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Merged
saikishor merged 1 commit into from
Aug 25, 2026
Merged

Update Kangaroo 7 DoF and hands models #107

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48 changes: 29 additions & 19 deletions src/pal_mjlab/robots/pal_kangaroo/xmls/kangaroo_grippers.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -53,17 +53,17 @@

<worldbody>
<body name="base_link" pos="0 0 0.9">
<inertial pos="-0.0913441 -0.0013598 0.00676412" quat="0.5 0.5 -0.5 0.5" mass="4.82254" diaginertia="0.0600103 0.0509711 0.0269078" />
<inertial pos="-0.109747 -5.1e-05 -0.014501" quat="0.524198 0.52286 -0.475695 0.47492" mass="5.2768" diaginertia="0.0512783 0.0358327 0.0254259"/>
<joint name="origin" type="free" />
<geom type="mesh" class="visual" mesh="base_link_with_pelvis" />
<geom type="mesh" class="visual" mesh="handle" />
<geom pos="-0.0918 0 -0.0455" quat="1 0 0 0" type="mesh" class="visual" mesh="pelvis_base_link" />
<body name="pelvis_1_link" pos="-0.0918 0 0.0065" quat="0.707105 0 0.707108 0">
<inertial pos="-0.02593 -1e-06 0.001466" quat="0.99984 0 -0.0179004 0" mass="1.24856" diaginertia="0.00539676 0.004808 0.00324424" />
<inertial pos="-0.019996 -2e-06 0.003623" quat="0.999691 0 0.0248385 0" mass="1.61061" diaginertia="0.00677426 0.006367 0.00383074"/>
<joint name="pelvis_1_joint" axis="0 0 -1" range="-0.349066 0.349066" />
<geom type="mesh" class="visual" mesh="pelvis_1_link" />
<body name="pelvis_2_link" pos="-0.0591 0 0" quat="0.707105 0 -0.707108 0">
<inertial pos="-0.0096298 -0.000857135 0.220739" quat="0.999875 0.0105643 0.00161433 -0.0116448" mass="13.7723" diaginertia="0.312791 0.291456 0.113386" />
<inertial pos="-0.008953 0.001581 0.216619" quat="0.999943 0.00619727 0.00134963 -0.0085383" mass="15.1027" diaginertia="0.342274 0.311149 0.128841"/>
<joint name="pelvis_2_joint" axis="0 0 -1" range="-1.309 1.309" />
<geom type="mesh" class="visual" mesh="pelvis_2_link" />
<geom pos="0 0 0.0061" quat="1 0 0 0" type="mesh" class="visual" mesh="torso_link" />
Expand Down Expand Up @@ -210,32 +210,32 @@
</body>
</body>
<body name="leg_left_1_link" pos="-0.0150026 0.08 -0.0585">
<inertial pos="0.0063167 0.0045949 -0.0083828" quat="0.99829 -0.0115969 -0.0468646 0.0329665" mass="2.7478" diaginertia="0.00193869 0.00182214 0.00142127" />
<inertial pos="0.049076 0.000248 -0.021744" quat="0.990361 -0.0303616 0.135129 0.0016705" mass="2.73393" diaginertia="0.00787848 0.00596731 0.00559821"/>
<joint name="leg_left_1_joint" range="-0.261799 0.698132" />
<geom class="visual" mesh="leg_left_1_link" />
<geom name="leg_left1_1_collision" size="0.04" fromto="0.07 -0.035 -0.03 0.07 -0.035 -0.015" class="collision"/>
<body name="leg_left_2_link" pos="0.015024 0 -0.1175">
<inertial pos="-0.0029278 -9.6207e-05 1.0866e-09" quat="0.500354 0.500354 0.499645 0.499645" mass="0.0905312" diaginertia="3.88542e-05 3.62287e-05 6.1016e-06" />
<inertial pos="-0.004242 -1.3e-05 9.1e-05" quat="0.5 0.5 0.5 0.5" mass="0.105669" diaginertia="9.9e-05 9.6e-05 8e-06"/>
<joint name="leg_left_2_joint" axis="0 1 0" range="-0.741765 0.663225" />
<geom class="visual" mesh="leg_left_2_link" />
<body name="leg_left_3_link">
<inertial pos="-0.033949 0.049989 -0.030543" quat="0.0645597 0.615939 -0.131914 0.773983" mass="3.658" diaginertia="0.00327114 0.00320831 0.00250706" />
<inertial pos="-0.048028 0.057205 -0.037679" quat="0.292316 0.631454 -0.269158 0.665861" mass="3.646" diaginertia="0.0207011 0.0160072 0.0109117"/>
<joint name="leg_left_3_joint" axis="1 0 0" range="-0.471239 0.471239" />
<geom class="visual" mesh="leg_left_3_link" />
<body name="leg_left_length_link" pos="0 0.0669 -0.09" quat="0 0 1 0">
<inertial mass="0.1" pos="0 0 0" diaginertia="8.58333e-05 8.58333e-05 5e-06" />
<joint name="leg_left_length_joint" type="slide" range="0.131973 0.714166" />
<geom size="5e-05 0.291097" pos="0 0 -0.291097" type="cylinder" class="visual" />
<body name="leg_left_4_link" quat="-0.173648 0 0.984808 0">
<inertial pos="-0.00759995 -6.94998e-09 5.88281e-08" quat="3.61787e-06 0.707107 3.61787e-06 0.707106" mass="0.0905838" diaginertia="2.98863e-05 2.92763e-05 4.05264e-06" />
<inertial pos="-0.007727 0 0" quat="0 0.707107 0 0.707107" mass="0.086323" diaginertia="3.7e-05 3.5e-05 6e-06"/>
<joint name="leg_left_4_joint" axis="0 1 0" range="-0.741765 0.663225" />
<geom quat="0.984808 0 -0.173648 0" class="visual" mesh="leg_6_link" />
<body name="leg_left_5_link">
<inertial pos="0.00560127 -5.98529e-06 -0.0297244" quat="-8.95501e-06 0.58162 -1.58775e-05 0.813461" mass="0.61563" diaginertia="0.0019868 0.00170803 0.000338695" />
<joint name="leg_left_5_joint" axis="-1 0 0" range="-0.471239 0.471239" />
<geom class="visual" mesh="leg_7_link" />
<site name="left_foot" pos="0.0575 0 -0.0243" size="0.015"/>
<body name="leg_left_foot_link" pos="0 0 -0.034" quat="0.9848078 0 -0.1736482 0">
<site name="left_foot" pos="0.0145358561 0.0 -0.0399369364" size="0.015" quat="0.9848078 0 -0.1736482 0"/>
<body name="leg_left_foot_link" pos="0 0 -0.0345" quat="0.9848078 0 -0.1736482 0">
<geom name="left_foot0_collision" class="foot_capsule" fromto="-0.0830 -0.035 0 0.110 -0.0330 0"/>
<geom name="left_foot2_collision" class="foot_capsule" fromto="-0.0975 -0.021 0 0.120 -0.0215 0"/>
<geom name="left_foot4_collision" class="foot_capsule" fromto="-0.0985 -0.007 0 0.122 -0.0065 0"/>
Expand All @@ -246,17 +246,21 @@
<geom name="leg_left_ankle_collision" class="collision" size="0.03" fromto="-0.04 0.0 0.03 0.02 0.0 0.03"/>
<geom name="leg_left_ankle_bar_collision" class="collision" size="0.03" fromto="-0.045 -0.035 0.05 -0.045 0.035 0.05"/>
</body>
<body name="leg_left_foot_collision_avoidance_capsule_link">
<geom name="left_foot_avoidance_collision_0" class="foot_capsule" size="0.03" fromto="-0.0880 -0.055 0.02 0.112 -0.0550 0.02"/>
<geom name="left_foot_avoidance_collision_1" class="foot_capsule" size="0.03" fromto="-0.0880 0.055 0.02 0.112 0.0550 0.02"/>
</body>
</body>
</body>
</body>
</body>
<body name="leg_left_femur_link" pos="0 0.0669 -0.09" quat="0.819152 0 -0.573576 0">
<inertial pos="0.0527475 0.000135688 -0.146959" quat="0.720223 -0.0942418 -0.0980078 0.680288" mass="3.94567" diaginertia="0.0121138 0.0118241 0.00184947" />
<inertial pos="0.055462 0.000143 -0.149562" quat="0.698023 -0.0901234 -0.0891132 0.70477" mass="4.94483" diaginertia="0.120183 0.118275 0.00889053"/>
<joint name="leg_left_femur_joint" axis="0 1 0" range="0.174533 1.22173" />
<geom class="visual" mesh="leg_femur_link" />
<geom name="leg_left_femur_collision" size="0.0910718 0.2" pos="0.043456 0.000622273 -0.115825" quat="0.194464 0.00344037 0.980904 2.41185e-06" class="collision"/>
<body name="leg_left_knee_link" pos="0.129945 0 -0.357092" quat="0.34202 0 0.939693 0">
<inertial pos="-0.0569665 -5.4131e-05 -0.148821" quat="0.698616 0.0970713 0.0960701 0.702341" mass="1.02238" diaginertia="0.00215347 0.00207236 0.000258578" />
<inertial pos="-0.040771 -4.6e-05 -0.126665" quat="0.689315 0.158663 0.159997 0.688528" mass="0.944388" diaginertia="0.015899 0.0151477 0.00152724"/>
<joint name="leg_left_knee_joint" axis="0 -1 0" range="0.349066 2.44346" />
<geom class="visual" mesh="leg_tibia_link" />
<geom name="leg_left_knee_collision" size="0.04" fromto="-0.1483 0.0 -0.3 0.0571 0.0 -0.0033" class="collision"/>
Expand All @@ -267,32 +271,32 @@
</body>
</body>
<body name="leg_right_1_link" pos="-0.0150026 -0.08 -0.0585">
<inertial pos="0.0063167 -0.0045949 -0.0083828" quat="0.998081 0.0061833 0.0472134 -0.0395937" mass="2.7478" diaginertia="0.00193889 0.00182188 0.00142133" />
<inertial pos="0.049076 -0.000248 -0.021744" quat="0.990361 0.0303616 0.135129 -0.0016705" mass="2.73393" diaginertia="0.00787848 0.00596731 0.00559821"/>
<joint name="leg_right_1_joint" range="-0.698132 0.261799" />
<geom class="visual" mesh="leg_right_1_link" />
<geom name="leg_right1_1_collision" size="0.04" fromto="0.07 0.035 -0.03 0.07 0.035 -0.015" class="collision"/>
<body name="leg_right_2_link" pos="0.015024 0 -0.1175">
<inertial pos="-0.0029278 -9.6207e-05 1.0866e-09" quat="0.500354 0.500354 0.499645 0.499645" mass="0.0905312" diaginertia="3.88542e-05 3.62287e-05 6.1016e-06" />
<inertial pos="-0.004242 -1.3e-05 9.1e-05" quat="0.5 0.5 0.5 0.5" mass="0.105669" diaginertia="9.9e-05 9.6e-05 8e-06"/>
<joint name="leg_right_2_joint" axis="0 1 0" range="-0.741765 0.663225" />
<geom class="visual" mesh="leg_right_2_link" />
<body name="leg_right_3_link">
<inertial pos="-0.033949 -0.049989 -0.030543" quat="-0.276874 0.75747 -0.131896 0.576353" mass="3.658" diaginertia="0.00331808 0.0031534 0.00251503" />
<inertial pos="-0.048028 -0.057205 -0.037679" quat="0.631454 0.292316 -0.665861 0.269158" mass="3.646" diaginertia="0.0207011 0.0160072 0.0109117"/>
<joint name="leg_right_3_joint" axis="1 0 0" range="-0.471239 0.471239" />
<geom class="visual" mesh="leg_right_3_link" />
<body name="leg_right_length_link" pos="0 -0.0669 -0.09" quat="0 0 1 0">
<inertial mass="0.1" pos="0 0 0" diaginertia="8.58333e-05 8.58333e-05 5e-06" />
<joint name="leg_right_length_joint" type="slide" range="0.131973 0.714166" />
<geom size="5e-05 0.291097" pos="0 0 -0.291097" type="cylinder" class="visual" />
<body name="leg_right_4_link" quat="-0.173648 0 0.984808 0">
<inertial pos="-0.00759995 -6.94998e-09 5.88281e-08" quat="3.61787e-06 0.707107 3.61787e-06 0.707106" mass="0.0905838" diaginertia="2.98863e-05 2.92763e-05 4.05264e-06" />
<inertial pos="-0.007727 0 0" quat="0 0.707107 0 0.707107" mass="0.086323" diaginertia="3.7e-05 3.5e-05 6e-06"/>
<joint name="leg_right_4_joint" axis="0 1 0" range="-0.741765 0.663225" />
<geom quat="0.984808 0 -0.173648 0" class="visual" mesh="leg_6_link" />
<body name="leg_right_5_link">
<inertial pos="0.00560127 -5.98529e-06 -0.0297244" quat="-8.95501e-06 0.58162 -1.58775e-05 0.813461" mass="0.61563" diaginertia="0.0019868 0.00170803 0.000338695" />
<joint name="leg_right_5_joint" axis="-1 0 0" range="-0.471239 0.471239" />
<geom class="visual" mesh="leg_7_link" />
<site name="right_foot" pos="0.0575 0 -0.0243" size="0.015"/>
<body name="leg_right_foot_link" pos="0 0 -0.034" quat="0.9848078 0 -0.1736482 0">
<site name="right_foot" pos="0.0145358561 0.0 -0.0399369364" size="0.015" quat="0.9848078 0 -0.1736482 0"/>
<body name="leg_right_foot_link" pos="0 0 -0.0345" quat="0.9848078 0 -0.1736482 0">
<geom name="right_foot0_collision" class="foot_capsule" fromto="-0.0830 -0.035 0 0.110 -0.0330 0"/>
<geom name="right_foot2_collision" class="foot_capsule" fromto="-0.0975 -0.021 0 0.120 -0.0215 0"/>
<geom name="right_foot4_collision" class="foot_capsule" fromto="-0.0985 -0.007 0 0.122 -0.0065 0"/>
Expand All @@ -303,17 +307,21 @@
<geom name="leg_right_ankle_collision" class="collision" size="0.03" fromto="-0.04 0.0 0.03 0.02 0.0 0.03"/>
<geom name="leg_right_ankle_bar_collision" class="collision" size="0.03" fromto="-0.045 -0.035 0.05 -0.045 0.035 0.05"/>
</body>
<body name="leg_right_foot_collision_avoidance_capsule_link">
<geom name="right_foot_avoidance_collision_0" class="foot_capsule" size="0.03" fromto="-0.0880 -0.055 0.02 0.112 -0.0550 0.02"/>
<geom name="right_foot_avoidance_collision_1" class="foot_capsule" size="0.03" fromto="-0.0880 0.055 0.02 0.112 0.0550 0.02"/>
</body>
</body>
</body>
</body>
</body>
<body name="leg_right_femur_link" pos="0 -0.0669 -0.09" quat="0.819152 0 -0.573576 0">
<inertial pos="0.0527475 0.000135688 -0.146959" quat="0.720223 -0.0942418 -0.0980078 0.680288" mass="3.94567" diaginertia="0.0121138 0.0118241 0.00184947" />
<inertial pos="0.055462 0.000143 -0.149562" quat="0.698023 -0.0901234 -0.0891132 0.70477" mass="4.94483" diaginertia="0.120183 0.118275 0.00889053"/>
<joint name="leg_right_femur_joint" axis="0 1 0" range="0.174533 1.22173" />
<geom class="visual" mesh="leg_femur_link" />
<geom name="leg_right_femur_collision" size="0.0910718 0.20" pos="0.043456 0.000622273 -0.115825" quat="0.194464 0.00344037 0.980904 2.41185e-06" class="collision"/>
<body name="leg_right_knee_link" pos="0.129945 0 -0.357092" quat="0.34202 0 0.939693 0">
<inertial pos="-0.0569665 -5.4131e-05 -0.148821" quat="0.698616 0.0970713 0.0960701 0.702341" mass="1.02238" diaginertia="0.00215347 0.00207236 0.000258578" />
<inertial pos="-0.040771 -4.6e-05 -0.126665" quat="0.689315 0.158663 0.159997 0.688528" mass="0.944388" diaginertia="0.015899 0.0151477 0.00152724"/>
<joint name="leg_right_knee_joint" axis="0 -1 0" range="0.349066 2.44346" />
<geom class="visual" mesh="leg_tibia_link" />
<geom name="leg_right_knee_collision" size="0.04" fromto="-0.1483 0.0 -0.3 0.0571 0.0 -0.0033" class="collision"/>
Expand Down Expand Up @@ -342,10 +350,12 @@
<!-- Left leg closed chain -->
<exclude body1="leg_left_1_link" body2="leg_left_femur_link"/>
<exclude body1="leg_left_ankle_link" body2="leg_left_knee_link"/>
<exclude body1="leg_left_foot_collision_avoidance_capsule_link" body2="terrain"/>

<!-- Right leg closed chain -->
<exclude body1="leg_right_1_link" body2="leg_right_femur_link"/>
<exclude body1="leg_right_ankle_link" body2="leg_right_knee_link"/>
<exclude body1="leg_right_foot_collision_avoidance_capsule_link" body2="terrain"/>
</contact>

<sensor>
Expand Down
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