196 lines
14 KiB
XML
196 lines
14 KiB
XML
<mujoco model="go1_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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<motor ctrlrange="-33.5 33.5" ctrllimited="true"/>
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<camera fovy="60"/>
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<joint damping="0.01" armature="0.01" frictionloss="0.2" />
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</default>
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=
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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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<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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<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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<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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<body name="trunk" pos="0 0 0.35">
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<inertial pos="0.0116053 0.00442221 0.000106692" quat="0.0111438 0.707126 -0.00935374 0.706938" mass="4.801" diaginertia="0.0447997 0.0366257 0.0162187" />
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<joint type="free" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="trunk" />
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<geom size="0.13 0.04675 0.057" type="box" rgba="0.913725 0.913725 0.847059 1" />
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<geom size="0.0005 0.0005 0.0005" pos="-0.01592 -0.06659 -0.00617" type="box" contype="0" conaffinity="0" group="1" rgba="0.8 0 0 0" />
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<geom size="0.0005 0.0005 0.0005" pos="-0.01592 -0.06659 -0.00617" type="box" rgba="0.8 0 0 0" />
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<site name="imu" pos="0 0 0"/>
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<body name="FR_hip" pos="0.1881 -0.04675 0">
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<inertial pos="-0.00406411 -0.0193463 4.50733e-06" quat="0.467526 0.531662 -0.466259 0.530431" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
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<joint name="FR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
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<geom quat="0 1 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
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<geom size="0.046 0.02" pos="0 -0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
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<geom size="0.031 0.02" pos="0 -0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
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<body name="FR_thigh" pos="0 -0.08 0">
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<inertial pos="-0.003468 0.018947 -0.032736" quat="0.999266 0.00067676 -0.0382978 0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
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<joint name="FR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh_mirror" />
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<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
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<body name="FR_calf" pos="0 0 -0.213">
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<inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-05" />
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<joint name="FR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
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<geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
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<geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
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<geom size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
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</body>
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</body>
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</body>
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<body name="FL_hip" pos="0.1881 0.04675 0">
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<inertial pos="-0.00406411 0.0193463 4.50733e-06" quat="0.531662 0.467526 -0.530431 0.466259" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
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<joint name="FL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
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<geom size="0.046 0.02" pos="0 0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
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<geom size="0.031 0.02" pos="0 0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
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<body name="FL_thigh" pos="0 0.08 0">
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<inertial pos="-0.003468 -0.018947 -0.032736" quat="0.999266 -0.00067676 -0.0382978 -0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
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<joint name="FL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh" />
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<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
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<body name="FL_calf" pos="0 0 -0.213">
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<inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-05" />
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<joint name="FL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
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<geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
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<geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
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<geom size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
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</body>
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</body>
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</body>
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<body name="RR_hip" pos="-0.1881 -0.04675 0">
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<inertial pos="0.00406411 -0.0193463 4.50733e-06" quat="0.530431 0.466259 -0.531662 0.467526" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
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<joint name="RR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
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<geom quat="0 0 0 -1" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
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<geom size="0.046 0.02" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 1" />
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<geom size="0.046 0.02" pos="0 -0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
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<geom size="0.031 0.02" pos="0 -0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
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<body name="RR_thigh" pos="0 -0.08 0">
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<inertial pos="-0.003468 0.018947 -0.032736" quat="0.999266 0.00067676 -0.0382978 0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
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<joint name="RR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh_mirror" />
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<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
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<body name="RR_calf" pos="0 0 -0.213">
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<inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-05" />
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<joint name="RR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
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<geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
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<geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
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<geom size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
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</body>
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</body>
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</body>
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<body name="RL_hip" pos="-0.1881 0.04675 0">
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<inertial pos="0.00406411 0.0193463 4.50733e-06" quat="0.466259 0.530431 -0.467526 0.531662" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
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<joint name="RL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
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<geom quat="0 0 1 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
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<geom size="0.046 0.02" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 1" />
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<geom size="0.046 0.02" pos="0 0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
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<geom size="0.031 0.02" pos="0 0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
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<body name="RL_thigh" pos="0 0.08 0">
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<inertial pos="-0.003468 -0.018947 -0.032736" quat="0.999266 -0.00067676 -0.0382978 -0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
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<joint name="RL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh" />
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<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
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<body name="RL_calf" pos="0 0 -0.213">
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<inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-05" />
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<joint name="RL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
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<geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
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<geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
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<geom size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
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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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<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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</sensor>
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</mujoco>
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