!-- Part wj_wk00_0122topcabinetcase_95_4 -->
<geom type="mesh" class="visual" pos="0.0096 1.15134e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<geom type="mesh" class="collision" pos="0.0096 1.15134e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<!-- Part passive_palonier_4 -->
<geom type="mesh" class="visual" pos="0.0125 1.0208e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="passive_palonier" material="passive_palonier_material"/>
<geom type="mesh" class="collision" pos="0.0125 1.0208e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="passive_palonier" material="passive_palonier_material"/>
<!-- Link left_roll_to_pitch_assembly -->
<body name="left_roll_to_pitch_assembly" pos="0.01905 7.14619e-15 -0.046015" quat="0.401729 -0.581905 -0.401729 0.581905">
<!-- Joint from hip_roll_assembly to left_roll_to_pitch_assembly -->
<joint axis="0 0 1" name="left_hip_roll" type="hinge" range="-0.7986645746476461 0.0740000513495187"/>
<inertial pos="0.0507497 -0.000407512 0.0204377" mass="0.07516" fullinertia="2.52682e-05 4.15738e-05 2.82869e-05 1.22744e-07 -7.32857e-07 -1.05692e-07"/>
<!-- Part left_roll_to_pitch -->
<geom type="mesh" class="visual" pos="-0.035 -0.065 0.01905" quat="0.5 0.5 0.5 -0.5" mesh="left_roll_to_pitch" material="left_roll_to_pitch_material"/>
<geom type="mesh" class="collision" pos="-0.035 -0.065 0.01905" quat="0.5 0.5 0.5 -0.5" mesh="left_roll_to_pitch" material="left_roll_to_pitch_material"/>
<!-- Part wj_wk00_0123middlecase_56_5 -->
<geom type="mesh" class="visual" pos="0.0647 -3.4521e-16 0.00961" quat="0.5 0.5 0.5 -0.5" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<geom type="mesh" class="collision" pos="0.0647 -3.4521e-16 0.00961" quat="0.5 0.5 0.5 -0.5" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<!-- Part drive_palonier_5 -->
<geom type="mesh" class="visual" pos="0.0647 -3.4521e-16 0.00961" quat="0.5 0.5 0.5 -0.5" mesh="drive_palonier" material="drive_palonier_material"/>
<geom type="mesh" class="collision" pos="0.0647 -3.4521e-16 0.00961" quat="0.5 0.5 0.5 -0.5" mesh="drive_palonier" material="drive_palonier_material"/>
<!-- Part wj_wk00_0124bottomcase_45_5 -->
<geom type="mesh" class="visual" pos="0.0647 -3.4521e-16 0.00961" quat="0.5 0.5 0.5 -0.5" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<geom type="mesh" class="collision" pos="0.0647 -3.4521e-16 0.00961" quat="0.5 0.5 0.5 -0.5" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<!-- Part wj_wk00_0122topcabinetcase_95_5 -->
<geom type="mesh" class="visual" pos="0.0647 -3.4521e-16 0.00961" quat="0.5 0.5 0.5 -0.5" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<geom type="mesh" class="collision" pos="0.0647 -3.4521e-16 0.00961" quat="0.5 0.5 0.5 -0.5" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<!-- Part passive_palonier_5 -->
<geom type="mesh" class="visual" pos="0.0676 2.01228e-16 0.00961" quat="0.5 0.5 0.5 -0.5" mesh="passive_palonier" material="passive_palonier_material"/>
<geom type="mesh" class="collision" pos="0.0676 2.01228e-16 0.00961" quat="0.5 0.5 0.5 -0.5" mesh="passive_palonier" material="passive_palonier_material"/>
<!-- Link knee_and_ankle_assembly -->
<body name="knee_and_ankle_assembly" pos="0.07415 -3.52149e-16 0.03511" quat="0.0540509 -0.705038 -0.0540509 0.705038">
<!-- Joint from left_roll_to_pitch_assembly to knee_and_ankle_assembly -->
<joint axis="0 0 1" name="left_hip_pitch" type="hinge" range="-1.068702275442209 0.6766269765521203"/>
<inertial pos="0.00253369 -0.0390636 0.0102776" mass="0.12407" fullinertia="0.000211406 7.83759e-05 0.000225619 -2.68706e-05 3.81906e-06 2.08009e-05"/>
<!-- Part left_cache -->
<geom type="mesh" class="visual" pos="0.01606 0.065 0.10915" quat="0.707107 -0.707107 0 -9.81308e-18" mesh="left_cache" material="left_cache_material"/>
<geom type="mesh" class="collision" pos="0.01606 0.065 0.10915" quat="0.707107 -0.707107 0 -9.81308e-18" mesh="left_cache" material="left_cache_material"/>
<!-- Part leg_spacer -->
<geom type="mesh" class="visual" pos="0.01606 0.14365 0.10925" quat="0.707107 -0.707107 -0 -0" mesh="leg_spacer" material="leg_spacer_material"/>
<geom type="mesh" class="collision" pos="0.01606 0.14365 0.10925" quat="0.707107 -0.707107 -0 -0" mesh="leg_spacer" material="leg_spacer_material"/>
<!-- Part left_knee_to_ankle_right_sheet -->
<geom type="mesh" class="visual" pos="0.01606 0.14365 0.10915" quat="0.707107 -0.707107 0 -4.90654e-18" mesh="left_knee_to_ankle_right_sheet" material="left_knee_to_ankle_right_sheet_material"/>
<geom type="mesh" class="collision" pos="0.01606 0.14365 0.10915" quat="0.707107 -0.707107 0 -4.90654e-18" mesh="left_knee_to_ankle_right_sheet" material="left_knee_to_ankle_right_sheet_material"/>
<!-- Part left_knee_to_ankle_left_sheet -->
<geom type="mesh" class="visual" pos="0.01606 0.14365 0.10915" quat="0.707107 -0.707107 0 -4.90654e-18" mesh="left_knee_to_ankle_left_sheet" material="left_knee_to_ankle_left_sheet_material"/>
<geom type="mesh" class="collision" pos="0.01606 0.14365 0.10915" quat="0.707107 -0.707107 0 -4.90654e-18" mesh="left_knee_to_ankle_left_sheet" material="left_knee_to_ankle_left_sheet_material"/>
<!-- Part wj_wk00_0123middlecase_56_6 -->
<geom type="mesh" class="visual" pos="1.38778e-17 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<geom type="mesh" class="collision" pos="1.38778e-17 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<!-- Part drive_palonier_6 -->
<geom type="mesh" class="visual" pos="1.38778e-17 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="drive_palonier" material="drive_palonier_material"/>
<geom type="mesh" class="collision" pos="1.38778e-17 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="drive_palonier" material="drive_palonier_material"/>
<!-- Part wj_wk00_0124bottomcase_45_6 -->
<geom type="mesh" class="visual" pos="1.38778e-17 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<geom type="mesh" class="collision" pos="1.38778e-17 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<!-- Part wj_wk00_0122topcabinetcase_95_6 -->
<geom type="mesh" class="visual" pos="1.38778e-17 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<geom type="mesh" class="collision" pos="1.38778e-17 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<!-- Part passive_palonier_6 -->
<geom type="mesh" class="visual" pos="3.40006e-16 -0.05315 0.00665" quat="0.5 -0.5 -0.5 0.5" mesh="passive_palonier" material="passive_palonier_material"/>
<geom type="mesh" class="collision" pos="3.40006e-16 -0.05315 0.00665" quat="0.5 -0.5 -0.5 0.5" mesh="passive_palonier" material="passive_palonier_material"/>
<!-- Link knee_and_ankle_assembly_2 -->
<body name="knee_and_ankle_assembly_2" pos="9.02056e-17 -0.07865 0.0001" quat="0.907953 -7.9042e-16 -2.02408e-15 0.419073">
<!-- Joint from knee_and_ankle_assembly to knee_and_ankle_assembly_2 -->
<joint axis="0 0 1" name="left_knee" type="hinge" range="-2.435644371861684 0.705948281728109"/>
<inertial pos="5.01859e-06 -0.0577465 0.0181136" mass="0.07259" fullinertia="4.99575e-05 1.87273e-05 4.23932e-05 1.03817e-08 2.25175e-09 8.81049e-08"/>
<!-- Part leg_spacer_2 -->
<geom type="mesh" class="visual" pos="0.01606 0.14365 0.10925" quat="0.707107 -0.707107 4.59869e-17 4.39444e-17" mesh="leg_spacer" material="leg_spacer_material"/>
<geom type="mesh" class="collision" pos="0.01606 0.14365 0.10925" quat="0.707107 -0.707107 4.59869e-17 4.39444e-17" mesh="leg_spacer" material="leg_spacer_material"/>
<!-- Part left_knee_to_ankle_right_sheet_2 -->
<geom type="mesh" class="visual" pos="0.01606 0.14365 0.10915" quat="0.707107 -0.707107 0 -2.93598e-17" mesh="left_knee_to_ankle_right_sheet" material="left_knee_to_ankle_right_sheet_material"/>
<geom type="mesh" class="collision" pos="0.01606 0.14365 0.10915" quat="0.707107 -0.707107 0 -2.93598e-17" mesh="left_knee_to_ankle_right_sheet" material="left_knee_to_ankle_right_sheet_material"/>
<!-- Part left_knee_to_ankle_left_sheet_2 -->
<geom type="mesh" class="visual" pos="0.01606 0.14365 0.10915" quat="0.707107 -0.707107 0 -2.93598e-17" mesh="left_knee_to_ankle_left_sheet" material="left_knee_to_ankle_left_sheet_material"/>
<geom type="mesh" class="collision" pos="0.01606 0.14365 0.10915" quat="0.707107 -0.707107 0 -2.93598e-17" mesh="left_knee_to_ankle_left_sheet" material="left_knee_to_ankle_left_sheet_material"/>
<!-- Part wj_wk00_0123middlecase_56_7 -->
<geom type="mesh" class="visual" pos="-2.77556e-17 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<geom type="mesh" class="collision" pos="-2.77556e-17 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<!-- Part drive_palonier_7 -->
<geom type="mesh" class="visual" pos="-2.77556e-17 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="drive_palonier" material="drive_palonier_material"/>
<geom type="mesh" class="collision" pos="-2.77556e-17 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="drive_palonier" material="drive_palonier_material"/>
<!-- Part wj_wk00_0124bottomcase_45_7 -->
<geom type="mesh" class="visual" pos="-2.77556e-17 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<geom type="mesh" class="collision" pos="-2.77556e-17 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<!-- Part wj_wk00_0122topcabinetcase_95_7 -->
<geom type="mesh" class="visual" pos="-2.77556e-17 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<geom type="mesh" class="collision" pos="-2.77556e-17 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<!-- Part passive_palonier_7 -->
<geom type="mesh" class="visual" pos="-7.21645e-16 -0.05315 0.00665" quat="0.5 -0.5 -0.5 0.5" mesh="passive_palonier" material="passive_palonier_material"/>
<geom type="mesh" class="collision" pos="-7.21645e-16 -0.05315 0.00665" quat="0.5 -0.5 -0.5 0.5" mesh="passive_palonier" material="passive_palonier_material"/>
<!-- Link foot_assembly -->
<body name="foot_assembly" pos="1.38778e-17 -0.07865 0.0001" quat="0.937075 -1.05057e-16 -2.02087e-16 -0.349129">
<!-- Joint from knee_and_ankle_assembly_2 to foot_assembly -->
<joint axis="0 0 1" name="left_ankle" type="hinge" range="-0.8575140382901978 2.2840786152995953"/>
<inertial pos="0.0110718 -0.0246608 0.0190626" mass="0.07524" fullinertia="1.87482e-05 6.74427e-05 6.061e-05 1.58839e-06 -6.52354e-09 5.67391e-08"/>
<!-- Part foot_side -->
<geom type="mesh" class="visual" pos="0.01606 0.2223 0.10905" quat="0.707107 -0.707107 0 0" mesh="foot_side" material="foot_side_material"/>
<geom type="mesh" class="collision" pos="0.01606 0.2223 0.10905" quat="0.707107 -0.707107 0 0" mesh="foot_side" material="foot_side_material"/>
<!-- Part foot_bottom_tpu -->
<geom type="mesh" class="visual" pos="0.01656 0.2228 0.10955" quat="0.707107 -0.707107 0 0" mesh="foot_bottom_tpu" material="foot_bottom_tpu_material"/>
<geom type="mesh" class="collision" pos="0.01656 0.2228 0.10955" quat="0.707107 -0.707107 0 0" mesh="foot_bottom_tpu" material="foot_bottom_tpu_material"/>
<!-- Part foot_bottom_pla -->
<geom type="mesh" class="visual" pos="0.01656 0.2228 0.10955" quat="0.707107 -0.707107 0 0" mesh="foot_bottom_pla" material="foot_bottom_pla_material"/>
<geom type="mesh" class="collision" pos="0.01656 0.2228 0.10955" quat="0.707107 -0.707107 0 0" mesh="foot_bottom_pla" material="foot_bottom_pla_material"/>
<!-- Part foot_top -->
<geom type="mesh" class="visual" pos="0.01606 0.2223 0.10905" quat="0.707107 -0.707107 0 0" mesh="foot_top" material="foot_top_material"/>
<geom type="mesh" class="collision" pos="0.01606 0.2223 0.10905" quat="0.707107 -0.707107 0 0" mesh="foot_top" material="foot_top_material"/>
<!-- Frame left_foot -->
<site group="3" name="left_foot" pos="0.0005 -0.036225 0.01955" quat="0.707107 -0.707107 0 0"/>
</body>
</body>
</body>
</body>
</body>
<!-- Link neck_pitch_assembly -->
<body name="neck_pitch_assembly" pos="0.001 0.01915 0.0900009" quat="0.707107 0.707107 -7.85046e-15 7.82373e-15">
<!-- Joint from trunk_assembly to neck_pitch_assembly -->
<joint axis="0 0 1" name="neck_pitch" type="hinge" range="-0.3490658503988437 1.1344640137963364"/>
<inertial pos="-5.63137e-06 0.0492968 0.0181786" mass="0.06618" fullinertia="3.49456e-05 1.70231e-05 2.80043e-05 8.75633e-09 -2.15592e-09 -1.85188e-08"/>
<!-- Part neck_left_sheet -->
<geom type="mesh" class="visual" pos="-0.02 -0.02511 0.01905" quat="0.707107 -0.707107 0 -7.6147e-33" mesh="neck_left_sheet" material="neck_left_sheet_material"/>
<geom type="mesh" class="collision" pos="-0.02 -0.02511 0.01905" quat="0.707107 -0.707107 0 -7.6147e-33" mesh="neck_left_sheet" material="neck_left_sheet_material"/>
<!-- Part neck_right_sheet -->
<geom type="mesh" class="visual" pos="-0.02 -0.02511 0.01905" quat="0.707107 -0.707107 0 3.45376e-17" mesh="neck_right_sheet" material="neck_right_sheet_material"/>
<geom type="mesh" class="collision" pos="-0.02 -0.02511 0.01905" quat="0.707107 -0.707107 0 3.45376e-17" mesh="neck_right_sheet" material="neck_right_sheet_material"/>
<!-- Part wj_wk00_0123middlecase_56_8 -->
<geom type="mesh" class="visual" pos="-5.29091e-17 0.0405 0.00945" quat="0.5 -0.5 0.5 -0.5" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<geom type="mesh" class="collision" pos="-5.29091e-17 0.0405 0.00945" quat="0.5 -0.5 0.5 -0.5" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<!-- Part drive_palonier_8 -->
<geom type="mesh" class="visual" pos="-5.29091e-17 0.0405 0.00945" quat="0.5 -0.5 0.5 -0.5" mesh="drive_palonier" material="drive_palonier_material"/>
<geom type="mesh" class="collision" pos="-5.29091e-17 0.0405 0.00945" quat="0.5 -0.5 0.5 -0.5" mesh="drive_palonier" material="drive_palonier_material"/>
<!-- Part wj_wk00_0124bottomcase_45_8 -->
<geom type="mesh" class="visual" pos="-5.29091e-17 0.0405 0.00945" quat="0.5 -0.5 0.5 -0.5" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<geom type="mesh" class="collision" pos="-5.29091e-17 0.0405 0.00945" quat="0.5 -0.5 0.5 -0.5" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<!-- Part wj_wk00_0122topcabinetcase_95_8 -->
<geom type="mesh" class="visual" pos="-5.29091e-17 0.0405 0.00945" quat="0.5 -0.5 0.5 -0.5" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<geom type="mesh" class="collision" pos="-5.29091e-17 0.0405 0.00945" quat="0.5 -0.5 0.5 -0.5" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<!-- Part passive_palonier_8 -->
<geom type="mesh" class="visual" pos="-8.04478e-17 0.0405 0.00655" quat="0.5 -0.5 0.5 -0.5" mesh="passive_palonier" material="passive_palonier_material"/>
<geom type="mesh" class="collision" pos="-8.04478e-17 0.0405 0.00655" quat="0.5 -0.5 0.5 -0.5" mesh="passive_palonier" material="passive_palonier_material"/>
<!-- Link head_pitch_to_yaw -->
<body name="head_pitch_to_yaw" pos="-5.44269e-17 0.066 -5.36443e-18" quat="1 -5.59807e-17 -1.11022e-16 2.77556e-17">
<!-- Joint from neck_pitch_assembly to head_pitch_to_yaw -->
<joint axis="0 0 1" name="head_pitch" type="hinge" range="-0.7853981633974483 0.7853981633974483"/>
<inertial pos="-0.00766247 0.026015 0.0186681" mass="0.0169378" fullinertia="9.43036e-06 4.64763e-06 8.02915e-06 1.35195e-06 3.05899e-08 -8.42802e-08"/>
<!-- Part head_pitch_to_yaw -->
<geom type="mesh" class="visual" pos="-0.02 -0.09111 0.01905" quat="0.707107 -0.707107 0 -1.33459e-38" mesh="head_pitch_to_yaw" material="head_pitch_to_yaw_material"/>
<geom type="mesh" class="collision" pos="-0.02 -0.09111 0.01905" quat="0.707107 -0.707107 0 -1.33459e-38" mesh="head_pitch_to_yaw" material="head_pitch_to_yaw_material"/>
<!-- Link neck_yaw_assembly -->
<body name="neck_yaw_assembly" pos="-1.43115e-17 0.057 0.01905" quat="0.707107 -0.707107 -6.28037e-16 5.00467e-16">
<!-- Joint from head_pitch_to_yaw to neck_yaw_assembly -->
<joint axis="0 0 1" name="head_yaw" type="hinge" range="-2.7925268031909254 2.792526803190929"/>
<inertial pos="0.00412907 3.95745e-06 -0.0222828" mass="0.0918099" fullinertia="3.11706e-05 6.94935e-05 7.04025e-05 4.29429e-09 -4.41251e-06 -3.82028e-09"/>
<!-- Part head_yaw_to_roll -->
<geom type="mesh" class="visual" pos="-0.02 -1.78383e-16 -0.14821" quat="1 -0 1.2694e-16 1.04234e-17" mesh="head_yaw_to_roll" material="head_yaw_to_roll_material"/>
<geom type="mesh" class="collision" pos="-0.02 -1.78383e-16 -0.14821" quat="1 -0 1.2694e-16 1.04234e-17" mesh="head_yaw_to_roll" material="head_yaw_to_roll_material"/>
<!-- Part wj_wk00_0123middlecase_56_9 -->
<geom type="mesh" class="visual" pos="0.0255 7.05323e-19 -0.00945" quat="0.707107 0.707107 0 3.39267e-31" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<geom type="mesh" class="collision" pos="0.0255 7.05323e-19 -0.00945" quat="0.707107 0.707107 0 3.39267e-31" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<!-- Part drive_palonier_9 -->
<geom type="mesh" class="visual" pos="0.0255 7.05323e-19 -0.00945" quat="0.707107 0.707107 0 3.39267e-31" mesh="drive_palonier" material="drive_palonier_material"/>
<geom type="mesh" class="collision" pos="0.0255 7.05323e-19 -0.00945" quat="0.707107 0.707107 0 3.39267e-31" mesh="drive_palonier" material="drive_palonier_material"/>
<!-- Part wj_wk00_0124bottomcase_45_9 -->
<geom type="mesh" class="visual" pos="0.0255 7.05323e-19 -0.00945" quat="0.707107 0.707107 0 3.39267e-31" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<geom type="mesh" class="collision" pos="0.0255 7.05323e-19 -0.00945" quat="0.707107 0.707107 0 3.39267e-31" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<!-- Part wj_wk00_0122topcabinetcase_95_9 -->
<geom type="mesh" class="visual" pos="0.0255 7.05323e-19 -0.00945" quat="0.707107 0.707107 0 3.39267e-31" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<geom type="mesh" class="collision" pos="0.0255 7.05323e-19 -0.00945" quat="0.707107 0.707107 0 3.39267e-31" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<!-- Part passive_palonier_9 -->
<geom type="mesh" class="visual" pos="0.0255 3.29248e-17 -0.00655" quat="0.707107 0.707107 0 3.39267e-31" mesh="passive_palonier" material="passive_palonier_material"/>
<geom type="mesh" class="collision" pos="0.0255 3.29248e-17 -0.00655" quat="0.707107 0.707107 0 3.39267e-31" mesh="passive_palonier" material="passive_palonier_material"/>
<!-- Link head_assembly -->
<body name="head_assembly" pos="0.04095 -1.78376e-16 -0.01915" quat="0.707107 -2.89486e-16 -0.707107 -2.75741e-16">
<!-- Joint from neck_yaw_assembly to head_assembly -->
<joint axis="0 0 1" name="head_roll" type="hinge" range="-0.523598775598297 0.5235987755983006"/>
<inertial pos="0.00815617 -0.0039342 0.0227894" mass="0.406607" fullinertia="0.00244582 0.00168662 0.00107943 -2.00028e-06 9.23825e-05 -1.90734e-05"/>
<!-- Part right_antenna_holder -->
<geom type="mesh" class="visual" pos="-0.12906 -3.67782e-14 0.06095" quat="0.707107 -1.00496e-13 0.707107 1.1903e-13" mesh="right_antenna_holder" material="right_antenna_holder_material"/>
<geom type="mesh" class="collision" pos="-0.12906 -3.67782e-14 0.06095" quat="0.707107 -1.00496e-13 0.707107 1.1903e-13" mesh="right_antenna_holder" material="right_antenna_holder_material"/>
<!-- Part antenna -->
<geom type="mesh" class="visual" pos="-0.0830595 0.182212 0.06095" quat="0.685585 0.173128 0.685585 -0.173128" mesh="antenna" material="antenna_material"/>
<geom type="mesh" class="collision" pos="-0.0830595 0.182212 0.06095" quat="0.685585 0.173128 0.685585 -0.173128" mesh="antenna" material="antenna_material"/>
<!-- Part antenna_2 -->
<geom type="mesh" class="visual" pos="-0.12808 0.000247519 0.06095" quat="0.707107 -1.0067e-13 0.707107 1.18917e-13" mesh="antenna" material="antenna_material"/>
<geom type="mesh" class="collision" pos="-0.12808 0.000247519 0.06095" quat="0.707107 -1.0067e-13 0.707107 1.18917e-13" mesh="antenna" material="antenna_material"/>
<!-- Part left_antenna_holder -->
<geom type="mesh" class="visual" pos="-0.12906 -1.84022e-14 0.06095" quat="0.707107 -2.78334e-14 0.707107 3.26138e-14" mesh="left_antenna_holder" material="left_antenna_holder_material"/>
<geom type="mesh" class="collision" pos="-0.12906 -1.84022e-14 0.06095" quat="0.707107 -2.78334e-14 0.707107 3.26138e-14" mesh="left_antenna_holder" material="left_antenna_holder_material"/>
<!-- Part cam -->
<geom type="mesh" class="visual" pos="0.02405 -0.0025 -0.0518501" quat="6.21231e-14 0.707107 7.53644e-14 -0.707107" mesh="cam" material="cam_material"/>
<geom type="mesh" class="collision" pos="0.02405 -0.0025 -0.0518501" quat="6.21231e-14 0.707107 7.53644e-14 -0.707107" mesh="cam" material="cam_material"/>
<!-- Part head_bot_sheet -->
<geom type="mesh" class="visual" pos="-0.12906 -3.00911e-14 0.06095" quat="0.707107 -6.29882e-14 0.707107 7.28276e-14" mesh="head_bot_sheet" material="head_bot_sheet_material"/>
<geom type="mesh" class="collision" pos="-0.12906 -3.00911e-14 0.06095" quat="0.707107 -6.29882e-14 0.707107 7.28276e-14" mesh="head_bot_sheet" material="head_bot_sheet_material"/>
<!-- Part head_2 -->
<geom type="mesh" class="visual" pos="-0.12906 -3.00891e-14 0.06095" quat="0.707107 -6.29835e-14 0.707107 7.28325e-14" mesh="head" material="head_material"/>
<geom type="mesh" class="collision" pos="-0.12906 -3.00891e-14 0.06095" quat="0.707107 -6.29835e-14 0.707107 7.28325e-14" mesh="head" material="head_material"/>
<!-- Part bulb -->
<geom type="mesh" class="visual" pos="-0.12906 -3.01498e-14 0.06095" quat="0.707107 -6.34111e-14 0.707107 7.25471e-14" mesh="bulb" material="bulb_material"/>
<geom type="mesh" class="collision" pos="-0.12906 -3.01498e-14 0.06095" quat="0.707107 -6.34111e-14 0.707107 7.25471e-14" mesh="bulb" material="bulb_material"/>
<!-- Part glass -->
<geom type="mesh" class="visual" pos="-0.12906 -3.03812e-14 0.06115" quat="0.707107 -6.26989e-14 0.707107 7.32603e-14" mesh="glass" material="glass_material"/>
<geom type="mesh" class="collision" pos="-0.12906 -3.03812e-14 0.06115" quat="0.707107 -6.26989e-14 0.707107 7.32603e-14" mesh="glass" material="glass_material"/>
<!-- Part head_roll_mount -->
<geom type="mesh" class="visual" pos="-0.12906 -3.00887e-14 0.06095" quat="0.707107 -6.29834e-14 0.707107 7.28325e-14" mesh="head_roll_mount" material="head_roll_mount_material"/>
<geom type="mesh" class="collision" pos="-0.12906 -3.00887e-14 0.06095" quat="0.707107 -6.29834e-14 0.707107 7.28325e-14" mesh="head_roll_mount" material="head_roll_mount_material"/>
<!-- Part raspberrypizerow -->
<geom type="mesh" class="visual" pos="0.03205 0.048 0.00595" quat="0.5 0.5 -0.5 0.5" mesh="raspberrypizerow" material="raspberrypizerow_material"/>
<geom type="mesh" class="collision" pos="0.03205 0.048 0.00595" quat="0.5 0.5 -0.5 0.5" mesh="raspberrypizerow" material="raspberrypizerow_material"/>
<!-- Part left_eye -->
<geom type="mesh" class="visual" pos="-0.12906 -3.03876e-14 0.06095" quat="0.707107 -6.26986e-14 0.707107 7.32603e-14" mesh="left_eye" material="left_eye_material"/>
<geom type="mesh" class="collision" pos="-0.12906 -3.03876e-14 0.06095" quat="0.707107 -6.26986e-14 0.707107 7.32603e-14" mesh="left_eye" material="left_eye_material"/>
<!-- Part full_speaker -->
<geom type="mesh" class="visual" pos="0.00522415 -0.0588802 0.0190505" quat="0.626964 0.372991 0.47889 -0.488321" mesh="full_speaker" material="full_speaker_material"/>
<geom type="mesh" class="collision" pos="0.00522415 -0.0588802 0.0190505" quat="0.626964 0.372991 0.47889 -0.488321" mesh="full_speaker" material="full_speaker_material"/>
<!-- Part roll_bearing_3 -->
<geom type="mesh" class="visual" pos="1.15463e-14 -0.035 0.167325" quat="1 1.33083e-14 -2.19474e-14 1.13942e-13" mesh="roll_bearing" material="roll_bearing_material"/>
<geom type="mesh" class="collision" pos="1.15463e-14 -0.035 0.167325" quat="1 1.33083e-14 -2.19474e-14 1.13942e-13" mesh="roll_bearing" material="roll_bearing_material"/>
<!-- Part sg90 -->
<geom type="mesh" class="visual" pos="-0.00624594 0.0331408 0.102812" quat="0.488321 -0.47889 -0.372991 -0.626964" mesh="sg90" material="sg90_material"/>
<geom type="mesh" class="collision" pos="-0.00624594 0.0331408 0.102812" quat="0.488321 -0.47889 -0.372991 -0.626964" mesh="sg90" material="sg90_material"/>
<!-- Part glass_2 -->
<geom type="mesh" class="visual" pos="-0.12906 -3.03462e-14 0.063" quat="0.707107 -6.26986e-14 0.707107 7.32603e-14" mesh="glass" material="glass_material"/>
<geom type="mesh" class="collision" pos="-0.12906 -3.03462e-14 0.063" quat="0.707107 -6.26986e-14 0.707107 7.32603e-14" mesh="glass" material="glass_material"/>
<!-- Part sg90_2 -->
<geom type="mesh" class="visual" pos="-0.00624594 -0.0331408 0.102812" quat="0.488321 0.47889 -0.372991 0.626964" mesh="sg90" material="sg90_material"/>
<geom type="mesh" class="collision" pos="-0.00624594 -0.0331408 0.102812" quat="0.488321 0.47889 -0.372991 0.626964" mesh="sg90" material="sg90_material"/>
<!-- Part bulb_2 -->
<geom type="mesh" class="visual" pos="-0.12906 0.08 0.06095" quat="0.707107 -6.34111e-14 0.707107 7.25471e-14" mesh="bulb" material="bulb_material"/>
<geom type="mesh" class="collision" pos="-0.12906 0.08 0.06095" quat="0.707107 -6.34111e-14 0.707107 7.25471e-14" mesh="bulb" material="bulb_material"/>
<!-- Part speaker_interface -->
<geom type="mesh" class="visual" pos="-0.12906 -3.00597e-14 0.06095" quat="0.707107 -6.32383e-14 0.707107 7.24211e-14" mesh="speaker_interface" material="speaker_interface_material"/>
<geom type="mesh" class="collision" pos="-0.12906 -3.00597e-14 0.06095" quat="0.707107 -6.32383e-14 0.707107 7.24211e-14" mesh="speaker_interface" material="speaker_interface_material"/>
<!-- Part speaker_stand -->
<geom type="mesh" class="visual" pos="-0.12906 -3.00886e-14 0.06095" quat="0.707107 -6.32591e-14 0.707107 7.23951e-14" mesh="speaker_stand" material="speaker_stand_material"/>
<geom type="mesh" class="collision" pos="-0.12906 -3.00886e-14 0.06095" quat="0.707107 -6.32591e-14 0.707107 7.23951e-14" mesh="speaker_stand" material="speaker_stand_material"/>
<!-- Part right_eye -->
<geom type="mesh" class="visual" pos="-0.12906 -3.03841e-14 0.06095" quat="0.707107 -6.26986e-14 0.707107 7.32603e-14" mesh="right_eye" material="right_eye_material"/>
<geom type="mesh" class="collision" pos="-0.12906 -3.03841e-14 0.06095" quat="0.707107 -6.26986e-14 0.707107 7.32603e-14" mesh="right_eye" material="right_eye_material"/>
<!-- Part glass_3 -->
<geom type="mesh" class="visual" pos="-0.12906 0.08 0.06515" quat="0.707107 -6.26989e-14 0.707107 7.32603e-14" mesh="glass" material="glass_material"/>
<geom type="mesh" class="collision" pos="-0.12906 0.08 0.06515" quat="0.707107 -6.26989e-14 0.707107 7.32603e-14" mesh="glass" material="glass_material"/>
<!-- Part glass_4 -->
<geom type="mesh" class="visual" pos="-0.12906 0.08 0.067" quat="0.707107 -6.26986e-14 0.707107 7.32603e-14" mesh="glass" material="glass_material"/>
<geom type="mesh" class="collision" pos="-0.12906 0.08 0.067" quat="0.707107 -6.26986e-14 0.707107 7.32603e-14" mesh="glass" material="glass_material"/>
<!-- Part wj_wk00_0123middlecase_56_10 -->
<geom type="mesh" class="visual" pos="0.0255 7.11894e-19 -0.00945" quat="0.707107 0.707107 -0 9.27322e-32" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<geom type="mesh" class="collision" pos="0.0255 7.11894e-19 -0.00945" quat="0.707107 0.707107 -0 9.27322e-32" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<!-- Part drive_palonier_10 -->
<geom type="mesh" class="visual" pos="0.0255 7.11894e-19 -0.00945" quat="0.707107 0.707107 -0 9.27322e-32" mesh="drive_palonier" material="drive_palonier_material"/>
<geom type="mesh" class="collision" pos="0.0255 7.11894e-19 -0.00945" quat="0.707107 0.707107 -0 9.27322e-32" mesh="drive_palonier" material="drive_palonier_material"/>
<!-- Part wj_wk00_0124bottomcase_45_10 -->
<geom type="mesh" class="visual" pos="0.0255 7.11894e-19 -0.00945" quat="0.707107 0.707107 -0 9.27322e-32" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<geom type="mesh" class="collision" pos="0.0255 7.11894e-19 -0.00945" quat="0.707107 0.707107 -0 9.27322e-32" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<!-- Part wj_wk00_0122topcabinetcase_95_10 -->
<geom type="mesh" class="visual" pos="0.0255 7.11894e-19 -0.00945" quat="0.707107 0.707107 -0 9.27322e-32" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<geom type="mesh" class="collision" pos="0.0255 7.11894e-19 -0.00945" quat="0.707107 0.707107 -0 9.27322e-32" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<!-- Part passive_palonier_10 -->
<geom type="mesh" class="visual" pos="0.0255 3.65115e-16 -0.00655" quat="0.707107 0.707107 -0 9.27322e-32" mesh="passive_palonier" material="passive_palonier_material"/>
<geom type="mesh" class="collision" pos="0.0255 3.65115e-16 -0.00655" quat="0.707107 0.707107 -0 9.27322e-32" mesh="passive_palonier" material="passive_palonier_material"/>
<!-- Frame head -->
<site group="3" name="head" pos="0.04245 3.20661e-15 0.03595" quat="0.707107 -6.29833e-14 0.707107 7.28326e-14"/>
</body>
</body>
</body>
</body>
<!-- Link hip_roll_assembly_2 -->
<body name="hip_roll_assembly_2" pos="-0.019 -0.035 0.0459409" quat="1 -1.47858e-16 -1.12133e-14 1.79712e-18">
<!-- Joint from trunk_assembly to hip_roll_assembly_2 -->
<joint axis="0 0 1" name="right_hip_yaw" type="hinge" range="-0.5235987755982988 0.5235987755982988"/>
<inertial pos="0.000795081 -5.46541e-06 -0.03306" mass="0.06648" fullinertia="2.44411e-05 2.81818e-05 1.42687e-05 2.35658e-09 -3.81059e-07 -7.50036e-09"/>
<!-- Part roll_motor_bottom_2 -->
<geom type="mesh" class="visual" pos="-3.67761e-16 -0.035 0.01905" quat="1 0 -3.33067e-16 -1.52656e-16" mesh="roll_motor_bottom" material="roll_motor_bottom_material"/>
<geom type="mesh" class="collision" pos="-3.67761e-16 -0.035 0.01905" quat="1 0 -3.33067e-16 -1.52656e-16" mesh="roll_motor_bottom" material="roll_motor_bottom_material"/>
<!-- Part roll_motor_top_2 -->
<geom type="mesh" class="visual" pos="0 -0.035 0.01905" quat="1 0 0 0" mesh="roll_motor_top" material="roll_motor_top_material"/>
<geom type="mesh" class="collision" pos="0 -0.035 0.01905" quat="1 0 0 0" mesh="roll_motor_top" material="roll_motor_top_material"/>
<!-- Part wj_wk00_0123middlecase_56_11 -->
<geom type="mesh" class="visual" pos="0.0096 4.51508e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<geom type="mesh" class="collision" pos="0.0096 4.51508e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<!-- Part drive_palonier_11 -->
<geom type="mesh" class="visual" pos="0.0096 4.51508e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="drive_palonier" material="drive_palonier_material"/>
<geom type="mesh" class="collision" pos="0.0096 4.51508e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="drive_palonier" material="drive_palonier_material"/>
<!-- Part wj_wk00_0124bottomcase_45_11 -->
<geom type="mesh" class="visual" pos="0.0096 4.51508e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<geom type="mesh" class="collision" pos="0.0096 4.51508e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<!-- Part wj_wk00_0122topcabinetcase_95_11 -->
<geom type="mesh" class="visual" pos="0.0096 4.51508e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<geom type="mesh" class="collision" pos="0.0096 4.51508e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<!-- Part passive_palonier_11 -->
<geom type="mesh" class="visual" pos="0.0125 4.56782e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="passive_palonier" material="passive_palonier_material"/>
<geom type="mesh" class="collision" pos="0.0125 4.56782e-14 -0.020515" quat="0.5 -0.5 -0.5 -0.5" mesh="passive_palonier" material="passive_palonier_material"/>
<!-- Link right_roll_to_pitch_assembly -->
<body name="right_roll_to_pitch_assembly" pos="0.01905 4.63935e-14 -0.046015" quat="0.5 -0.5 -0.5 0.5">
<!-- Joint from hip_roll_assembly_2 to right_roll_to_pitch_assembly -->
<joint axis="0 0 1" name="right_hip_roll" type="hinge" range="-0.4363323129985815 0.43633231299858327"/>
<inertial pos="-0.0507497 -0.000417205 0.0204377" mass="0.07516" fullinertia="2.52676e-05 4.15738e-05 2.82863e-05 -1.31172e-07 7.32857e-07 -8.94684e-08"/>
<!-- Part right_roll_to_pitch -->
<geom type="mesh" class="visual" pos="0.035 -0.065 0.01905" quat="0.5 0.5 0.5 -0.5" mesh="right_roll_to_pitch" material="right_roll_to_pitch_material"/>
<geom type="mesh" class="collision" pos="0.035 -0.065 0.01905" quat="0.5 0.5 0.5 -0.5" mesh="right_roll_to_pitch" material="right_roll_to_pitch_material"/>
<!-- Part wj_wk00_0123middlecase_56_12 -->
<geom type="mesh" class="visual" pos="-0.0647 7.19639e-18 0.00961" quat="0.5 -0.5 0.5 0.5" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<geom type="mesh" class="collision" pos="-0.0647 7.19639e-18 0.00961" quat="0.5 -0.5 0.5 0.5" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<!-- Part drive_palonier_12 -->
<geom type="mesh" class="visual" pos="-0.0647 7.19639e-18 0.00961" quat="0.5 -0.5 0.5 0.5" mesh="drive_palonier" material="drive_palonier_material"/>
<geom type="mesh" class="collision" pos="-0.0647 7.19639e-18 0.00961" quat="0.5 -0.5 0.5 0.5" mesh="drive_palonier" material="drive_palonier_material"/>
<!-- Part wj_wk00_0124bottomcase_45_12 -->
<geom type="mesh" class="visual" pos="-0.0647 7.19639e-18 0.00961" quat="0.5 -0.5 0.5 0.5" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<geom type="mesh" class="collision" pos="-0.0647 7.19639e-18 0.00961" quat="0.5 -0.5 0.5 0.5" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<!-- Part wj_wk00_0122topcabinetcase_95_12 -->
<geom type="mesh" class="visual" pos="-0.0647 7.19639e-18 0.00961" quat="0.5 -0.5 0.5 0.5" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<geom type="mesh" class="collision" pos="-0.0647 7.19639e-18 0.00961" quat="0.5 -0.5 0.5 0.5" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<!-- Part passive_palonier_12 -->
<geom type="mesh" class="visual" pos="-0.0676 9.18726e-17 0.00961" quat="0.5 -0.5 0.5 0.5" mesh="passive_palonier" material="passive_palonier_material"/>
<geom type="mesh" class="collision" pos="-0.0676 9.18726e-17 0.00961" quat="0.5 -0.5 0.5 0.5" mesh="passive_palonier" material="passive_palonier_material"/>
<!-- Link knee_and_ankle_assembly_3 -->
<body name="knee_and_ankle_assembly_3" pos="-0.07415 1.97867e-18 0.03511" quat="0.707107 -2.46627e-15 0.707107 -2.55088e-15">
<!-- Joint from right_roll_to_pitch_assembly to knee_and_ankle_assembly_3 -->
<joint axis="0 0 1" name="right_hip_pitch" type="hinge" range="-0.5235987755982917 1.2217304763960377"/>
<inertial pos="0.00253369 0.0390636 0.010809" mass="0.12407" fullinertia="0.000212363 7.93324e-05 0.000225619 2.68706e-05 3.9656e-06 -2.17407e-05"/>
<!-- Part right_cache -->
<geom type="mesh" class="visual" pos="0.01606 -0.065 0.1092" quat="0.707107 0.707107 0 3.92523e-17" mesh="right_cache" material="right_cache_material"/>
<geom type="mesh" class="collision" pos="0.01606 -0.065 0.1092" quat="0.707107 0.707107 0 3.92523e-17" mesh="right_cache" material="right_cache_material"/>
<!-- Part leg_spacer_3 -->
<geom type="mesh" class="visual" pos="0.01606 -0.14365 -0.07215" quat="0.707107 0.707107 -0 3.92523e-17" mesh="leg_spacer" material="leg_spacer_material"/>
<geom type="mesh" class="collision" pos="0.01606 -0.14365 -0.07215" quat="0.707107 0.707107 -0 3.92523e-17" mesh="leg_spacer" material="leg_spacer_material"/>
<!-- Part left_knee_to_ankle_right_sheet_3 -->
<geom type="mesh" class="visual" pos="0.01606 -0.14365 -0.07205" quat="0.707107 0.707107 -0 1.16237e-30" mesh="left_knee_to_ankle_right_sheet" material="left_knee_to_ankle_right_sheet_material"/>
<geom type="mesh" class="collision" pos="0.01606 -0.14365 -0.07205" quat="0.707107 0.707107 -0 1.16237e-30" mesh="left_knee_to_ankle_right_sheet" material="left_knee_to_ankle_right_sheet_material"/>
<!-- Part left_knee_to_ankle_left_sheet_3 -->
<geom type="mesh" class="visual" pos="0.01606 -0.14365 -0.07205" quat="0.707107 0.707107 0 3.92572e-17" mesh="left_knee_to_ankle_left_sheet" material="left_knee_to_ankle_left_sheet_material"/>
<geom type="mesh" class="collision" pos="0.01606 -0.14365 -0.07205" quat="0.707107 0.707107 0 3.92572e-17" mesh="left_knee_to_ankle_left_sheet" material="left_knee_to_ankle_left_sheet_material"/>
<!-- Part wj_wk00_0123middlecase_56_13 -->
<geom type="mesh" class="visual" pos="-6.93889e-18 0.05315 0.02755" quat="0.5 0.5 -0.5 -0.5" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<geom type="mesh" class="collision" pos="-6.93889e-18 0.05315 0.02755" quat="0.5 0.5 -0.5 -0.5" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<!-- Part drive_palonier_13 -->
<geom type="mesh" class="visual" pos="-6.93889e-18 0.05315 0.02755" quat="0.5 0.5 -0.5 -0.5" mesh="drive_palonier" material="drive_palonier_material"/>
<geom type="mesh" class="collision" pos="-6.93889e-18 0.05315 0.02755" quat="0.5 0.5 -0.5 -0.5" mesh="drive_palonier" material="drive_palonier_material"/>
<!-- Part wj_wk00_0124bottomcase_45_13 -->
<geom type="mesh" class="visual" pos="-6.93889e-18 0.05315 0.02755" quat="0.5 0.5 -0.5 -0.5" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<geom type="mesh" class="collision" pos="-6.93889e-18 0.05315 0.02755" quat="0.5 0.5 -0.5 -0.5" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<!-- Part wj_wk00_0122topcabinetcase_95_13 -->
<geom type="mesh" class="visual" pos="-6.93889e-18 0.05315 0.02755" quat="0.5 0.5 -0.5 -0.5" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<geom type="mesh" class="collision" pos="-6.93889e-18 0.05315 0.02755" quat="0.5 0.5 -0.5 -0.5" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<!-- Part passive_palonier_13 -->
<geom type="mesh" class="visual" pos="-3.67761e-16 0.05315 0.03045" quat="0.5 0.5 -0.5 -0.5" mesh="passive_palonier" material="passive_palonier_material"/>
<geom type="mesh" class="collision" pos="-3.67761e-16 0.05315 0.03045" quat="0.5 0.5 -0.5 -0.5" mesh="passive_palonier" material="passive_palonier_material"/>
<!-- Link knee_and_ankle_assembly_4 -->
<body name="knee_and_ankle_assembly_4" pos="-8.74301e-16 0.07865 0.037" quat="5.67362e-17 -1 -1.47974e-15 -5.24028e-15">
<!-- Joint from knee_and_ankle_assembly_3 to knee_and_ankle_assembly_4 -->
<joint axis="0 0 1" name="right_knee" type="hinge" range="-1.570796326794886 1.5707963267949072"/>
<inertial pos="5.01859e-06 -0.0577465 0.0181136" mass="0.07259" fullinertia="4.99575e-05 1.87273e-05 4.23932e-05 1.03817e-08 2.25175e-09 8.81049e-08"/>
<!-- Part leg_spacer_4 -->
<geom type="mesh" class="visual" pos="0.01606 0.14365 0.10925" quat="0.707107 -0.707107 -0 -1.96262e-17" mesh="leg_spacer" material="leg_spacer_material"/>
<geom type="mesh" class="collision" pos="0.01606 0.14365 0.10925" quat="0.707107 -0.707107 -0 -1.96262e-17" mesh="leg_spacer" material="leg_spacer_material"/>
<!-- Part left_knee_to_ankle_right_sheet_4 -->
<geom type="mesh" class="visual" pos="0.01606 0.14365 0.10915" quat="0.707107 -0.707107 -0 -1.96261e-17" mesh="left_knee_to_ankle_right_sheet" material="left_knee_to_ankle_right_sheet_material"/>
<geom type="mesh" class="collision" pos="0.01606 0.14365 0.10915" quat="0.707107 -0.707107 -0 -1.96261e-17" mesh="left_knee_to_ankle_right_sheet" material="left_knee_to_ankle_right_sheet_material"/>
<!-- Part left_knee_to_ankle_left_sheet_4 -->
<geom type="mesh" class="visual" pos="0.01606 0.14365 0.10915" quat="0.707107 -0.707107 -0 5.55221e-31" mesh="left_knee_to_ankle_left_sheet" material="left_knee_to_ankle_left_sheet_material"/>
<geom type="mesh" class="collision" pos="0.01606 0.14365 0.10915" quat="0.707107 -0.707107 -0 5.55221e-31" mesh="left_knee_to_ankle_left_sheet" material="left_knee_to_ankle_left_sheet_material"/>
<!-- Part wj_wk00_0123middlecase_56_14 -->
<geom type="mesh" class="visual" pos="0 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<geom type="mesh" class="collision" pos="0 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="wj_wk00_0123middlecase_56" material="wj_wk00_0123middlecase_56_material"/>
<!-- Part drive_palonier_14 -->
<geom type="mesh" class="visual" pos="0 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="drive_palonier" material="drive_palonier_material"/>
<geom type="mesh" class="collision" pos="0 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="drive_palonier" material="drive_palonier_material"/>
<!-- Part wj_wk00_0124bottomcase_45_14 -->
<geom type="mesh" class="visual" pos="0 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<geom type="mesh" class="collision" pos="0 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="wj_wk00_0124bottomcase_45" material="wj_wk00_0124bottomcase_45_material"/>
<!-- Part wj_wk00_0122topcabinetcase_95_14 -->
<geom type="mesh" class="visual" pos="0 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<geom type="mesh" class="collision" pos="0 -0.05315 0.00955" quat="0.5 -0.5 -0.5 0.5" mesh="wj_wk00_0122topcabinetcase_95" material="wj_wk00_0122topcabinetcase_95_material"/>
<!-- Part passive_palonier_14 -->
<geom type="mesh" class="visual" pos="2.15106e-16 -0.05315 0.00665" quat="0.5 -0.5 -0.5 0.5" mesh="passive_palonier" material="passive_palonier_material"/>
<geom type="mesh" class="collision" pos="2.15106e-16 -0.05315 0.00665" quat="0.5 -0.5 -0.5 0.5" mesh="passive_palonier" material="passive_palonier_material"/>
<!-- Link foot_assembly_2 -->
<body name="foot_assembly_2" pos="0 -0.07865 0.0001" quat="1 -0 -2.00888e-16 -2.16699e-15">
<!-- Joint from knee_and_ankle_assembly_4 to foot_assembly_2 -->
<joint axis="0 0 1" name="right_ankle" type="hinge" range="-1.5707963267948921 1.570796326794901"/>
<inertial pos="0.0110718 -0.0246608 0.0190626" mass="0.07524" fullinertia="1.87482e-05 6.74427e-05 6.061e-05 1.58839e-06 -6.52354e-09 5.67391e-08"/>
<!-- Part foot_side_2 -->
<geom type="mesh" class="visual" pos="0.01606 0.2223 0.10905" quat="0.707107 -0.707107 0 -3.32687e-30" mesh="foot_side" material="foot_side_material"/>
<geom type="mesh" class="collision" pos="0.01606 0.2223 0.10905" quat="0.707107 -0.707107 0 -3.32687e-30" mesh="foot_side" material="foot_side_material"/>
<!-- Part foot_bottom_tpu_2 -->
<geom type="mesh" class="visual" pos="0.01656 0.2228 0.10955" quat="0.707107 -0.707107 0 -3.32687e-30" mesh="foot_bottom_tpu" material="foot_bottom_tpu_material"/>
<geom type="mesh" class="collision" pos="0.01656 0.2228 0.10955" quat="0.707107 -0.707107 0 -3.32687e-30" mesh="foot_bottom_tpu" material="foot_bottom_tpu_material"/>
<!-- Part foot_bottom_pla_2 -->
<geom type="mesh" class="visual" pos="0.01656 0.2228 0.10955" quat="0.707107 -0.707107 0 -3.32687e-30" mesh="foot_bottom_pla" material="foot_bottom_pla_material"/>
<geom type="mesh" class="collision" pos="0.01656 0.2228 0.10955" quat="0.707107 -0.707107 0 -3.32687e-30" mesh="foot_bottom_pla" material="foot_bottom_pla_material"/>
<!-- Part foot_top_2 -->
<geom type="mesh" class="visual" pos="0.01606 0.2223 0.10905" quat="0.707107 -0.707107 0 -3.32687e-30" mesh="foot_top" material="foot_top_material"/>
<geom type="mesh" class="collision" pos="0.01606 0.2223 0.10905" quat="0.707107 -0.707107 0 -3.32687e-30" mesh="foot_top" material="foot_top_material"/>
<!-- Frame right_foot -->
<site group="3" name="right_foot" pos="0.0005 -0.036225 0.01955" quat="0.707107 -0.707107 -0 2.77017e-22"/>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<asset>
<mesh file="head_roll_mount.stl"/>
<mesh file="wj_wk00_0123middlecase_56.stl"/>
<mesh file="speaker_stand.stl"/>
<mesh file="roll_motor_bottom.stl"/>
<mesh file="drive_palonier.stl"/>
<mesh file="head_bot_sheet.stl"/>
<mesh file="leg_spacer.stl"/>
<mesh file="right_antenna_holder.stl"/>
<mesh file="foot_bottom_tpu.stl"/>
<mesh file="roll_motor_top.stl"/>
<mesh file="left_knee_to_ankle_left_sheet.stl"/>
<mesh file="head.stl"/>
<mesh file="full_speaker.stl"/>
<mesh file="roll_bearing.stl"/>
<mesh file="board.stl"/>
<mesh file="right_cache.stl"/>
<mesh file="usb_c_charger.stl"/>
<mesh file="cam.stl"/>
<mesh file="battery_pack_lid.stl"/>
<mesh file="cell.stl"/>
<mesh file="right_eye.stl"/>
<mesh file="antenna.stl"/>
<mesh file="left_eye.stl"/>
<mesh file="holder.stl"/>
<mesh file="body_middle_bottom.stl"/>
<mesh file="bno055.stl"/>
<mesh file="neck_left_sheet.stl"/>
<mesh file="wj_wk00_0122topcabinetcase_95.stl"/>
<mesh file="bms.stl"/>
<mesh file="raspberrypizerow.stl"/>
<mesh file="trunk_top.stl"/>
<mesh file="passive_palonier.stl"/>
<mesh file="body_front.stl"/>
<mesh file="foot_bottom_pla.stl"/>
<mesh file="trunk_bottom.stl"/>
<mesh file="left_roll_to_pitch.stl"/>
<mesh file="head_yaw_to_roll.stl"/>
<mesh file="neck_right_sheet.stl"/>
<mesh file="speaker_interface.stl"/>
<mesh file="sg90.stl"/>
<mesh file="foot_top.stl"/>
<mesh file="left_cache.stl"/>
<mesh file="left_knee_to_ankle_right_sheet.stl"/>
<mesh file="bulb.stl"/>
<mesh file="body_middle_top.stl"/>
<mesh file="left_antenna_holder.stl"/>
<mesh file="wj_wk00_0124bottomcase_45.stl"/>
<mesh file="head_pitch_to_yaw.stl"/>
<mesh file="power_switch.stl"/>
<mesh file="right_roll_to_pitch.stl"/>
<mesh file="glass.stl"/>
<mesh file="body_back.stl"/>
<mesh file="foot_side.stl"/>
<material name="body_front_material" rgba="0.917647 0.917647 0.917647 1"/>
<material name="usb_c_charger_material" rgba="0.615686 0.811765 0.929412 1"/>
<material name="body_back_material" rgba="0.917647 0.917647 0.917647 1"/>
<material name="body_middle_bottom_material" rgba="0.917647 0.917647 0.917647 1"/>
<material name="power_switch_material" rgba="0.901961 0.901961 0.901961 1"/>
<material name="bms_material" rgba="0.231373 0.380392 0.705882 1"/>
<material name="battery_pack_lid_material" rgba="0.231373 0.380392 0.705882 1"/>
<material name="body_middle_top_material" rgba="0.917647 0.917647 0.917647 1"/>
<material name="bno055_material" rgba="0.615686 0.811765 0.929412 1"/>
<material name="roll_bearing_material" rgba="0.6 0.6 0.6 1"/>
<material name="trunk_bottom_material" rgba="0.180392 0.180392 0.180392 1"/>
<material name="trunk_top_material" rgba="0.180392 0.180392 0.180392 1"/>
<material name="board_material" rgba="0 0.501961 0 1"/>
<material name="cell_material" rgba="0.615686 0.811765 0.929412 1"/>
<material name="holder_material" rgba="0.647059 0.647059 0.647059 1"/>
<material name="wj_wk00_0123middlecase_56_material" rgba="0.247059 0.243137 0.243137 1"/>
<material name="drive_palonier_material" rgba="0.623529 0.666667 0.701961 1"/>
<material name="wj_wk00_0124bottomcase_45_material" rgba="0.247059 0.243137 0.243137 1"/>
<material name="wj_wk00_0122topcabinetcase_95_material" rgba="0.247059 0.243137 0.243137 1"/>
<material name="passive_palonier_material" rgba="0.623529 0.666667 0.701961 1"/>
<material name="roll_motor_bottom_material" rgba="0.647059 0.647059 0.647059 1"/>
<material name="roll_motor_top_material" rgba="0.901961 0.901961 0.901961 1"/>
<material name="left_roll_to_pitch_material" rgba="0.909804 0.572549 0.164706 1"/>
<material name="left_cache_material" rgba="0.917647 0.917647 0.917647 1"/>
<material name="leg_spacer_material" rgba="0.647059 0.647059 0.647059 1"/>
<material name="left_knee_to_ankle_right_sheet_material" rgba="0.223529 0.219608 0.219608 1"/>
<material name="left_knee_to_ankle_left_sheet_material" rgba="0.223529 0.219608 0.219608 1"/>
<material name="foot_side_material" rgba="0.980392 0.713725 0.00392157 1"/>
<material name="foot_bottom_tpu_material" rgba="0.305882 0.298039 0.278431 1"/>
<material name="foot_bottom_pla_material" rgba="0.305882 0.298039 0.278431 1"/>
<material name="foot_top_material" rgba="0.980392 0.713725 0.00392157 1"/>
<material name="neck_left_sheet_material" rgba="0.223529 0.219608 0.219608 1"/>
<material name="neck_right_sheet_material" rgba="0.223529 0.219608 0.219608 1"/>
<material name="head_pitch_to_yaw_material" rgba="0.4 0.4 0.4 1"/>
<material name="head_yaw_to_roll_material" rgba="0.647059 0.647059 0.647059 1"/>
<material name="right_antenna_holder_material" rgba="0.980392 0.713725 0.00392157 1"/>
<material name="antenna_material" rgba="0.647059 0.647059 0.647059 1"/>
<material name="left_antenna_holder_material" rgba="0.980392 0.713725 0.00392157 1"/>
<material name="cam_material" rgba="0.627451 0.627451 0.627451 1"/>
<material name="head_bot_sheet_material" rgba="0.411765 0.411765 0.411765 1"/>
<material name="head_material" rgba="0.917647 0.917647 0.917647 1"/>
<material name="bulb_material" rgba="0.972549 0.529412 0.00392157 1"/>
<material name="glass_material" rgba="0.760784 0.839216 0.92549 0.909804"/>
<material name="head_roll_mount_material" rgba="0.501961 0.501961 0.501961 1"/>
<material name="raspberrypizerow_material" rgba="0.231373 0.380392 0.705882 1"/>
<material name="left_eye_material" rgba="0.498039 0.498039 0.498039 1"/>
<material name="full_speaker_material" rgba="0.647059 0.647059 0.647059 1"/>
<material name="sg90_material" rgba="0.435294 0.670588 0.976471 0.827451"/>
<material name="speaker_interface_material" rgba="0.615686 0.811765 0.929412 1"/>
<material name="speaker_stand_material" rgba="0.980392 0.713725 0.00392157 1"/>
<material name="right_eye_material" rgba="0.34902 0.376471 0.4 1"/>
<material name="right_roll_to_pitch_material" rgba="0.909804 0.572549 0.164706 1"/>
<material name="right_cache_material" rgba="0.917647 0.917647 0.917647 1"/>
</asset>
<actuator>
<position class="robotb" name="left_hip_yaw" joint="left_hip_yaw" inheritrange="1"/>
<position class="robotb" name="left_hip_roll" joint="left_hip_roll" inheritrange="1"/>
<position class="robotb" name="left_hip_pitch" joint="left_hip_pitch" inheritrange="1"/>
<position class="robotb" name="left_knee" joint="left_knee" inheritrange="1"/>
<position class="robotb" name="left_ankle" joint="left_ankle" inheritrange="1"/>
<position class="robotb" name="neck_pitch" joint="neck_pitch" inheritrange="1"/>
<position class="robotb" name="head_pitch" joint="head_pitch" inheritrange="1"/>
<position class="robotb" name="head_yaw" joint="head_yaw" inheritrange="1"/>
<position class="robotb" name="head_roll" joint="head_roll" inheritrange="1"/>
<position class="robotb" name="right_hip_yaw" joint="right_hip_yaw" inheritrange="1"/>
<position class="robotb" name="right_hip_roll" joint="right_hip_roll" inheritrange="1"/>
<position class="robotb" name="right_hip_pitch" joint="right_hip_pitch" inheritrange="1"/>
<position class="robotb" name="right_knee" joint="right_knee" inheritrange="1"/>
<position class="robotb" name="right_ankle" joint="right_ankle" inheritrange="1"/>
</actuator>
<equality/>
</mujoco>