2021-11-02 12:21:40 +08:00
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<mujoco model="laikago_description">
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<compiler angle="radian" meshdir="../meshes/" />
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<size njmax="500" nconmax="100" />
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<option gravity='0 0 -9.806' iterations='50' solver='Newton' timestep='0.002'/>
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<default>
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<geom contype="1" conaffinity="1" friction="0.6 0.3 0.3" rgba="0.5 0.6 0.7 1" margin="0.001" group="0"/>
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<light castshadow="false" diffuse="1 1 1"/>
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2021-11-03 14:51:59 +08:00
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<motor ctrlrange="-40.0 40.0" ctrllimited="true"/>
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2021-11-02 12:21:40 +08:00
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<camera fovy="60"/>
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2021-11-10 20:10:35 +08:00
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<joint damping="0.01" armature="0.01" frictionloss="0.2" />
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2021-11-02 12:21:40 +08:00
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</default>
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<asset>
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<mesh name="trunk" file="trunk.stl" />
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<mesh name="hip" file="hip.stl" />
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<mesh name="thigh_mirror" file="thigh_mirror.stl" />
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<mesh name="calf" file="calf.stl" />
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<mesh name="thigh" file="thigh.stl" />
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</asset>
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2021-11-10 20:10:35 +08:00
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<visual>
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<rgba com="0.502 1.0 0 0.5" contactforce="0.98 0.4 0.4 0.7" contactpoint="1.0 1.0 0.6 0.4"/>
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<scale com="0.2" forcewidth="0.035" contactwidth="0.10" contactheight="0.04"/>
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</visual>
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2021-11-02 12:21:40 +08:00
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="1.0 1.0 1.0" rgb2="1.0 1.0 1.0" width="512" height="512"/>
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<texture name="plane" type="2d" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" width="512" height="512" mark="cross" markrgb="0 0 0"/>
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<material name="plane" reflectance="0.0" texture="plane" texrepeat="3 3" texuniform="true"/>
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</asset>
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<worldbody>
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<light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
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<camera name="track" mode="trackcom" pos="0 -1.3 1.6" xyaxes="1 0 0 0 0.707 0.707"/>
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<geom name='floor' type='plane' conaffinity='1' condim='3' contype='1' rgba="0.5 0.9 0.9 0.1" material='plane' pos='0 0 0' size='0 0 1'/>
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2021-11-10 20:10:35 +08:00
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<body name="trunk" pos="0 0 0.4">
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2021-11-02 12:21:40 +08:00
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<inertial pos="0.002284 -4.1e-05 0.025165" quat="-0.00605949 0.710803 -0.00734309 0.703327" mass="13.733" diaginertia="0.254491 0.250684 0.0733281" />
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2021-11-02 15:07:10 +08:00
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<joint type="free" />
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2021-11-02 12:21:40 +08:00
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="trunk" />
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<geom size="0.2808 0.086 0.09375" pos="0 0 0.01675" type="box" rgba="0.2 0.2 0.2 0" />
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2021-11-10 20:10:35 +08:00
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<site name="imu" pos="0 0 0"/>
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2021-11-02 12:21:40 +08:00
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<body name="FR_hip" pos="0.21935 -0.0875 0">
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<inertial pos="-0.001568 0.008134 0.000864" quat="0.629953 0.350191 0.35823 0.593462" mass="1.096" diaginertia="0.000983491 0.000885646 0.000800926" />
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<joint name="FR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-1.0472 0.872665" />
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<geom quat="0 1 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
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<geom size="0.041 0.04" pos="0 0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 0" />
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<body name="FR_thigh" pos="0 -0.037 0">
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<inertial pos="-0.000482 -0.02001 -0.031996" quat="0.999848 0.00577968 -0.0153453 -0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
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<joint name="FR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh_mirror" />
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<geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 0" />
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<body name="FR_calf" pos="0 0 -0.25">
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<inertial pos="-0.002196 -0.000381 -0.12338" quat="0.712765 0.000467477 -0.000119366 0.701402" mass="0.241" diaginertia="0.00619655 0.00618196 3.47683e-05" />
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<joint name="FR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
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<geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
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2021-11-10 20:10:35 +08:00
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<geom size="0.027 0.014" pos="0 0 -0.25" quat="0.707107 0.707107 0 0" rgba="0.913725 0.913725 0.847059 0" />
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2021-11-02 12:21:40 +08:00
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</body>
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</body>
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</body>
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<body name="FL_hip" pos="0.21935 0.0875 0">
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<inertial pos="-0.001568 -0.008134 0.000864" quat="0.593462 0.35823 0.350191 0.629953" mass="1.096" diaginertia="0.000983491 0.000885646 0.000800926" />
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<joint name="FL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.872665 1.0472" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
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<geom size="0.041 0.04" pos="0 -0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 0" />
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<body name="FL_thigh" pos="0 0.037 0">
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<inertial pos="-0.000482 0.02001 -0.031996" quat="0.999848 -0.00577968 -0.0153453 0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
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<joint name="FL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh" />
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<geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 0" />
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<body name="FL_calf" pos="0 0 -0.25">
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<inertial pos="-0.002196 -0.000381 -0.12338" quat="0.712765 0.000467477 -0.000119366 0.701402" mass="0.241" diaginertia="0.00619655 0.00618196 3.47683e-05" />
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<joint name="FL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
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<geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
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2021-11-10 20:10:35 +08:00
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<geom size="0.027 0.014" pos="0 0 -0.25" quat="0.707107 0.707107 0 0" rgba="0.913725 0.913725 0.847059 0" />
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2021-11-02 12:21:40 +08:00
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</body>
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</body>
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</body>
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<body name="RR_hip" pos="-0.21935 -0.0875 0">
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<inertial pos="0.001568 0.008134 0.000864" quat="0.35823 0.593462 0.629953 0.350191" mass="1.096" diaginertia="0.000983491 0.000885646 0.000800926" />
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<joint name="RR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-1.0472 0.872665" />
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<geom quat="0 0 0 -1" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
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<geom size="0.041 0.04" pos="0 0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 0" />
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<body name="RR_thigh" pos="0 -0.037 0">
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<inertial pos="-0.000482 -0.02001 -0.031996" quat="0.999848 0.00577968 -0.0153453 -0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
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<joint name="RR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh_mirror" />
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<geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 0" />
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<body name="RR_calf" pos="0 0 -0.25">
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<inertial pos="-0.002196 -0.000381 -0.12338" quat="0.712765 0.000467477 -0.000119366 0.701402" mass="0.241" diaginertia="0.00619655 0.00618196 3.47683e-05" />
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<joint name="RR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
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<geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
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2021-11-10 20:10:35 +08:00
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<geom size="0.027 0.014" pos="0 0 -0.25" quat="0.707107 0.707107 0 0" rgba="0.913725 0.913725 0.847059 0" />
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2021-11-02 12:21:40 +08:00
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</body>
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</body>
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</body>
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<body name="RL_hip" pos="-0.21935 0.0875 0">
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<inertial pos="0.001568 -0.008134 0.000864" quat="0.350191 0.629953 0.593462 0.35823" mass="1.096" diaginertia="0.000983491 0.000885646 0.000800926" />
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<joint name="RL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.872665 1.0472" />
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<geom quat="0 0 1 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
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<geom size="0.041 0.04" pos="0 -0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 0" />
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<body name="RL_thigh" pos="0 0.037 0">
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<inertial pos="-0.000482 0.02001 -0.031996" quat="0.999848 -0.00577968 -0.0153453 0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
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<joint name="RL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh" />
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<geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 0" />
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<body name="RL_calf" pos="0 0 -0.25">
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<inertial pos="-0.002196 -0.000381 -0.12338" quat="0.712765 0.000467477 -0.000119366 0.701402" mass="0.241" diaginertia="0.00619655 0.00618196 3.47683e-05" />
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<joint name="RL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
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<geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
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2021-11-10 20:10:35 +08:00
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<geom size="0.027 0.014" pos="0 0 -0.25" quat="0.707107 0.707107 0 0" rgba="0.913725 0.913725 0.847059 0" />
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2021-11-02 12:21:40 +08:00
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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<actuator>
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<motor name="FR_hip" gear="1" joint="FR_hip_joint"/>
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<motor name="FR_thigh" gear="1" joint="FR_thigh_joint"/>
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<motor name="FR_calf" gear="1" joint="FR_calf_joint"/>
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<motor name="FL_hip" gear="1" joint="FL_hip_joint"/>
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<motor name="FL_thigh" gear="1" joint="FL_thigh_joint"/>
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<motor name="FL_calf" gear="1" joint="FL_calf_joint"/>
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<motor name="RR_hip" gear="1" joint="RR_hip_joint"/>
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<motor name="RR_thigh" gear="1" joint="RR_thigh_joint"/>
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<motor name="RR_calf" gear="1" joint="RR_calf_joint" />
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<motor name="RL_hip" gear="1" joint="RL_hip_joint"/>
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<motor name="RL_thigh" gear="1" joint="RL_thigh_joint"/>
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<motor name="RL_calf" gear="1" joint="RL_calf_joint"/>
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</actuator>
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<sensor>
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<jointpos name="FR_hip_pos" joint="FR_hip_joint"/>
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<jointpos name="FR_thigh_pos" joint="FR_thigh_joint"/>
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<jointpos name="FR_calf_pos" joint="FR_calf_joint"/>
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<jointpos name="FL_hip_pos" joint="FL_hip_joint"/>
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<jointpos name="FL_thigh_pos" joint="FL_thigh_joint"/>
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<jointpos name="FL_calf_pos" joint="FL_calf_joint"/>
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<jointpos name="RR_hip_pos" joint="RR_hip_joint"/>
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<jointpos name="RR_thigh_pos" joint="RR_thigh_joint"/>
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<jointpos name="RR_calf_pos" joint="RR_calf_joint" />
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<jointpos name="RL_hip_pos" joint="RL_hip_joint"/>
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<jointpos name="RL_thigh_pos" joint="RL_thigh_joint"/>
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<jointpos name="RL_calf_pos" joint="RL_calf_joint"/>
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<jointvel name="FR_hip_vel" joint="FR_hip_joint"/>
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<jointvel name="FR_thigh_vel" joint="FR_thigh_joint"/>
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<jointvel name="FR_calf_vel" joint="FR_calf_joint"/>
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<jointvel name="FL_hip_vel" joint="FL_hip_joint"/>
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<jointvel name="FL_thigh_vel" joint="FL_thigh_joint"/>
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<jointvel name="FL_calf_vel" joint="FL_calf_joint"/>
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<jointvel name="RR_hip_vel" joint="RR_hip_joint"/>
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<jointvel name="RR_thigh_vel" joint="RR_thigh_joint"/>
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<jointvel name="RR_calf_vel" joint="RR_calf_joint" />
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<jointvel name="RL_hip_vel" joint="RL_hip_joint"/>
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<jointvel name="RL_thigh_vel" joint="RL_thigh_joint"/>
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<jointvel name="RL_calf_vel" joint="RL_calf_joint"/>
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2021-11-10 20:10:35 +08:00
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<accelerometer name="Body_Acc" site="imu"/>
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<gyro name="Body_Gyro" site="imu"/>
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<framepos name="Body_Pos" objtype=site objname="imu"/>
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<framequat name="Body_Quat" objtype=site objname="imu"/>
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2021-11-02 12:21:40 +08:00
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</sensor>
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</mujoco>
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