<mujoco model="go2">
  <compiler angle="radian" 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="go2">
      <geom condim="1"/>
      <joint axis="0 1 0" damping="2" armature="0.01"/>
      <general forcerange="-24 24" biastype="affine" gainprm="80 0 0" biasprm="0 -80 -1"/>

      <default class="abduction">
        <joint axis="1 0 0" range="-1.0472 1.0472"/>
        <general ctrlrange="-0.9472 0.9472"/>
      </default>
      <default class="hip">
        <joint range="-1.5708 3.4907"/>
        <general ctrlrange="-1.4 2.5"/>
      </default>
      <default class="knee">
        <joint range="-2.7227 -0.83776"/>
        <general ctrlrange="-2.6227 -0.84776"/>
      </default>
      <default class="visual">
        <geom type="mesh" contype="0" conaffinity="0" group="0"/>
      </default>
      <default class="go2foot">
        <site pos="0 0 -0.213" type="sphere" size="0.023" group="5"/>
        <geom rgba="0.231373 0.380392 0.705882 1"/>
      </default>
      <default class="collision">
        <geom group="3"/>
        <default class="foot">
          <geom type="sphere" size="0.0175" pos="-0.002 0 -0.213" solimp="0.9 .95 0.023" condim="3"/>
        </default>
      </default>
    </default>
  </default>

  <asset>
    <material name="metal" rgba=".9 .95 .95 1"/>
    <material name="black" rgba="0 0 0 1"/>
    <material name="white" rgba="1 1 1 1"/>
    <material name="gray" rgba="0.671705 0.692426 0.774270 1"/>

    <mesh file="assets/base_0.obj"/>
    <mesh file="assets/base_1.obj"/>
    <mesh file="assets/base_2.obj"/>
    <mesh file="assets/base_3.obj"/>
    <mesh file="assets/base_4.obj"/>
    <mesh file="assets/hip_0.obj"/>
    <mesh file="assets/hip_1.obj"/>
    <mesh file="assets/thigh_0.obj"/>
    <mesh file="assets/thigh_1.obj"/>
    <mesh file="assets/thigh_mirror_0.obj"/>
    <mesh file="assets/thigh_mirror_1.obj"/>
    <mesh file="assets/calf_0.obj"/>
    <mesh file="assets/calf_1.obj"/>
    <mesh file="assets/calf_mirror_0.obj"/>
    <mesh file="assets/calf_mirror_1.obj"/>
    <mesh file="assets/foot.obj"/>
  </asset>

  <worldbody>
    <light name="spotlight" mode="targetbodycom" target="base" pos="3 0 4"/>
    <body name="base" pos="0 0 0.445" childclass="go2">
      <camera name="track" pos="0.846 -1.465 0.916" xyaxes="0.866 0.500 0.000 -0.171 0.296 0.940" mode="trackcom"/>
      <camera name="head_camera" pos="0.32 0 0.04" xyaxes="0 -1 0 0 0 1"/>
      <inertial pos="0.021112 0 -0.005366" quat="-0.000543471 0.713435 -0.00173769 0.700719" mass="6.921"
        diaginertia="0.107027 0.0980771 0.0244531"/>
      <freejoint/>
      <!-- <body name="base_0">
        <geom mesh="base_0" material="black" class="visual"/>
      </body> -->
      <geom mesh="base_0" material="black" class="visual"/>
      <geom mesh="base_1" material="black" class="visual"/>
      <geom mesh="base_2" material="black" class="visual"/>
      <geom mesh="base_3" material="white" class="visual"/>
      <geom mesh="base_4" material="gray" class="visual"/>
      <geom name="base_collision_0" size="0.057 0.04675 0.057" class="collision"/>
      <geom name="base_collision_1" size="0.05 0.045" pos="0.285 0 0.01" class="collision"/>
      <geom name="base_collision_2" size="0.047" pos="0.293 0 -0.06" class="collision"/>
      <site name="imu" pos="-0.02557 0 0.04232"/>
      <site name="lidar" pos="0.295 0 -0.075" quat="0.05 0 1 0" rgba="1 0 0 1" size="0.005" group="5"/>
      <body name="FL_hip" pos="0.1934 0.0465 0">
        <inertial pos="-0.0054 0.00194 -0.000105" quat="0.497014 0.499245 0.505462 0.498237" mass="0.678"
          diaginertia="0.00088403 0.000596003 0.000479967"/>
        <joint name="FL_hip_joint" class="abduction"/>
        <geom mesh="hip_0" material="metal" class="visual"/>
        <geom mesh="hip_1" material="gray" class="visual"/>
        <geom name="fl_hip_0" size="0.046 0.02" pos="0 0.08 0" quat="1 1 0 0" class="collision"/>
        <body name="FL_thigh" pos="0 0.0955 0">
          <inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152"
            diaginertia="0.00594973 0.00584149 0.000878787"/>
          <joint name="FL_thigh_joint" class="hip"/>
          <geom mesh="thigh_0" material="metal" class="visual"/>
          <geom mesh="thigh_1" material="gray" class="visual"/>
          <geom name="fl_thigh_0" size="0.017 0.01225 0.017" pos="-0.015 0 -0.1955" quat="0.707107 0 0.707107 0" class="collision"/>
          <body name="FL_calf" pos="0 0 -0.213">
            <inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508"
              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
            <joint name="FL_calf_joint" class="knee"/>
            <geom mesh="calf_0" material="gray" class="visual"/>
            <geom mesh="calf_1" material="black" class="visual"/>
            <geom name="fl_calf_0" size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0" class="collision"/>
            <geom name="fl_calf_1" size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" class="collision"/>
            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
            <geom name="FL_foot" class="foot"/>
            <site name="FL" class="go2foot"/>
          </body>
        </body>
      </body>
      <body name="FR_hip" pos="0.1934 -0.0465 0">
        <inertial pos="-0.0054 -0.00194 -0.000105" quat="0.498237 0.505462 0.499245 0.497014" mass="0.678"
          diaginertia="0.00088403 0.000596003 0.000479967"/>
        <joint name="FR_hip_joint" class="abduction"/>
        <geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 1 0 0"/>
        <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0"/>
        <geom name="fr_hip_0" size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" class="collision"/>
        <body name="FR_thigh" pos="0 -0.0955 0">
          <inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152"
            diaginertia="0.00594973 0.00584149 0.000878787"/>
          <joint name="FR_thigh_joint" class="hip"/>
          <geom mesh="thigh_mirror_0" material="metal" class="visual"/>
          <geom mesh="thigh_mirror_1" material="gray" class="visual"/>
          <geom name="fr_thigh_0" size="0.017 0.01225 0.017" pos="-0.015 0 -0.1955" quat="0.707107 0 0.707107 0" class="collision"/>
          <body name="FR_calf" pos="0 0 -0.213">
            <inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672"
              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
            <joint name="FR_calf_joint" class="knee"/>
            <geom mesh="calf_mirror_0" material="gray" class="visual"/>
            <geom mesh="calf_mirror_1" material="black" class="visual"/>
            <geom name="fr_calf_0" size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" class="collision"/>
            <geom name="fr_calf_1" size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" class="collision"/>
            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
            <geom name="FR_foot" class="foot"/>
            <site name="FR" class="go2foot"/>
          </body>
        </body>
      </body>
      <body name="RL_hip" pos="-0.1934 0.0465 0">
        <inertial pos="0.0054 0.00194 -0.000105" quat="0.505462 0.498237 0.497014 0.499245" mass="0.678"
          diaginertia="0.00088403 0.000596003 0.000479967"/>
        <joint name="RL_hip_joint" class="abduction"/>
        <geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 0 1 0"/>
        <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0"/>
        <geom name="rl_hip_0" size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" class="collision"/>
        <body name="RL_thigh" pos="0 0.0955 0">
          <inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152"
            diaginertia="0.00594973 0.00584149 0.000878787"/>
          <joint name="RL_thigh_joint" class="hip"/>
          <geom mesh="thigh_0" material="metal" class="visual"/>
          <geom mesh="thigh_1" material="gray" class="visual"/>
          <geom name="rl_thigh_0" size="0.017 0.01225 0.017" pos="-0.015 0 -0.1955" quat="0.707107 0 0.707107 0" class="collision"/>
          <body name="RL_calf" pos="0 0 -0.213">
            <inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508"
              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
            <joint name="RL_calf_joint" class="knee"/>
            <geom mesh="calf_0" material="gray" class="visual"/>
            <geom mesh="calf_1" material="black" class="visual"/>
            <geom name="rl_calf_0" size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" class="collision"/>
            <geom name="rl_calf_1" size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" class="collision"/>
            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
            <geom name="RL_foot" class="foot"/>
            <site name="RL" class="go2foot"/>
          </body>
        </body>
      </body>
      <body name="RR_hip" pos="-0.1934 -0.0465 0">
        <inertial pos="0.0054 -0.00194 -0.000105" quat="0.499245 0.497014 0.498237 0.505462" mass="0.678"
          diaginertia="0.00088403 0.000596003 0.000479967"/>
        <joint name="RR_hip_joint" class="abduction"/>
        <geom mesh="hip_0" material="metal" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1"/>
        <geom mesh="hip_1" material="gray" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1"/>
        <geom name="rr_hip_0" size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" class="collision"/>
        <body name="RR_thigh" pos="0 -0.0955 0">
          <inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152"
            diaginertia="0.00594973 0.00584149 0.000878787"/>
          <joint name="RR_thigh_joint" class="hip"/>
          <geom mesh="thigh_mirror_0" material="metal" class="visual"/>
          <geom mesh="thigh_mirror_1" material="gray" class="visual"/>
          <geom name="rr_thigh_0" size="0.017 0.01225 0.017" pos="-0.015 0 -0.1955" quat="0.707107 0 0.707107 0" class="collision"/>
          <body name="RR_calf" pos="0 0 -0.213">
            <inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672"
              mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
            <joint name="RR_calf_joint" class="knee"/>
            <geom mesh="calf_mirror_0" material="gray" class="visual"/>
            <geom mesh="calf_mirror_1" material="black" class="visual"/>
            <geom name="rr_calf_0" size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" class="collision"/>
            <geom name="rr_calf_1" size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" class="collision"/>
            <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
            <geom name="RR_foot" class="foot"/>
            <site name="RR" class="go2foot"/>
          </body>
        </body>
      </body>
    </body>
  </worldbody>

  <actuator>
    <!-- <motor class="abduction" name="FL_hip" joint="FL_hip_joint"/>
    <motor class="hip" name="FL_thigh" joint="FL_thigh_joint"/>
    <motor class="knee" name="FL_calf" joint="FL_calf_joint"/>
    <motor class="abduction" name="FR_hip" joint="FR_hip_joint"/>
    <motor class="hip" name="FR_thigh" joint="FR_thigh_joint"/>
    <motor class="knee" name="FR_calf" joint="FR_calf_joint"/>
    <motor class="abduction" name="RL_hip" joint="RL_hip_joint"/>
    <motor class="hip" name="RL_thigh" joint="RL_thigh_joint"/>
    <motor class="knee" name="RL_calf" joint="RL_calf_joint"/>
    <motor class="abduction" name="RR_hip" joint="RR_hip_joint"/>
    <motor class="hip" name="RR_thigh" joint="RR_thigh_joint"/>
    <motor class="knee" name="RR_calf" joint="RR_calf_joint"/> -->
    <general class="abduction" name="FL_hip" joint="FL_hip_joint"/>
    <general class="hip" name="FL_thigh" joint="FL_thigh_joint"/>
    <general class="knee" name="FL_calf" joint="FL_calf_joint"/>
    <general class="abduction" name="FR_hip" joint="FR_hip_joint"/>
    <general class="hip" name="FR_thigh" joint="FR_thigh_joint"/>
    <general class="knee" name="FR_calf" joint="FR_calf_joint"/>
    <general class="abduction" name="RL_hip" joint="RL_hip_joint"/>
    <general class="hip" name="RL_thigh" joint="RL_thigh_joint"/>
    <general class="knee" name="RL_calf" joint="RL_calf_joint"/>
    <general class="abduction" name="RR_hip" joint="RR_hip_joint"/>
    <general class="hip" name="RR_thigh" joint="RR_thigh_joint"/>
    <general class="knee" name="RR_calf" joint="RR_calf_joint"/>
  </actuator>

  <sensor>
    <jointpos joint="FL_hip_joint" name="abduction_front_left_pos"/>
    <jointpos joint="FL_thigh_joint" name="hip_front_left_pos"/>
    <jointpos joint="FL_calf_joint" name="knee_front_left_pos"/>
    <jointpos joint="RL_hip_joint" name="abduction_hind_left_pos"/>
    <jointpos joint="RL_thigh_joint" name="hip_hind_left_pos"/>
    <jointpos joint="RL_calf_joint" name="knee_hind_left_pos"/>
    <jointpos joint="FR_hip_joint" name="abduction_front_right_pos"/>
    <jointpos joint="FR_thigh_joint" name="hip_front_right_pos"/>
    <jointpos joint="FR_calf_joint" name="knee_front_right_pos"/>
    <jointpos joint="RR_hip_joint" name="abduction_hind_right_pos"/>
    <jointpos joint="RR_thigh_joint" name="hip_hind_right_pos"/>
    <jointpos joint="RR_calf_joint" name="knee_hind_right_pos"/>
    <jointvel joint="FL_hip_joint" name="abduction_front_left_vel"/>
    <jointvel joint="FL_thigh_joint" name="hip_front_left_vel"/>
    <jointvel joint="FL_calf_joint" name="knee_front_left_vel"/>
    <jointvel joint="RL_hip_joint" name="abduction_hind_left_vel"/>
    <jointvel joint="RL_thigh_joint" name="hip_hind_left_vel"/>
    <jointvel joint="RL_calf_joint" name="knee_hind_left_vel"/>
    <jointvel joint="FR_hip_joint" name="abduction_front_right_vel"/>
    <jointvel joint="FR_thigh_joint" name="hip_front_right_vel"/>
    <jointvel joint="FR_calf_joint" name="knee_front_right_vel"/>
    <jointvel joint="RR_hip_joint" name="abduction_hind_right_vel"/>
    <jointvel joint="RR_thigh_joint" name="hip_hind_right_vel"/>
    <jointvel joint="RR_calf_joint" name="knee_hind_right_vel"/>

    <gyro site="imu" name="gyro"/>
    <accelerometer site="imu" name="accelerometer"/>
    <velocimeter site="imu" name="local_linvel"/>
    <framezaxis objtype="site" objname="imu" name="upvector"/>
    <framequat objtype="site" objname="imu" name="orientation"/>
    <framepos objtype="site" objname="imu" name="global_position"/>
    <framelinvel objtype="site" objname="imu" name="global_linvel"/>
    <frameangvel objtype="site" objname="imu" name="global_angvel"/>

    <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"/>
  </sensor>
</mujoco>