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<mujoco model="go1">
<compiler angle="radian" meshdir="meshes" autolimits="true"/>
<option iterations="1" ls_iterations="5" timestep="0.004" integrator="Euler">
<flag eulerdamp="disable"/>
</option>
<custom>
<numeric data="30" name="max_contact_points"/>
<numeric data="12" name="max_geom_pairs"/>
</custom>
<default>
<default class="go1">
<geom condim="1"/>
<joint axis="0 1 0" armature="0.005" damping="0.5"/>
<default class="abduction">
<joint axis="1 0 0" range="-0.863 0.863" frictionloss="0.3"/>
</default>
<default class="hip">
<joint range="-0.686 4.501" frictionloss="0.3"/>
</default>
<default class="knee">
<joint range="-2.818 -0.888" frictionloss="1.0"/>
</default>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2" material="dark"/>
</default>
<default class="collision">
<geom group="3" type="capsule"/>
<default class="hip_left1">
<geom size="0.046 0.02" pos="0 0.045 0" quat="1 1 0 0" type="cylinder"/>
</default>
<default class="hip_left2">
<geom size="0.031 0.02" pos="0 0.065 0" quat="1 1 0 0" type="cylinder"/>
</default>
<default class="hip_left3">
<geom size="0.046 0.02" quat="1 1 0 0" type="cylinder"/>
</default>
<default class="hip_right1">
<geom size="0.046 0.02" pos="0 -0.045 0" quat="1 1 0 0" type="cylinder"/>
</default>
<default class="hip_right2">
<geom size="0.031 0.02" pos="0 -0.065 0" quat="1 1 0 0" type="cylinder"/>
</default>
<default class="hip_right3">
<geom size="0.046 0.02" quat="1 1 0 0" type="cylinder"/>
</default>
<default class="thigh1">
<geom size="0.015" fromto="-0.02 0 0 -0.02 0 -0.16"/>
</default>
<default class="thigh2">
<geom size="0.015" fromto="0 0 0 -0.02 0 -0.1"/>
</default>
<default class="thigh3">
<geom size="0.015" fromto="-0.02 0 -0.16 0 0 -0.2"/>
</default>
<default class="calf1">
<geom size="0.01" fromto="0 0 0 0.02 0 -0.13"/>
</default>
<default class="calf2">
<geom size="0.01" fromto="0.02 0 -0.13 0 0 -0.2"/>
</default>
<default class="foot">
<geom type="sphere" size="0.023" pos="0 0 -0.213" solimp="0.9 .95 0.023" condim="3"/>
</default>
</default>
</default>
</default>
<asset>
<material name="dark" rgba="0.2 0.2 0.2 1"/>
<mesh class="go1" file="trunk.stl"/>
<mesh class="go1" file="hip.stl"/>
<mesh class="go1" file="thigh_mirror.stl"/>
<mesh class="go1" file="calf.stl"/>
<mesh class="go1" file="thigh.stl"/>
</asset>
<worldbody>
<light name="spotlight" mode="targetbodycom" target="trunk" pos="3 0 4"/>
<body name="trunk" pos="0 0 0.445" childclass="go1">
<camera name="track" pos="0.846 -1.3 0.316" xyaxes="0.866 0.500 0.000 -0.171 0.296 0.940" mode="trackcom"/>
<camera name="top" pos="-1 0 1" xyaxes="0 -1 0 0.7 0 0.7" mode="trackcom"/>
<camera name="side" pos="0 -1 .3" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
<camera name="back" pos="-1 0 .3" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
<site name="head" pos="0.3 0 0" rgba="1 0 0 1" size="0.02" group="5"/>
<inertial pos="0.0223 0.002 -0.0005" quat="-0.00342088 0.705204 0.000106698 0.708996" mass="5.204"
diaginertia="0.0716565 0.0630105 0.0168101"/>
<freejoint/>
<geom class="visual" mesh="trunk"/>
<geom class="collision" quat="1 0 1 0" pos="0 -0.04 0" size="0.058 0.125" type="cylinder"/>
<geom class="collision" quat="1 0 1 0" pos="0 +0.04 0" size="0.058 0.125" type="cylinder"/>
<site name="imu" pos="-0.01592 -0.06659 -0.00617" group="5"/>
<body name="FR_hip" pos="0.1881 -0.04675 0">
<inertial pos="-0.0049166 0.00762615 -8.865e-05" quat="0.507341 0.514169 0.495027 0.482891" mass="0.68"
diaginertia="0.000734064 0.000468438 0.000398719"/>
<joint class="abduction" name="FR_hip_joint"/>
<geom class="visual" mesh="hip" quat="1 0 0 0"/>
<geom name="fr_hip" class="hip_right1"/>
<body name="FR_thigh" pos="0 -0.08 0">
<inertial pos="-0.00304722 0.019315 -0.0305004" quat="0.65243 -0.0272313 0.0775126 0.753383" mass="1.009"
diaginertia="0.00478717 0.00460903 0.000709268"/>
<joint class="hip" name="FR_thigh_joint"/>
<geom class="visual" mesh="thigh_mirror"/>
<geom name="fr_thigh1" class="thigh1"/>
<geom name="fr_thigh2" class="thigh2"/>
<geom name="fr_thigh3" class="thigh3"/>
<body name="FR_calf" pos="0 0 -0.213">
<inertial pos="0.00429862 0.000976676 -0.146197" quat="0.691246 0.00357467 0.00511118 0.722592"
mass="0.195862" diaginertia="0.00149767 0.00148468 3.58427e-05"/>
<joint class="knee" name="FR_calf_joint"/>
<geom class="visual" mesh="calf"/>
<geom name="fr_calf1" class="calf1"/>
<geom name="fr_calf2" class="calf2"/>
<geom name="FR" class="foot"/>
<site name="FR" pos="0 0 -0.213" type="sphere" size="0.023" group="5"/>
</body>
</body>
</body>
<body name="FL_hip" pos="0.1881 0.04675 0">
<inertial pos="-0.0049166 -0.00762615 -8.865e-05" quat="0.482891 0.495027 0.514169 0.507341" mass="0.68"
diaginertia="0.000734064 0.000468438 0.000398719"/>
<joint class="abduction" name="FL_hip_joint"/>
<geom class="visual" mesh="hip"/>
<geom name="fl_hip" class="hip_left1"/>
<body name="FL_thigh" pos="0 0.08 0">
<inertial pos="-0.00304722 -0.019315 -0.0305004" quat="0.753383 0.0775126 -0.0272313 0.65243" mass="1.009"
diaginertia="0.00478717 0.00460903 0.000709268"/>
<joint class="hip" name="FL_thigh_joint"/>
<geom class="visual" mesh="thigh"/>
<geom name="fl_thigh1" class="thigh1"/>
<geom name="fl_thigh2" class="thigh2"/>
<geom name="fl_thigh3" class="thigh3"/>
<body name="FL_calf" pos="0 0 -0.213">
<inertial pos="0.00429862 0.000976676 -0.146197" quat="0.691246 0.00357467 0.00511118 0.722592"
mass="0.195862" diaginertia="0.00149767 0.00148468 3.58427e-05"/>
<joint class="knee" name="FL_calf_joint"/>
<geom class="visual" mesh="calf"/>
<geom name="fl_calf1" class="calf1"/>
<geom name="fl_calf2" class="calf2"/>
<geom name="FL" class="foot"/>
<site name="FL" pos="0 0 -0.213" type="sphere" size="0.023" group="5"/>
</body>
</body>
</body>
<body name="RR_hip" pos="-0.1881 -0.04675 0">
<inertial pos="0.0049166 0.00762615 -8.865e-05" quat="0.495027 0.482891 0.507341 0.514169" mass="0.68"
diaginertia="0.000734064 0.000468438 0.000398719"/>
<joint class="abduction" name="RR_hip_joint"/>
<geom class="visual" quat="0 0 0 -1" mesh="hip"/>
<geom name="rr_hip" class="hip_right1"/>
<body name="RR_thigh" pos="0 -0.08 0">
<inertial pos="-0.00304722 0.019315 -0.0305004" quat="0.65243 -0.0272313 0.0775126 0.753383" mass="1.009"
diaginertia="0.00478717 0.00460903 0.000709268"/>
<joint class="hip" name="RR_thigh_joint"/>
<geom class="visual" mesh="thigh_mirror"/>
<geom name="rr_thigh1" class="thigh1"/>
<geom name="rr_thigh2" class="thigh2"/>
<geom name="rr_thigh3" class="thigh3"/>
<body name="RR_calf" pos="0 0 -0.213">
<inertial pos="0.00429862 0.000976676 -0.146197" quat="0.691246 0.00357467 0.00511118 0.722592"
mass="0.195862" diaginertia="0.00149767 0.00148468 3.58427e-05"/>
<joint class="knee" name="RR_calf_joint"/>
<geom class="visual" mesh="calf"/>
<geom name="rr_calf1" class="calf1"/>
<geom name="rr_calf2" class="calf2"/>
<geom name="RR" class="foot"/>
<site name="RR" pos="0 0 -0.213" type="sphere" size="0.023" group="5"/>
</body>
</body>
</body>
<body name="RL_hip" pos="-0.1881 0.04675 0">
<inertial pos="0.0049166 -0.00762615 -8.865e-05" quat="0.514169 0.507341 0.482891 0.495027" mass="0.68"
diaginertia="0.000734064 0.000468438 0.000398719"/>
<joint class="abduction" name="RL_hip_joint"/>
<geom class="visual" quat="0 0 1 0" mesh="hip"/>
<geom name="rl_hip" class="hip_left1"/>
<body name="RL_thigh" pos="0 0.08 0">
<inertial pos="-0.00304722 -0.019315 -0.0305004" quat="0.753383 0.0775126 -0.0272313 0.65243" mass="1.009"
diaginertia="0.00478717 0.00460903 0.000709268"/>
<joint class="hip" name="RL_thigh_joint"/>
<geom class="visual" mesh="thigh"/>
<geom name="rl_thigh1" class="thigh1"/>
<geom name="rl_thigh2" class="thigh2"/>
<geom name="rl_thigh3" class="thigh3"/>
<body name="RL_calf" pos="0 0 -0.213">
<inertial pos="0.00429862 0.000976676 -0.146197" quat="0.691246 0.00357467 0.00511118 0.722592"
mass="0.195862" diaginertia="0.00149767 0.00148468 3.58427e-05"/>
<joint class="knee" name="RL_calf_joint"/>
<geom class="visual" mesh="calf"/>
<geom name="rl_calf1" class="calf1"/>
<geom name="rl_calf2" class="calf2"/>
<geom name="RL" class="foot"/>
<site name="RL" pos="0 0 -0.213" type="sphere" size="0.023" group="5"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="FR_hip" joint="FR_hip_joint" gear="1" ctrlrange="-23.7 23.7"/>
<motor name="FR_thigh" joint="FR_thigh_joint" gear="1" ctrlrange="-23.7 23.7"/>
<motor name="FR_calf" joint="FR_calf_joint" gear="1" ctrlrange="-35.55 35.55"/>
<motor name="FL_hip" joint="FL_hip_joint" gear="1" ctrlrange="-23.7 23.7"/>
<motor name="FL_thigh" joint="FL_thigh_joint" gear="1" ctrlrange="-23.7 23.7"/>
<motor name="FL_calf" joint="FL_calf_joint" gear="1" ctrlrange="-35.55 35.55"/>
<motor name="RR_hip" joint="RR_hip_joint" gear="1" ctrlrange="-23.7 23.7"/>
<motor name="RR_thigh" joint="RR_thigh_joint" gear="1" ctrlrange="-23.7 23.7"/>
<motor name="RR_calf" joint="RR_calf_joint" gear="1" ctrlrange="-35.55 35.55"/>
<motor name="RL_hip" joint="RL_hip_joint" gear="1" ctrlrange="-23.7 23.7"/>
<motor name="RL_thigh" joint="RL_thigh_joint" gear="1" ctrlrange="-23.7 23.7"/>
<motor name="RL_calf" joint="RL_calf_joint" gear="1" ctrlrange="-35.55 35.55"/>
</actuator>
<sensor>
<gyro site="imu" name="gyro"/>
<velocimeter site="imu" name="local_linvel"/>
<accelerometer site="imu" name="accelerometer"/>
<framepos objtype="site" objname="imu" name="position"/>
<framezaxis objtype="site" objname="imu" name="upvector"/>
<framexaxis objtype="site" objname="imu" name="forwardvector"/>
<framelinvel objtype="site" objname="imu" name="global_linvel"/>
<frameangvel objtype="site" objname="imu" name="global_angvel"/>
<framequat objtype="site" objname="imu" name="orientation"/>
<framelinvel objtype="site" objname="FR" name="FR_global_linvel"/>
<framelinvel objtype="site" objname="FL" name="FL_global_linvel"/>
<framelinvel objtype="site" objname="RR" name="RR_global_linvel"/>
<framelinvel objtype="site" objname="RL" name="RL_global_linvel"/>
<framepos objtype="site" objname="FR" name="FR_pos" reftype="site" refname="imu"/>
<framepos objtype="site" objname="FL" name="FL_pos" reftype="site" refname="imu"/>
<framepos objtype="site" objname="RR" name="RR_pos" reftype="site" refname="imu"/>
<framepos objtype="site" objname="RL" name="RL_pos" reftype="site" refname="imu"/>
<framepos objtype="site" objname="head" name="head_pos"/>
</sensor>
</mujoco>
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<mujoco model="go1 feetonly flat terrain scene">
<include file="go1.xml"/>
<statistic center="0 0 0.1" extent="0.8" meansize="0.04"/>
<visual>
<headlight diffuse=".8 .8 .8" ambient=".2 .2 .2" specular="1 1 1"/>
<rgba force="1 0 0 1"/>
<global azimuth="120" elevation="-20"/>
<map force="0.01"/>
<scale forcewidth="0.3" contactwidth="0.5" contactheight="0.2"/>
<quality shadowsize="8192"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="800" height="800"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" markrgb="0 0 0"
width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0"/>
</asset>
<worldbody>
<geom name="floor" size="0 0 0.01" type="plane" material="groundplane" contype="1" conaffinity="0" priority="1"
friction="0.6" condim="3"/>
</worldbody>
<sensor>
<contact name="FR_floor_found" geom1="FR" geom2="floor" reduce="mindist" num="1" data="found"/>
<contact name="FL_floor_found" geom1="FL" geom2="floor" reduce="mindist" num="1" data="found"/>
<contact name="RL_floor_found" geom1="RL" geom2="floor" reduce="mindist" num="1" data="found"/>
<contact name="RR_floor_found" geom1="RR" geom2="floor" reduce="mindist" num="1" data="found"/>
</sensor>
<keyframe>
<key name="home" qpos="
0 0 0.278
1 0 0 0
0.1 0.9 -1.8
-0.1 0.9 -1.8
0.1 0.9 -1.8
-0.1 0.9 -1.8"
ctrl="0.1 0.9 -1.8 -0.1 0.9 -1.8 0.1 0.9 -1.8 -0.1 0.9 -1.8"/>
<key name="home_higher" qpos="0 0 0.31 1 0 0 0 0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63"
ctrl="0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63"/>
<key
name="footstand"
qpos='
0 0 0.54
0.8 0 -0.8 0
0 0.82 -1.6 0 0.82 -1.68 0 1.82 -1.16 0.0 1.82 -1.16'
ctrl='0 0.82 -1.6 0 0.82 -1.68 0 1.82 -1.16 0.0 1.82 -1.16'/>
<key name="handstand"
qpos="0 0 0.54
0.8 0 0.8 0
0 -0.686 -1.16
0 -0.686 -1.16
0 1.7 -1.853
0 1.7 -1.853"
ctrl="0 -0.686 -1.16 0 -0.686 -1.16 0 1.7 -1.853 0 1.7 -1.853"/>
<key name="pre_recovery"
qpos="-0.0318481 -0.000215369 0.0579031 1 -2.70738e-05 6.06169e-05 0.000231261 -0.352275 1.18554 -2.80738 0.360892 1.1806 -2.80281 -0.381197 1.16812 -2.79123 0.391054 1.1622 -2.78576"
ctrl="-0.352275 1.18554 -2.80738 0.360892 1.1806 -2.80281 -0.381197 1.16812 -2.79123 0.391054 1.1622 -2.78576"/>
</keyframe>
</mujoco>
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