add go2w
This commit is contained in:
yangning wu
parent
46f21ab36f
commit
9f60255eb8
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@ -1,4 +1,4 @@
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robot: "go2" # Robot name, "go2", "b2", "b2w", "h1"
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robot: "go2" # Robot name, "go2", "b2", "b2w", "h1", "go2w"
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robot_scene: "scene_terrain.xml" # Robot scene
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domain_id: 1 # Domain id
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@ -1,5 +1,5 @@
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ROBOT = "go2" # Robot name, "go2", "b2", "b2w", "h1"
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ROBOT_SCENE = "../unitree_robots/" + ROBOT + "/scene.xml" # Robot scene
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ROBOT = "go2" # Robot name, "go2", "b2", "b2w", "h1", "go2w"
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ROBOT_SCENE = "../unitree_robots/" + ROBOT + "/scene_terrain.xml" # Robot scene
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DOMAIN_ID = 1 # Domain id
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INTERFACE = "lo" # Interface
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@ -10,5 +10,5 @@ JOYSTICK_DEVICE = 0 # Joystick number
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PRINT_SCENE_INFORMATION = True # Print link, joint and sensors information of robot
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ENABLE_ELASTIC_BAND = False # Virtual spring band, used for lifting h1
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SIMULATE_DT = 0.003 # Need to be larger than the runtime of viewer.sync()
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SIMULATE_DT = 0.005 # Need to be larger than the runtime of viewer.sync()
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VIEWER_DT = 0.02 # 50 fps for viewer
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@ -0,0 +1,338 @@
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<mujoco model="go2">
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<compiler angle="radian" meshdir="assets" autolimits="true" />
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<option cone="elliptic" impratio="100" />
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<default>
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<default class="go2">
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<geom friction="0.4" margin="0.001" condim="1" />
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<joint axis="0 1 0" damping="0.1" armature="0.01" frictionloss="0.2" />
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<motor ctrlrange="-23.7 23.7" />
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<default class="abduction">
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<joint axis="1 0 0" range="-1.0472 1.0472" />
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</default>
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<default class="hip">
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<default class="front_hip">
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<joint range="-1.5708 3.4907" />
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</default>
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<default class="back_hip">
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<joint range="-0.5236 4.5379" />
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</default>
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</default>
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<default class="knee">
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<joint range="-2.7227 -0.83776" />
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<motor ctrlrange="-45.43 45.43" />
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</default>
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<default class="visual">
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<geom type="mesh" contype="0" conaffinity="0" group="2" />
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</default>
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<default class="collision">
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<geom group="3" />
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<default class="foot">
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<geom size="0.022" pos="-0.002 0 -0.2264" priority="1" condim="6"
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friction="0.8 0.02 0.01" />
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</default>
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</default>
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</default>
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</default>
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<asset>
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<material name="metal" rgba=".9 .95 .95 1" />
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<material name="black" rgba="0 0 0 1" />
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<material name="white" rgba="1 1 1 1" />
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<material name="gray" rgba="0.671705 0.692426 0.774270 1" />
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<mesh file="base_0.obj" />
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<mesh file="base_1.obj" />
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<mesh file="base_2.obj" />
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<mesh file="base_3.obj" />
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<mesh file="base_4.obj" />
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<mesh file="hip_0.obj" />
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<mesh file="hip_1.obj" />
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<mesh file="thigh_0.obj" />
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<mesh file="thigh_1.obj" />
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<mesh file="thigh_mirror_0.obj" />
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<mesh file="thigh_mirror_1.obj" />
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<mesh file="calf_mirror_0.obj" />
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<mesh file="calf_mirror_1.obj" />
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<mesh file="calf.stl" />
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<mesh file="calf_mirror.stl" />
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<mesh file="foot.obj" />
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<mesh file="wheel.stl" />
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</asset>
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<worldbody>
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<body name="base_link" pos="0 0 0.6" childclass="go2">
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<inertial pos="0.021112 0 -0.005366" quat="-0.000543471 0.713435 -0.00173769 0.700719"
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mass="6.921"
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diaginertia="0.107027 0.0980771 0.0244531" />
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<freejoint />
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<geom mesh="base_0" material="black" class="visual" />
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<geom mesh="base_1" material="black" class="visual" />
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<geom mesh="base_2" material="black" class="visual" />
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<geom mesh="base_3" material="white" class="visual" />
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<geom mesh="base_4" material="gray" class="visual" />
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<geom size="0.1881 0.04675 0.057" type="box" class="collision" />
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<geom size="0.05 0.045" pos="0.285 0 0.01" type="cylinder" class="collision" />
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<geom size="0.047" pos="0.293 0 -0.06" class="collision" />
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<site name="imu" pos="-0.02557 0 0.04232" />
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<body name="FL_hip" pos="0.1934 0.0465 0">
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<inertial pos="-0.0054 0.00194 -0.000105" quat="0.497014 0.499245 0.505462 0.498237"
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mass="0.678"
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diaginertia="0.00088403 0.000596003 0.000479967" />
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<joint name="FL_hip_joint" class="abduction" />
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<geom mesh="hip_0" material="metal" class="visual" />
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<geom mesh="hip_1" material="gray" class="visual" />
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<geom size="0.046 0.02" pos="0 0.08 0" quat="1 1 0 0" type="cylinder" class="collision" />
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<body name="FL_thigh" pos="0 0.0955 0">
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<inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623"
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mass="1.152"
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diaginertia="0.00594973 0.00584149 0.000878787" />
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<joint name="FL_thigh_joint" class="front_hip" />
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<geom mesh="thigh_0" material="metal" class="visual" />
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<geom mesh="thigh_1" material="gray" class="visual" />
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<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0"
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type="box" class="collision" />
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<body name="FL_calf" pos="0 0 -0.213">
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<inertial pos="0.00629595 -0.000622121 -0.141417"
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quat="0.710672 0.00154099 -0.00450087 0.703508"
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mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
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<joint name="FL_calf_joint" class="knee" />
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<geom mesh="calf" material="gray" class="visual" />
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<geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0"
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type="cylinder" class="collision" />
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<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0"
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type="cylinder" class="collision" />
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<body name="FL_wheel_link" pos="0 0 -0.2264">
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<inertial pos="-0.0 0.04 -0.0"
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quat="0.661419 0.248219 0.250051 0.662108" mass="0.98"
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diaginertia="0.003 0.0016 0.0016" />
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<joint name="FL_wheel_joint" pos="0 0 0" axis="0 1 0" />
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<geom type="mesh" rgba="0.15 0.15 0.15 1" mesh="wheel" pos="0 0.0 0"
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quat="0.0 1.0 0.0 0.0" />
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<geom pos="0 0.0 0" quat="0.0 1.0 0.0 0.0" type="mesh" mesh="wheel" class="foot" />
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</body>
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</body>
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</body>
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</body>
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<body name="FR_hip" pos="0.1934 -0.0465 0">
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<inertial pos="-0.0054 -0.00194 -0.000105" quat="0.498237 0.505462 0.499245 0.497014"
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mass="0.678"
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diaginertia="0.00088403 0.000596003 0.000479967" />
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<joint name="FR_hip_joint" class="abduction" />
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<geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 1 0 0" />
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<geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0" />
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<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder"
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class="collision" />
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<body name="FR_thigh" pos="0 -0.0955 0">
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<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533"
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mass="1.152"
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diaginertia="0.00594973 0.00584149 0.000878787" />
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<joint name="FR_thigh_joint" class="front_hip" />
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<geom mesh="thigh_mirror_0" material="metal" class="visual" />
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<geom mesh="thigh_mirror_1" material="gray" class="visual" />
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<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0"
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type="box" class="collision" />
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<body name="FR_calf" pos="0 0 -0.213">
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<inertial pos="0.00629595 0.000622121 -0.141417"
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quat="0.703508 -0.00450087 0.00154099 0.710672"
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mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
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<joint name="FR_calf_joint" class="knee" />
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<geom mesh="calf_mirror" material="gray" class="visual" />
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<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0"
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type="cylinder" class="collision" />
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<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0"
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type="cylinder" class="collision" />
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<body name="FR_wheel_link" pos="0 0 -0.2264">
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<inertial pos="-0.0 -0.04 -0.0"
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quat="0.661419 0.248219 0.250051 0.662108" mass="0.98"
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diaginertia="0.003 0.0016 0.0016" />
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<joint name="FR_wheel_joint" pos="0 0 0" axis="0 1 0" />
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<geom type="mesh" rgba="0.15 0.15 0.15 1" mesh="wheel" pos="0 -0.0 0" />
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<geom pos="0 0.0 0" type="mesh" mesh="wheel" class="foot"/>
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</body>
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</body>
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</body>
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</body>
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<body name="RL_hip" pos="-0.1934 0.0465 0">
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<inertial pos="0.0054 0.00194 -0.000105" quat="0.505462 0.498237 0.497014 0.499245"
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mass="0.678"
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diaginertia="0.00088403 0.000596003 0.000479967" />
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<joint name="RL_hip_joint" class="abduction" />
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<geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 0 1 0" />
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<geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0" />
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<geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder"
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class="collision" />
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<body name="RL_thigh" pos="0 0.0955 0">
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<inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623"
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mass="1.152"
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diaginertia="0.00594973 0.00584149 0.000878787" />
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<joint name="RL_thigh_joint" class="back_hip" />
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<geom mesh="thigh_0" material="metal" class="visual" />
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<geom mesh="thigh_1" material="gray" class="visual" />
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<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0"
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type="box" class="collision" />
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<body name="RL_calf" pos="0 0 -0.213">
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<inertial pos="0.00629595 -0.000622121 -0.141417"
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quat="0.710672 0.00154099 -0.00450087 0.703508"
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mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
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<joint name="RL_calf_joint" class="knee" />
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<geom mesh="calf" material="gray" class="visual" />
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<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0"
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type="cylinder" class="collision" />
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<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0"
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type="cylinder" class="collision" />
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<body name="RL_wheel_link" pos="0 0 -0.2264">
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<inertial pos="-0.0 0.04 -0.0"
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quat="0.661419 0.248219 0.250051 0.662108" mass="0.98"
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diaginertia="0.003 0.0016 0.0016" />
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<joint name="RL_wheel_joint" pos="0 0 0" axis="0 1 0" />
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<geom type="mesh" rgba="0.15 0.15 0.15 1" mesh="wheel" pos="0 0.0 0"
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quat="0.0 1.0 0.0 0.0" />
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<geom pos="0 0.0 0" quat="0.0 1.0 0.0 0.0" type="mesh" mesh="wheel" class="foot"/>
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</body>
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</body>
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</body>
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</body>
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<body name="RR_hip" pos="-0.1934 -0.0465 0">
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<inertial pos="0.0054 -0.00194 -0.000105" quat="0.499245 0.497014 0.498237 0.505462"
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mass="0.678"
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diaginertia="0.00088403 0.000596003 0.000479967" />
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<joint name="RR_hip_joint" class="abduction" />
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<geom mesh="hip_0" material="metal" class="visual"
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quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" />
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<geom mesh="hip_1" material="gray" class="visual"
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quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" />
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<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder"
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class="collision" />
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<body name="RR_thigh" pos="0 -0.0955 0">
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<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533"
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mass="1.152"
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diaginertia="0.00594973 0.00584149 0.000878787" />
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<joint name="RR_thigh_joint" class="back_hip" />
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<geom mesh="thigh_mirror_0" material="metal" class="visual" />
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<geom mesh="thigh_mirror_1" material="gray" class="visual" />
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<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0"
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type="box" class="collision" />
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<body name="RR_calf" pos="0 0 -0.213">
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<inertial pos="0.00629595 0.000622121 -0.141417"
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quat="0.703508 -0.00450087 0.00154099 0.710672"
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mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
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<joint name="RR_calf_joint" class="knee" />
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<geom mesh="calf_mirror" material="gray" class="visual" />
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<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0"
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type="cylinder" class="collision" />
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<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0"
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type="cylinder" class="collision" />
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<body name="RR_wheel_link" pos="0 0 -0.2264">
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<inertial pos="-0.0 -0.04 -0.0"
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quat="0.661419 0.248219 0.250051 0.662108" mass="0.98"
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diaginertia="0.003 0.0016 0.0016" />
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<joint name="RR_wheel_joint" pos="0 0 0" axis="0 1 0" />
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<geom type="mesh" rgba="0.15 0.15 0.15 1" mesh="wheel" pos="0 -0.00 0" />
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<geom pos="0 0.0 0" type="mesh" mesh="wheel" class="foot"/>
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</body>
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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 class="abduction" name="FR_hip" joint="FR_hip_joint" />
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<motor class="hip" name="FR_thigh" joint="FR_thigh_joint" />
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<motor class="knee" name="FR_calf" joint="FR_calf_joint" />
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<motor class="abduction" name="FL_hip" joint="FL_hip_joint" />
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<motor class="hip" name="FL_thigh" joint="FL_thigh_joint" />
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<motor class="knee" name="FL_calf" joint="FL_calf_joint" />
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<motor class="abduction" name="RR_hip" joint="RR_hip_joint" />
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<motor class="hip" name="RR_thigh" joint="RR_thigh_joint" />
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<motor class="knee" name="RR_calf" joint="RR_calf_joint" />
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<motor class="abduction" name="RL_hip" joint="RL_hip_joint" />
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<motor class="hip" name="RL_thigh" joint="RL_thigh_joint" />
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<motor class="knee" name="RL_calf" joint="RL_calf_joint" />
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<motor ctrlrange="-15 15" name="FR_wheel" joint="FR_wheel_joint" />
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<motor ctrlrange="-15 15" name="FL_wheel" joint="FL_wheel_joint" />
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<motor ctrlrange="-15 15" name="RR_wheel" joint="RR_wheel_joint" />
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<motor ctrlrange="-15 15" name="RL_wheel" joint="RL_wheel_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" />
|
||||
<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" />
|
||||
|
||||
<jointpos name="FR_wheel_pos" joint="FR_wheel_joint" />
|
||||
<jointpos name="FL_wheel_pos" joint="FL_wheel_joint" />
|
||||
<jointpos name="RR_wheel_pos" joint="RR_wheel_joint" />
|
||||
<jointpos name="RL_wheel_pos" joint="RL_wheel_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" />
|
||||
|
||||
<jointvel name="FR_wheel_vel" joint="FR_wheel_joint" noise="0.0"/>
|
||||
<jointvel name="FL_wheel_vel" joint="FL_wheel_joint" noise="0.0"/>
|
||||
<jointvel name="RR_wheel_vel" joint="RR_wheel_joint" noise="0.0"/>
|
||||
<jointvel name="RL_wheel_vel" joint="RL_wheel_joint" noise="0.0"/>
|
||||
|
||||
<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" />
|
||||
|
||||
<jointactuatorfrc name="FR_wheel_torque" joint="FR_wheel_joint" />
|
||||
<jointactuatorfrc name="FL_wheel_torque" joint="FL_wheel_joint" />
|
||||
<jointactuatorfrc name="RR_wheel_torque" joint="RR_wheel_joint" />
|
||||
<jointactuatorfrc name="RL_wheel_torque" joint="RL_wheel_joint" />
|
||||
|
||||
<framequat name="imu_quat" objtype="site" objname="imu" noise="0.0"/>
|
||||
<gyro name="imu_gyro" site="imu" noise="0.0"/>
|
||||
<accelerometer name="imu_acc" site="imu" />
|
||||
|
||||
<framepos name="frame_pos" objtype="site" objname="imu" />
|
||||
<framelinvel name="frame_vel" objtype="site" objname="imu" />
|
||||
</sensor>
|
||||
|
||||
</mujoco>
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 4.8 KiB |
|
|
@ -0,0 +1,33 @@
|
|||
<mujoco model="go2w scene">
|
||||
<include file="go2w.xml"/>
|
||||
|
||||
<statistic center="0 0 0.1" extent="0.8"/>
|
||||
|
||||
<visual>
|
||||
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<global azimuth="-130" elevation="-20"/>
|
||||
</visual>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
||||
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
|
||||
markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
||||
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
|
||||
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
|
||||
|
||||
<geom pos="1.2 0 0.04" type="box" size="0.1 2 0.04" quat="1.0 0 0 0"/>
|
||||
<geom pos="1.6 0 0.04" type="box" size="0.1 2 0.04" quat="1.0 0 0 0"/>
|
||||
|
||||
<geom pos="2.3 0 0.02" type="box" size="0.2 2 0.15" quat="1.0 0 0 0"/>
|
||||
<geom pos="2.6 0 0.02" type="box" size="0.22 2 0.3" quat="1.0 0 0 0"/>
|
||||
<geom pos="2.8 0 0.02" type="box" size="0.23 2 0.45" quat="1.0 0 0 0"/>
|
||||
<geom pos="3 0 0.02" type="box" size="0.24 2 0.6" quat="1.0 0 0 0"/>
|
||||
<geom pos="3.2 0 0.02" type="box" size="0.25 2 0.75" quat="1.0 0 0 0"/>
|
||||
<geom pos="3.4 0 0.02" type="box" size="0.26 2 0.9" quat="1.0 0 0 0"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
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|
After Width: | Height: | Size: 14 KiB |
Loading…
Reference in New Issue