diff --git a/Robot_arm.xml b/Robot_arm.xml
new file mode 100644
index 0000000..ae99027
--- /dev/null
+++ b/Robot_arm.xml
@@ -0,0 +1,122 @@
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diff --git a/data/a1/urdf/a1.urdf b/data/a1/urdf/a1.urdf
index 1b5bf3c..163d3f5 100644
--- a/data/a1/urdf/a1.urdf
+++ b/data/a1/urdf/a1.urdf
@@ -10,7 +10,6 @@
meshdir="../meshes/"
balanceinertia="true"
discardvisual="false" />
-
diff --git a/data/a1/urdf/a1.xml b/data/a1/urdf/a1.xml
index 2963f6b..9fe4483 100644
--- a/data/a1/urdf/a1.xml
+++ b/data/a1/urdf/a1.xml
@@ -1,7 +1,19 @@
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@@ -9,11 +21,19 @@
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diff --git a/data/aliengo/urdf/aliengo.urdf b/data/aliengo/urdf/aliengo.urdf
index dc11a7a..174d3fe 100644
--- a/data/aliengo/urdf/aliengo.urdf
+++ b/data/aliengo/urdf/aliengo.urdf
@@ -4,6 +4,13 @@
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@@ -41,17 +48,10 @@
-->
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diff --git a/data/aliengo/urdf/aliengo.xml b/data/aliengo/urdf/aliengo.xml
new file mode 100644
index 0000000..2b15ab0
--- /dev/null
+++ b/data/aliengo/urdf/aliengo.xml
@@ -0,0 +1,169 @@
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diff --git a/data/laikago/urdf/laikago.urdf b/data/laikago/urdf/laikago.urdf
index e2b9c4b..81ad5ed 100644
--- a/data/laikago/urdf/laikago.urdf
+++ b/data/laikago/urdf/laikago.urdf
@@ -4,6 +4,14 @@
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@@ -32,13 +40,20 @@
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diff --git a/data/laikago/urdf/laikago.xml b/data/laikago/urdf/laikago.xml
new file mode 100644
index 0000000..34ef537
--- /dev/null
+++ b/data/laikago/urdf/laikago.xml
@@ -0,0 +1,159 @@
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diff --git a/mujoco_py_test.py b/mujoco_py_test.py
index af1c78f..90d6f19 100644
--- a/mujoco_py_test.py
+++ b/mujoco_py_test.py
@@ -8,80 +8,15 @@ import os
import math
import keyboard
-model = load_model_from_path("/home/bobzhu/Unitree/Mujoco/unitree_mujoco_git/unitree_mujoco/data/a1/urdf/a1.xml")
+model = load_model_from_path("/path/to/a1.xml")
sim = MjSim(model)
viewer = MjViewer(sim)
sim_state = sim.get_state()
-i = 0
-if_increase = True
-
-desired_speed = [0.0] * 12
-desired_pos = [0.0] * 12
-Kp_vel= 7.0
-Ki_vel = 0.8
-
-Kp_pos= 10.0
-
-q_vel_former = [0.0] * 12
-
-speed_command = [0.0] * 12
-speed_error = [0.0] * 12
-speed_error_former = [0.0] * 12
-
-angle_error = [0.0] * 12
-
-
-k = 0
-increase = True
while True:
- #sim.set_state(sim_state)
-
- # if k > 50:
- # increase = False
- # elif k < -50:
- # increase = True
-
- # if increase:
- # k+=1
- # else:
- # k-=1
-
- # # print(desired_pos)
- # for i in range(12):
- # desired_pos[i] = 0.0
-
- # q_pos_meas = sim.data.get_joint_qpos(sim.model.joint_names[i])
-
- # angle_error[i] = desired_pos[i] - q_pos_meas
-
- # if angle_error[i] < - math.pi:
- # angle_error[i] = 2 * math.pi + angle_error[i]
- # elif angle_error[i] >= math.pi:
- # angle_error[i] = angle_error[i] - 2 * math.pi
-
- # desired_speed[i] = Kp_pos * angle_error[i]
-
- # q_vel_meas = sim.data.get_joint_qvel(sim.model.joint_names[i])
- # #print(sim.data.get_joint_qvel(sim.model.joint_names[0]))
-
- # speed_error[i] = desired_speed[i] - q_vel_meas
- # speed_command[i] += Kp_vel * (speed_error[i] - speed_error_former[i]) + Ki_vel * speed_error[i]
- # speed_error_former[i] = speed_error[i]
-
- # if speed_command[i] > 33.5:
- # speed_command[i] = 33.5
- # elif speed_command[i] < -33.5:
- # speed_command[i] = -33.5
-
- # sim.data.ctrl[i] = speed_command[i]
-
- #sim.data.ctrl[:] = k / 10
-
- #print(joint_name, sim.data.get_joint_qpos(joint_name), sim.data.get_joint_qvel(joint_name))
sim.step()
viewer.render()
#print(" ")