| <mujoco model="go2"> | |
| <compiler angle="radian" meshdir="assets" autolimits="true" /> | |
| <option cone="elliptic" impratio="100" /> | |
| <default> | |
| <default class="go2"> | |
| <geom friction="0.4" margin="0.001" condim="1"/> | |
| <joint axis="0 1 0" damping="0.1" armature="0.01" frictionloss="0.2"/> | |
| <motor ctrlrange="-23.7 23.7"/> | |
| <default class="abduction"> | |
| <joint axis="1 0 0" range="-1.0472 1.0472"/> | |
| </default> | |
| <default class="hip"> | |
| <default class="front_hip"> | |
| <joint range="-1.5708 3.4907"/> | |
| </default> | |
| <default class="back_hip"> | |
| <joint range="-0.5236 4.5379"/> | |
| </default> | |
| </default> | |
| <default class="knee"> | |
| <joint range="-2.7227 -0.83776"/> | |
| <motor ctrlrange="-45.43 45.43"/> | |
| </default> | |
| <default class="visual"> | |
| <geom type="mesh" contype="0" conaffinity="0" group="2"/> | |
| </default> | |
| <default class="collision"> | |
| <geom group="3"/> | |
| <default class="foot"> | |
| <geom size="0.022" pos="-0.002 0 -0.213" priority="1" condim="6" | |
| friction="0.4 0.02 0.01"/> | |
| </default> | |
| </default> | |
| </default> | |
| </default> | |
| <asset> | |
| <material name="metal" rgba=".9 .95 .95 1" /> | |
| <material name="black" rgba="0 0 0 1" /> | |
| <material name="white" rgba="1 1 1 1" /> | |
| <material name="gray" rgba="0.671705 0.692426 0.774270 1" /> | |
| <mesh file="base_0.obj" /> | |
| <mesh file="base_1.obj" /> | |
| <mesh file="base_2.obj" /> | |
| <mesh file="base_3.obj" /> | |
| <mesh file="base_4.obj" /> | |
| <mesh file="hip_0.obj" /> | |
| <mesh file="hip_1.obj" /> | |
| <mesh file="thigh_0.obj" /> | |
| <mesh file="thigh_1.obj" /> | |
| <mesh file="thigh_mirror_0.obj" /> | |
| <mesh file="thigh_mirror_1.obj" /> | |
| <mesh file="calf_0.obj" /> | |
| <mesh file="calf_1.obj" /> | |
| <mesh file="calf_mirror_0.obj" /> | |
| <mesh file="calf_mirror_1.obj" /> | |
| <mesh file="foot.obj" /> | |
| </asset> | |
| <worldbody> | |
| <body name="base_link" pos="0 0 0.445" childclass="go2"> | |
| <inertial pos="0.021112 0 -0.005366" quat="-0.000543471 0.713435 -0.00173769 0.700719" | |
| mass="6.921" | |
| diaginertia="0.107027 0.0980771 0.0244531" /> | |
| <freejoint /> | |
| <geom mesh="base_0" material="black" class="visual" /> | |
| <geom mesh="base_1" material="black" class="visual" /> | |
| <geom mesh="base_2" material="black" class="visual" /> | |
| <geom mesh="base_3" material="white" class="visual" /> | |
| <geom mesh="base_4" material="gray" class="visual" /> | |
| <geom size="0.1881 0.04675 0.057" type="box" class="collision" /> | |
| <geom size="0.05 0.045" pos="0.285 0 0.01" type="cylinder" class="collision" /> | |
| <geom size="0.047" pos="0.293 0 -0.06" class="collision" /> | |
| <site name="imu" pos="-0.02557 0 0.04232" /> | |
| <body name="FL_hip" pos="0.1934 0.0465 0"> | |
| <inertial pos="-0.0054 0.00194 -0.000105" quat="0.497014 0.499245 0.505462 0.498237" | |
| mass="0.678" | |
| diaginertia="0.00088403 0.000596003 0.000479967" /> | |
| <joint name="FL_hip_joint" class="abduction" /> | |
| <geom mesh="hip_0" material="metal" class="visual" /> | |
| <geom mesh="hip_1" material="gray" class="visual" /> | |
| <geom size="0.046 0.02" pos="0 0.08 0" quat="1 1 0 0" type="cylinder" class="collision" /> | |
| <body name="FL_thigh" pos="0 0.0955 0"> | |
| <inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" | |
| mass="1.152" | |
| diaginertia="0.00594973 0.00584149 0.000878787" /> | |
| <joint name="FL_thigh_joint" class="front_hip" /> | |
| <geom mesh="thigh_0" material="metal" class="visual" /> | |
| <geom mesh="thigh_1" material="gray" class="visual" /> | |
| <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" | |
| type="box" class="collision" /> | |
| <body name="FL_calf" pos="0 0 -0.213"> | |
| <inertial pos="0.00629595 -0.000622121 -0.141417" | |
| quat="0.710672 0.00154099 -0.00450087 0.703508" | |
| mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" /> | |
| <joint name="FL_calf_joint" class="knee" /> | |
| <geom mesh="calf_0" material="gray" class="visual" /> | |
| <geom mesh="calf_1" material="black" class="visual" /> | |
| <geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0" | |
| type="cylinder" class="collision" /> | |
| <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" | |
| type="cylinder" class="collision" /> | |
| <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" /> | |
| <geom name="FL" class="foot" /> | |
| <body name="FL_foot" pos="0 0 -0.213" /> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="FR_hip" pos="0.1934 -0.0465 0"> | |
| <inertial pos="-0.0054 -0.00194 -0.000105" quat="0.498237 0.505462 0.499245 0.497014" | |
| mass="0.678" | |
| diaginertia="0.00088403 0.000596003 0.000479967" /> | |
| <joint name="FR_hip_joint" class="abduction" /> | |
| <geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 1 0 0" /> | |
| <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0" /> | |
| <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" | |
| class="collision" /> | |
| <body name="FR_thigh" pos="0 -0.0955 0"> | |
| <inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" | |
| mass="1.152" | |
| diaginertia="0.00594973 0.00584149 0.000878787" /> | |
| <joint name="FR_thigh_joint" class="front_hip" /> | |
| <geom mesh="thigh_mirror_0" material="metal" class="visual" /> | |
| <geom mesh="thigh_mirror_1" material="gray" class="visual" /> | |
| <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" | |
| type="box" class="collision" /> | |
| <body name="FR_calf" pos="0 0 -0.213"> | |
| <inertial pos="0.00629595 0.000622121 -0.141417" | |
| quat="0.703508 -0.00450087 0.00154099 0.710672" | |
| mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" /> | |
| <joint name="FR_calf_joint" class="knee" /> | |
| <geom mesh="calf_mirror_0" material="gray" class="visual" /> | |
| <geom mesh="calf_mirror_1" material="black" class="visual" /> | |
| <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" | |
| type="cylinder" class="collision" /> | |
| <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" | |
| type="cylinder" class="collision" /> | |
| <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" /> | |
| <geom name="FR" class="foot" /> | |
| <body name="FR_foot" pos="0 0 -0.213" /> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="RL_hip" pos="-0.1934 0.0465 0"> | |
| <inertial pos="0.0054 0.00194 -0.000105" quat="0.505462 0.498237 0.497014 0.499245" | |
| mass="0.678" | |
| diaginertia="0.00088403 0.000596003 0.000479967" /> | |
| <joint name="RL_hip_joint" class="abduction" /> | |
| <geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 0 1 0" /> | |
| <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0" /> | |
| <geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" | |
| class="collision" /> | |
| <body name="RL_thigh" pos="0 0.0955 0"> | |
| <inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" | |
| mass="1.152" | |
| diaginertia="0.00594973 0.00584149 0.000878787" /> | |
| <joint name="RL_thigh_joint" class="back_hip" /> | |
| <geom mesh="thigh_0" material="metal" class="visual" /> | |
| <geom mesh="thigh_1" material="gray" class="visual" /> | |
| <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" | |
| type="box" class="collision" /> | |
| <body name="RL_calf" pos="0 0 -0.213"> | |
| <inertial pos="0.00629595 -0.000622121 -0.141417" | |
| quat="0.710672 0.00154099 -0.00450087 0.703508" | |
| mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" /> | |
| <joint name="RL_calf_joint" class="knee" /> | |
| <geom mesh="calf_0" material="gray" class="visual" /> | |
| <geom mesh="calf_1" material="black" class="visual" /> | |
| <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" | |
| type="cylinder" class="collision" /> | |
| <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" | |
| type="cylinder" class="collision" /> | |
| <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" /> | |
| <geom name="RL" class="foot" /> | |
| <body name="RL_foot" pos="0 0 -0.213" /> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="RR_hip" pos="-0.1934 -0.0465 0"> | |
| <inertial pos="0.0054 -0.00194 -0.000105" quat="0.499245 0.497014 0.498237 0.505462" | |
| mass="0.678" | |
| diaginertia="0.00088403 0.000596003 0.000479967" /> | |
| <joint name="RR_hip_joint" class="abduction" /> | |
| <geom mesh="hip_0" material="metal" class="visual" | |
| quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" /> | |
| <geom mesh="hip_1" material="gray" class="visual" | |
| quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" /> | |
| <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" | |
| class="collision" /> | |
| <body name="RR_thigh" pos="0 -0.0955 0"> | |
| <inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" | |
| mass="1.152" | |
| diaginertia="0.00594973 0.00584149 0.000878787" /> | |
| <joint name="RR_thigh_joint" class="back_hip" /> | |
| <geom mesh="thigh_mirror_0" material="metal" class="visual" /> | |
| <geom mesh="thigh_mirror_1" material="gray" class="visual" /> | |
| <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" | |
| type="box" class="collision" /> | |
| <body name="RR_calf" pos="0 0 -0.213"> | |
| <inertial pos="0.00629595 0.000622121 -0.141417" | |
| quat="0.703508 -0.00450087 0.00154099 0.710672" | |
| mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" /> | |
| <joint name="RR_calf_joint" class="knee" /> | |
| <geom mesh="calf_mirror_0" material="gray" class="visual" /> | |
| <geom mesh="calf_mirror_1" material="black" class="visual" /> | |
| <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" | |
| type="cylinder" class="collision" /> | |
| <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" | |
| type="cylinder" class="collision" /> | |
| <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" /> | |
| <geom name="RR" class="foot" /> | |
| <body name="RR_foot" pos="0 0 -0.213" /> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </worldbody> | |
| <actuator> | |
| <motor class="abduction" name="FR_hip" joint="FR_hip_joint" /> | |
| <motor class="hip" name="FR_thigh" joint="FR_thigh_joint" /> | |
| <motor class="knee" name="FR_calf" joint="FR_calf_joint" /> | |
| <motor class="abduction" name="FL_hip" joint="FL_hip_joint" /> | |
| <motor class="hip" name="FL_thigh" joint="FL_thigh_joint" /> | |
| <motor class="knee" name="FL_calf" joint="FL_calf_joint" /> | |
| <motor class="abduction" name="RR_hip" joint="RR_hip_joint" /> | |
| <motor class="hip" name="RR_thigh" joint="RR_thigh_joint" /> | |
| <motor class="knee" name="RR_calf" joint="RR_calf_joint" /> | |
| <motor class="abduction" name="RL_hip" joint="RL_hip_joint" /> | |
| <motor class="hip" name="RL_thigh" joint="RL_thigh_joint" /> | |
| <motor class="knee" name="RL_calf" joint="RL_calf_joint" /> | |
| </actuator> | |
| <sensor> | |
| <jointpos name="FR_hip_pos" joint="FR_hip_joint" /> | |
| <jointpos name="FR_thigh_pos" joint="FR_thigh_joint" /> | |
| <jointpos name="FR_calf_pos" joint="FR_calf_joint" /> | |
| <jointpos name="FL_hip_pos" joint="FL_hip_joint" /> | |
| <jointpos name="FL_thigh_pos" joint="FL_thigh_joint" /> | |
| <jointpos name="FL_calf_pos" joint="FL_calf_joint" /> | |
| <jointpos name="RR_hip_pos" joint="RR_hip_joint" /> | |
| <jointpos name="RR_thigh_pos" joint="RR_thigh_joint" /> | |
| <jointpos name="RR_calf_pos" joint="RR_calf_joint" /> | |
| <jointpos name="RL_hip_pos" joint="RL_hip_joint" /> | |
| <jointpos name="RL_thigh_pos" joint="RL_thigh_joint" /> | |
| <jointpos name="RL_calf_pos" joint="RL_calf_joint" /> | |
| <jointvel name="FR_hip_vel" joint="FR_hip_joint" /> | |
| <jointvel name="FR_thigh_vel" joint="FR_thigh_joint" /> | |
| <jointvel name="FR_calf_vel" joint="FR_calf_joint" /> | |
| <jointvel name="FL_hip_vel" joint="FL_hip_joint" /> | |
| <jointvel name="FL_thigh_vel" joint="FL_thigh_joint" /> | |
| <jointvel name="FL_calf_vel" joint="FL_calf_joint" /> | |
| <jointvel name="RR_hip_vel" joint="RR_hip_joint" /> | |
| <jointvel name="RR_thigh_vel" joint="RR_thigh_joint" /> | |
| <jointvel name="RR_calf_vel" joint="RR_calf_joint" /> | |
| <jointvel name="RL_hip_vel" joint="RL_hip_joint" /> | |
| <jointvel name="RL_thigh_vel" joint="RL_thigh_joint" /> | |
| <jointvel name="RL_calf_vel" joint="RL_calf_joint" /> | |
| <jointactuatorfrc name="FR_hip_torque" joint="FR_hip_joint" noise="0.01" /> | |
| <jointactuatorfrc name="FR_thigh_torque" joint="FR_thigh_joint" noise="0.01" /> | |
| <jointactuatorfrc name="FR_calf_torque" joint="FR_calf_joint" noise="0.01" /> | |
| <jointactuatorfrc name="FL_hip_torque" joint="FL_hip_joint" noise="0.01" /> | |
| <jointactuatorfrc name="FL_thigh_torque" joint="FL_thigh_joint" noise="0.01" /> | |
| <jointactuatorfrc name="FL_calf_torque" joint="FL_calf_joint" noise="0.01" /> | |
| <jointactuatorfrc name="RR_hip_torque" joint="RR_hip_joint" noise="0.01" /> | |
| <jointactuatorfrc name="RR_thigh_torque" joint="RR_thigh_joint" noise="0.01" /> | |
| <jointactuatorfrc name="RR_calf_torque" joint="RR_calf_joint" noise="0.01" /> | |
| <jointactuatorfrc name="RL_hip_torque" joint="RL_hip_joint" noise="0.01" /> | |
| <jointactuatorfrc name="RL_thigh_torque" joint="RL_thigh_joint" noise="0.01" /> | |
| <jointactuatorfrc name="RL_calf_torque" joint="RL_calf_joint" noise="0.01" /> | |
| <framequat name="imu_quat" objtype="site" objname="imu" /> | |
| <gyro name="imu_gyro" site="imu" /> | |
| <accelerometer name="imu_acc" site="imu" /> | |
| <framepos name="frame_pos" objtype="site" objname="imu" /> | |
| <framelinvel name="frame_vel" objtype="site" objname="imu" /> | |
| </sensor> | |
| <keyframe> | |
| <key name="home" qpos="0 0 0.27 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8" | |
| ctrl="0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8" /> | |
| </keyframe> | |
| </mujoco> |