support MuJoCo sim2sim;

refactor resource files structure;
update readme;

README.md

@@ -2,7 +2,7 @@
 
 ## Overview
 
-Train Unitree Go2 with MoE-CTS.
+Train Unitree Go2 with MoE-CTS and deploy it on MuJoCo.
 
 This is a reproduction version of [go2_rl_gym](https://github.com/wty-yy/go2_rl_gym) on RobotLab/IsaacLab.
 
@@ -11,7 +11,9 @@ This is a reproduction version of [go2_rl_gym](https://github.com/wty-yy/go2_rl_
 ### 1. Install IsaacLab
 Install Isaac Lab by following the [installation guide](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html).
 
-Notice that we use certain version of IsaacLab packages, make sure:
+Notice that we use certain version of IsaacLab packages, newer versions may cause compatibility issues with `rsl_rl` and `robot_lab`. 
+
+Please make sure to use the following versions or older ones:
 ```
 isaacsim <= 5.1.0.0 # tested on 5.1.0.0
 isaaclab <= 0.53.1 # tested on 0.53.1
@@ -26,7 +28,13 @@ python -m pip install -e source/robot_lab
 python -m pip install -e source/rsl_rl
 ```
 
-## Try examples
+### 3. Install MuJoCo for Sim2Sim (optional)
+If you want to use `mujoco` for Sim2Sim, install it by running the following command:
+```bash
+pip install mujoco # tested on mujoco 3.4.0 & 3.6.0
+```
+
+## Train and Play
 
 Use the following commands to train and play:
 
@@ -57,6 +65,38 @@ python scripts/reinforcement_learning/rsl_rl/play.py --task=RobotLab-Go2-v0
     ```
     for more usage, see [robot_lab](https://github.com/fan-ziqi/robot_lab.git).
 
+## MuJoCo Sim2Sim
+
+Use the following command to run the Sim2Sim with MuJoCo:
+
+```bash
+python deploy/deploy_mujoco/deploy_go2.py
+```
+
+- **Automatic detection**: When connecting the handle, the script automatically activates the handle control mode.
+- **Controller not available**: The script will use the default commands in the configuration file.
+
+Handle axis mapping:
+
+- `LX/LY`: Forward/Lateral Speed Command
+- `RX`: Angular velocity (steering) command
+
+Modify the `xml_path` parameter in `deploy/deploy_mujoco/config/go2.yaml` to switch simulation scenarios:
+
+```yaml
+# Flat
+xml_path: "{ROOT_DIR}/resources/go2/flat.xml"
+
+# Stairs
+xml_path: "{ROOT_DIR}/resources/go2/stairs.xml"
+
+# Boxes
+xml_path: "{ROOT_DIR}/resources/go2/boxes.xml"
+
+# Custom
+xml_path: "{ROOT_DIR}/resource/go2/your-custom-scene.xml"
+```
+
 ## Differences with `go2_rl_gym`
 
 - Terrain's composition are different(see code).
@@ -68,6 +108,7 @@ This repository would not exist without the following open-source projects:
 - [isaac_lab](https://github.com/isaac-sim/IsaacLab): Unified framework for robot learning built on NVIDIA Isaac Sim.
 - [rsl_rl](https://github.com/leggedrobotics/rsl_rl.git): Reinforcement learning algorithms.
 - [robot_lab](https://github.com/fan-ziqi/robot_lab.git): RL Extension Library for Robots, Based on IsaacLab.
+- [mujoco](https://github.com/google-deepmind/mujoco.git): High-performance CPU physics simulator.
 
 Related publications implemented in this repo:
 - [CTS: Concurrent Teacher-Student Reinforcement Learning for Legged Locomotion](https://arxiv.org/pdf/2405.10830)

deploy/deploy_mujoco/config/go2.yaml

@@ -0,0 +1,65 @@
+policy_path: "{ROOT_DIR}/deploy/pretrain/go2/wyh/go2_moe_cts_1500.pt"
+xml_path: "{ROOT_DIR}/resources/go2/stairs.xml"
+
+# Total simulation time
+simulation_duration: 60000000.0
+# Simulation time step
+simulation_dt: 0.002
+# Controller update frequency (meets the requirement of simulation_dt * controll_decimation=0.02; 50Hz)
+control_decimation: 10
+base_init_pos: [0.0, 0.0, 0.57]
+base_init_quat: [1.0, 0.0, 0.0, 0.0]
+
+# For IsaacLab DelayedPDActuatorCfg, if not used, set all delay to 0.
+actuator_delay_min: 0
+actuator_delay_max: 0
+actuator_delay_seed: 0
+
+kps: [20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0] 
+kds: [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5] 
+
+default_angles: [0.1,  0.8,  -1.5,  -0.1, 0.8, -1.5, 
+                 0.1,  1.0,  -1.5,  -0.1, 1.0, -1.5] 
+
+lin_vel_scale: 2.0
+ang_vel_scale: 0.25 
+dof_pos_scale: 1.0 
+dof_vel_scale: 0.05 
+action_pos_scale: 0.25
+cmd_scale: [1.0, 1.0, 1.0]
+num_actions: 12
+num_obs: 45
+max_cmd: [1.0, 1.0, 1.0]
+
+cmd_init: [1.0, 0.0, 0.0]
+history_len: 5
+
+mujoco_joint_names: [
+  "FL_hip_joint",
+  "FL_thigh_joint",
+  "FL_calf_joint",
+  "FR_hip_joint",
+  "FR_thigh_joint",
+  "FR_calf_joint",
+  "RL_hip_joint",
+  "RL_thigh_joint",
+  "RL_calf_joint",
+  "RR_hip_joint",
+  "RR_thigh_joint",
+  "RR_calf_joint",
+]
+
+model_joint_names: [
+  "FL_hip_joint",
+  "FL_thigh_joint",
+  "FL_calf_joint",
+  "FR_hip_joint",
+  "FR_thigh_joint",
+  "FR_calf_joint",
+  "RL_hip_joint",
+  "RL_thigh_joint",
+  "RL_calf_joint",
+  "RR_hip_joint",
+  "RR_thigh_joint",
+  "RR_calf_joint",
+]

deploy/deploy_mujoco/deploy_go2.py

@@ -0,0 +1,379 @@
+"""CTS Policy deployment for Unitree Go2 in MuJoCo."""
+
+import time
+from collections import deque
+from dataclasses import dataclass
+from pathlib import Path
+from typing import NamedTuple
+
+import imageio
+import mujoco
+import mujoco.viewer
+import numpy as np
+import pygame
+import torch
+import yaml
+from argparse import ArgumentParser
+
+
+# ============================================================================
+# Types & Constants
+# ============================================================================
+
+ROOT_DIR = str(Path(__file__).parent.parent.parent)
+CONFIG_DIR = f"{ROOT_DIR}/deploy/deploy_mujoco/configs"
+VIDEO_DIR = Path(__file__).parent / "videos"
+
+class CTSPolicyInputs(NamedTuple):
+    """Input format for CTS policy."""
+    policy: torch.Tensor
+    single_obs: torch.Tensor
+
+
+@dataclass
+class ObsBlockCfg:
+    """Configuration for observation block."""
+    name: str
+    dim: int  # Single frame dimension
+
+
+ACTUATOR_GROUPS = {
+    "hip": [0, 3, 6, 9],
+    "thigh": [1, 4, 7, 10],
+    "calf": [2, 5, 8, 11],
+}
+
+
+# ============================================================================
+# Helper Functions
+# ============================================================================
+
+def get_gravity_orientation(quaternion: np.ndarray) -> np.ndarray:
+    """Compute gravity vector in body frame from quaternion."""
+    qw, qx, qy, qz = quaternion
+
+    gravity = np.zeros(3)
+    gravity[0] = 2 * (-qz * qx + qw * qy)
+    gravity[1] = -2 * (qz * qy + qw * qx)
+    gravity[2] = 1 - 2 * (qw * qw + qz * qz)
+
+    return gravity
+
+
+def pd_control(target_q: np.ndarray, q: np.ndarray, kp: np.ndarray,
+               target_dq: np.ndarray, dq: np.ndarray, kd: np.ndarray) -> np.ndarray:
+    """Compute PD control torques."""
+    return (target_q - q) * kp + (target_dq - dq) * kd
+
+
+def get_joystick_command(joystick, max_cmd: np.ndarray) -> np.ndarray:
+    """Read command from Xbox controller."""
+    pygame.event.pump()
+
+    dead_zone = 0.1
+    axes = [joystick.get_axis(i) for i in [0, 1, 3]]  # LX, LY, RX
+    axes = [0 if abs(a) < dead_zone else a for a in axes]
+
+    cmd = np.array([-axes[1] * max_cmd[0], -axes[0] * max_cmd[1], -axes[2] * max_cmd[2]], dtype=np.float32)
+    return cmd
+
+
+def load_config(config_file: str) -> dict:
+    """Load and parse YAML configuration."""
+    with open(f"{CONFIG_DIR}/{config_file}", "r") as f:
+        config = yaml.load(f, Loader=yaml.FullLoader)
+
+    # Replace path placeholders
+    config["policy_path"] = config["policy_path"].replace("{ROOT_DIR}", ROOT_DIR)
+    config["xml_path"] = config["xml_path"].replace("{ROOT_DIR}", ROOT_DIR)
+
+    return config
+
+
+def build_observation(obs: np.ndarray, features: dict, obs_cfg: list, history_len: int) -> None:
+    """Update stacked observation buffer with new frame features (in-place)."""
+    ptr = 0
+    for cfg in obs_cfg:
+        dim = cfg.dim
+        start, end = ptr, ptr + dim * history_len
+
+        # Roll history and insert new frame
+        obs[start:end] = np.roll(obs[start:end], shift=-dim, axis=0)
+        obs[end - dim:end] = features[cfg.name]
+
+        ptr = end
+
+
+def extract_single_obs(obs: np.ndarray, obs_cfg: list, history_len: int) -> np.ndarray:
+    """Extract most recent single-frame observation from stacked buffer."""
+    single = []
+    ptr = 0
+    for cfg in obs_cfg:
+        dim = cfg.dim
+        block = obs[ptr:ptr + dim * history_len]
+        single.append(block[-dim:])  # Get last dim elements (most recent frame)
+        ptr += dim * history_len
+    return np.concatenate(single, axis=0)
+
+
+def apply_action(action: np.ndarray, default_angles: np.ndarray,
+                 action_pos_scale: float) -> np.ndarray:
+    """Transform policy action to position targets."""
+    return action * action_pos_scale + default_angles
+
+
+def set_initial_state(data: mujoco.MjData, base_pos: np.ndarray, base_quat: np.ndarray,
+                      joint_pos: np.ndarray) -> None:
+    """Apply the Isaac-style initial pose before the first mj_forward."""
+    data.qpos[:] = 0.0
+    data.qvel[:] = 0.0
+    data.qpos[:3] = base_pos
+    data.qpos[3:7] = base_quat
+    data.qpos[7:] = joint_pos
+
+
+def build_delay_buffers(default_pos: np.ndarray, delay_max: int) -> deque:
+    """Create history buffers for delayed control targets."""
+    history_len = delay_max + 1
+    pos_history = deque((default_pos.copy() for _ in range(history_len)), maxlen=history_len)
+    return pos_history
+
+
+def sample_delayed_targets(pos_history: deque, delay_min: int,
+                           delay_max: int, rng: np.random.Generator) -> np.ndarray:
+    """Apply per-actuator-group discrete control delays."""
+    delayed_pos = pos_history[-1].copy()
+
+    for joint_ids in ACTUATOR_GROUPS.values():
+        delay_steps = int(rng.integers(delay_min, delay_max + 1)) if delay_max > 0 else 0
+        pos_source = pos_history[-1 - delay_steps]
+        delayed_pos[joint_ids] = pos_source[joint_ids]
+
+    return delayed_pos
+
+
+def init_joystick() -> tuple:
+    """Initialize pygame and joystick if available."""
+    pygame.init()
+
+    if pygame.joystick.get_count() > 0:
+        joystick = pygame.joystick.Joystick(0)
+        joystick.init()
+        print(f"Detected Joystick: {joystick.get_name()}")
+        return joystick, True
+
+    print("No Joystick detected. Using default commands from config.")
+    return None, False
+
+
+def setup_viewer_camera(viewer) -> None:
+    """Configure tracking camera."""
+    viewer.cam.type = mujoco.mjtCamera.mjCAMERA_TRACKING
+    viewer.cam.trackbodyid = 1
+    viewer.cam.distance = 3.0
+    viewer.cam.elevation = -30.0
+    viewer.cam.azimuth = 0.0
+
+
+# ============================================================================
+# Main
+# ============================================================================
+
+def main():
+    parser = ArgumentParser()
+    parser.add_argument("--save-video", action="store_true", help="Save video of simulation.")
+    args = parser.parse_args()
+
+    # Configuration
+    config_file = "go2.yaml"
+    render_fps = 240
+
+    config = load_config(config_file)
+
+    # Extract config parameters
+    sim_cfg = {
+        "duration": config["simulation_duration"],
+        "dt": config["simulation_dt"],
+        "decimation": config["control_decimation"],
+    }
+
+    # PD controller gains
+    kps = np.array(config["kps"], dtype=np.float32)
+    kds = np.array(config["kds"], dtype=np.float32)
+    default_angles = np.array(config["default_angles"], dtype=np.float32)
+    base_init_pos = np.array(config["base_init_pos"], dtype=np.float32)
+    base_init_quat = np.array(config["base_init_quat"], dtype=np.float32)
+    delay_min = int(config.get("actuator_delay_min", 0))
+    delay_max = int(config.get("actuator_delay_max", 0))
+    delay_seed = int(config.get("actuator_delay_seed", 0))
+    if delay_min < 0 or delay_max < delay_min:
+        raise ValueError(
+            f"Invalid actuator delay range: min={delay_min}, max={delay_max}."
+        )
+    delay_rng = np.random.default_rng(delay_seed)
+
+    # Scaling factors
+    scales = {
+        "lin_vel": config["lin_vel_scale"],
+        "ang_vel": config["ang_vel_scale"],
+        "dof_pos": config["dof_pos_scale"],
+        "dof_vel": config["dof_vel_scale"],
+        "action_pos": config["action_pos_scale"],
+        "cmd": np.array(config["cmd_scale"], dtype=np.float32),
+    }
+
+    # Policy dimensions
+    num_actions = config["num_actions"]
+    num_obs = config["num_obs"]
+    history_len = config.get("history_len", 1)
+    max_cmd = np.array(config["max_cmd"], dtype=np.float32)
+    cmd = np.array(config["cmd_init"], dtype=np.float32)
+
+    # Joint name mapping
+    idx_model2mj = idx_mj2model = list(range(num_actions))
+    if "mujoco_joint_names" in config and "model_joint_names" in config:
+        mj_names = config["mujoco_joint_names"]
+        model_names = config["model_joint_names"]
+        idx_model2mj = [model_names.index(j) for j in mj_names]
+        idx_mj2model = [mj_names.index(j) for j in model_names]
+
+    # Initialize joystick
+    joystick, use_joystick = init_joystick()
+
+    # Prepare video output
+    VIDEO_DIR.mkdir(parents=True, exist_ok=True)
+    model_name = Path(config["policy_path"]).stem
+    cmd_str = f"cmd_{cmd[0]}_{cmd[1]}_{cmd[2]}"
+
+    # Initialize state
+    action = np.zeros(num_actions, dtype=np.float32)
+    target_dof_pos = default_angles.copy()
+    target_dof_vel = np.zeros(num_actions, dtype=np.float32)
+    obs = np.zeros(num_obs * history_len, dtype=np.float32)
+    pos_history = build_delay_buffers(target_dof_pos, delay_max)
+
+    # Build observation config dynamically
+    num_joints = num_actions
+    obs_cfg = [
+        ObsBlockCfg("ang_vel", 3),
+        ObsBlockCfg("gravity", 3),
+        ObsBlockCfg("cmd", 3),
+        ObsBlockCfg("joint_pos", num_joints),
+        ObsBlockCfg("joint_vel", num_actions),
+        ObsBlockCfg("last_action", num_actions),
+    ]
+
+    # Load MuJoCo model
+    m = mujoco.MjModel.from_xml_path(config["xml_path"])
+    d = mujoco.MjData(m)
+    m.opt.timestep = sim_cfg["dt"]
+    set_initial_state(d, base_init_pos, base_init_quat, default_angles)
+    mujoco.mj_forward(m, d)
+
+    renderer = mujoco.Renderer(m, height=360, width=640)
+
+    # Load policy
+    policy = torch.jit.load(config["policy_path"])
+
+    # Setup video recording
+    writer = None
+    if args.save_video:
+        video_path = VIDEO_DIR / f"{model_name}_{cmd_str}.mp4"
+        video_fps = 50
+        sim_fps = 1.0 / sim_cfg["dt"]
+        frame_skip = max(1, int(sim_fps / video_fps))
+        writer = imageio.get_writer(video_path, fps=video_fps)
+        print(f"Recording: {video_path} (Sim FPS: {sim_fps:.1f}, Video FPS: {video_fps})")
+
+    render_substeps = int((1.0 / render_fps) / sim_cfg["dt"])
+
+    # Run simulation
+    with mujoco.viewer.launch_passive(m, d) as viewer:
+        setup_viewer_camera(viewer)
+
+        start_time = time.time()
+        counter = 0
+
+        while viewer.is_running() and time.time() - start_time < sim_cfg["duration"]:
+            step_start = time.time()
+
+            # Update command from joystick
+            if use_joystick and counter % sim_cfg["decimation"] == 0:
+                cmd = get_joystick_command(joystick, max_cmd)
+
+            # Compute and apply control
+            tau = pd_control(target_dof_pos, d.qpos[7:], kps, target_dof_vel, d.qvel[6:], kds)
+            d.ctrl[:] = tau
+
+            mujoco.mj_step(m, d)
+
+            # Record frame
+            if writer and counter % frame_skip == 0:
+                try:
+                    renderer.update_scene(d, camera=viewer.cam)
+                    writer.append_data(renderer.render())
+                except Exception as e:
+                    print(f"Render error: {e}")
+
+            counter += 1
+
+            # Policy update at control frequency
+            if counter % sim_cfg["decimation"] == 0:
+                # Extract sensor data
+                qj = d.qpos[7:]
+                dqj = d.qvel[6:]
+                quat = d.qpos[3:7]
+                ang_vel = d.qvel[3:6]
+
+                # Scale observations
+                qj = (qj - default_angles) * scales["dof_pos"]
+                dqj = dqj * scales["dof_vel"]
+                ang_vel = ang_vel * scales["ang_vel"]
+
+                gravity = get_gravity_orientation(quat)
+
+                # Build observation features
+                features = {
+                    "ang_vel": ang_vel,
+                    "gravity": gravity,
+                    "cmd": cmd * scales["cmd"],
+                    "joint_pos": qj[idx_mj2model],
+                    "joint_vel": dqj[idx_mj2model],
+                    "last_action": action[idx_mj2model],
+                }
+
+                # Update stacked observation
+                build_observation(obs, features, obs_cfg, history_len)
+
+                # Extract single-frame observation
+                single_obs = extract_single_obs(obs, obs_cfg, history_len)
+
+                # Run policy
+                obs_tensor = torch.from_numpy(obs).unsqueeze(0)
+                single_tensor = torch.from_numpy(single_obs).unsqueeze(0)
+
+                result = policy(CTSPolicyInputs(policy=obs_tensor, single_obs=single_tensor))
+                action = result.detach().cpu().numpy().squeeze()[idx_model2mj]
+
+                # Apply action
+                latest_target_pos = apply_action(action, default_angles, scales["action_pos"])
+                pos_history.append(latest_target_pos.copy())
+                target_dof_pos = sample_delayed_targets(pos_history, delay_min, delay_max, delay_rng)
+
+            # Sync viewer
+            if counter % render_substeps == 0:
+                viewer.sync()
+
+            # Time management
+            sleep_time = sim_cfg["dt"] - (time.time() - step_start) - 0.1
+            if sleep_time > 0:
+                time.sleep(sleep_time)
+
+    # Cleanup
+    if writer:
+        print(f"Video saved: {video_path}")
+        writer.close()
+
+
+if __name__ == "__main__":
+    main()

resources/go2/boxes.xml

@@ -0,0 +1,696 @@
+<mujoco model="boxes">
+  <include file="go2.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" />
+
+  <!-- Rough terrain: full coverage with dense bumps -->
+  <geom pos="0.5 -2.0 0.07" type="box" size="0.15 0.15 0.07" />
+  <geom pos="0.8 -2.0 0.03" type="box" size="0.15 0.15 0.03" />
+  <geom pos="1.1 -2.0 0.05" type="box" size="0.15 0.15 0.05" />
+  <geom pos="1.4 -2.0 0.05" type="box" size="0.15 0.15 0.05" />
+  <geom pos="1.7 -2.0 0.08" type="box" size="0.15 0.15 0.08" />
+  <geom pos="2.0 -2.0 0.08" type="box" size="0.15 0.15 0.08" />
+  <geom pos="2.3 -2.0 0.09" type="box" size="0.15 0.15 0.09" />
+  <geom pos="2.6 -2.0 0.04" type="box" size="0.15 0.15 0.04" />
+  <geom pos="2.9 -2.0 0.06" type="box" size="0.15 0.15 0.06" />
+  <geom pos="3.2 -2.0 0.03" type="box" size="0.15 0.15 0.03" />
+  <geom pos="3.5 -2.0 0.05" type="box" size="0.15 0.15 0.05" />
+  <geom pos="3.8 -2.0 0.07" type="box" size="0.15 0.15 0.07" />
+  <geom pos="4.1 -2.0 0.03" type="box" size="0.15 0.15 0.03" />
+  <geom pos="4.4 -2.0 0.04" type="box" size="0.15 0.15 0.04" />
+  <geom pos="4.7 -2.0 0.08" type="box" size="0.15 0.15 0.08" />
+  <geom pos="5.0 -2.0 0.07" type="box" size="0.15 0.15 0.07" />
+  <geom pos="5.3 -2.0 0.05" type="box" size="0.15 0.15 0.05" />
+  <geom pos="5.6 -2.0 0.07" type="box" size="0.15 0.15 0.07" />
+  <geom pos="5.9 -2.0 0.09" type="box" size="0.15 0.15 0.09" />
+  <geom pos="6.2 -2.0 0.03" type="box" size="0.15 0.15 0.03" />
+  <geom pos="6.5 -2.0 0.09" type="box" size="0.15 0.15 0.09" />
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+</mujoco>

resources/go2/flat.xml

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+<mujoco model="flat">
+  <include file="go2.xml"/>
+
+  <statistic center="1.0 0.7 1.0" extent="0.8"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="-140" elevation="-20"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="flat" rgb1="0 0 0" 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="1 0 3.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
+</mujoco>

resources/go2/go2.xml

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+<mujoco model="go2_description">
+
+  <compiler angle="radian" meshdir="assets"/>
+
+  <statistic meansize="0.144785" extent="1.23314" center="0.025392 2.0634e-05 -0.245975"/>
+  <default>
+    <joint damping="0.001" armature="0.01" frictionloss="0.1"/>
+    <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+    </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="base_0.obj" />
+    <mesh file="base_1.obj" />
+    <mesh file="base_2.obj" />
+    <mesh file="base_3.obj" />
+    <mesh file="base_4.obj" />
+    <mesh file="hip_0.obj" />
+    <mesh file="hip_1.obj" />
+    <mesh file="thigh_0.obj" />
+    <mesh file="thigh_1.obj" />
+    <mesh file="thigh_mirror_0.obj" />
+    <mesh file="thigh_mirror_1.obj" />
+    <mesh file="calf_0.obj" />
+    <mesh file="calf_1.obj" />
+    <mesh file="calf_mirror_0.obj" />
+    <mesh file="calf_mirror_1.obj" />
+    <mesh file="foot.obj" />
+  </asset>
+
+
+  <worldbody>
+
+    <body name="base" pos="0 0 0.445">
+    <!-- <body name="base" pos="-5 2 0.445"> -->
+    <!-- <body name="base" pos="-5 2 0.30" quat="0 0 0.706 0.706"> -->
+    <!-- <body name="base" pos="-5 2 0.445" quat="0 0 1 0"> -->
+    <!-- <body name="base" pos="0 0 0.16" quat="0 0 0.706 0.706"> -->
+    <!-- <body name="base" pos="0 0 0.1" quat="0 0 1 0"> -->
+      <inertial pos="0.021112 0 -0.005366"
+                mass="6.921"
+                diaginertia="0.02448 0.098077 0.107" />
+      <freejoint name="root"/>
+      <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_box"      type="box"      size="0.1881 0.04675 0.057"/>
+      <geom name="base_cyl1"     type="cylinder" size="0.05 0.045"   pos="0.285 0 0.01"/>
+      <geom name="base_sphere1"  type="sphere"   size="0.047"        pos="0.293 0 -0.06"/>
+
+      <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" pos="0 0 0" axis="1 0 0" range="-1.0472 1.0472" actuatorfrcrange="-23.7 23.7"/>
+        <geom mesh="hip_0" material="metal" class="visual" />
+        <geom mesh="hip_1" material="gray" class="visual" />
+        <geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="1 1 1 1"/>
+
+        <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" pos="0 0 0" axis="0 1 0" range="-1.5708 3.4907" actuatorfrcrange="-23.7 23.7"/>
+        <geom mesh="thigh_0" material="metal" class="visual" />
+        <geom mesh="thigh_1" material="gray" class="visual" />
+        <geom size="0.055 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="1 1 1 1"/>
+        <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" pos="0 0 0" axis="0 1 0" range="-2.7227 -0.83776" actuatorfrcrange="-35.55 35.55"/>
+        <geom mesh="calf_0" material="gray" class="visual" />
+        <geom mesh="calf_1" material="black" class="visual" />
+        <geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0" type="cylinder" rgba="1 1 1 1"/>
+        <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"/>
+        <geom size="0.0155 0.015" pos="0.00801333 0 -0.18745" quat="0.965093 0 0.261909 0" type="cylinder"/>
+        <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
+        <geom size="0.022" pos="-0.002 0 -0.213" rgba="1 1 1 1"/>
+        </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" pos="0 0 0" axis="1 0 0" range="-1.0472 1.0472" actuatorfrcrange="-23.7 23.7"/>
+        <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 size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="1 1 1 1"/>
+        <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" pos="0 0 0" axis="0 1 0" range="-1.5708 3.4907" actuatorfrcrange="-23.7 23.7"/>
+        <geom mesh="thigh_mirror_0" material="metal" class="visual" />
+        <geom mesh="thigh_mirror_1" material="gray" class="visual" />
+        <geom size="0.055 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="1 1 1 1"/>
+        <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" pos="0 0 0" axis="0 1 0" range="-2.7227 -0.83776" actuatorfrcrange="-35.55 35.55"/>
+        <geom mesh="calf_mirror_0" material="gray" class="visual" />
+        <geom mesh="calf_mirror_1" material="black" class="visual" />
+        <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" rgba="1 1 1 1"/>
+        <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"/>
+        <geom size="0.0155 0.015" pos="0.00801333 0 -0.18745" quat="0.965093 0 0.261909 0" type="cylinder"/>
+        <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
+        <geom size="0.022" pos="-0.002 0 -0.213" rgba="1 1 1 1"/>
+        </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" pos="0 0 0" axis="1 0 0" range="-1.0472 1.0472" actuatorfrcrange="-23.7 23.7"/>
+        <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 size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="1 1 1 1"/>
+        <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" pos="0 0 0" axis="0 1 0" range="-0.5236 4.5379" actuatorfrcrange="-23.7 23.7"/>
+        <geom mesh="thigh_0" material="metal" class="visual" />
+        <geom mesh="thigh_1" material="gray" class="visual" />
+        <geom size="0.055 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="1 1 1 1"/>
+        <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" pos="0 0 0" axis="0 1 0" range="-2.7227 -0.83776" actuatorfrcrange="-35.55 35.55"/>
+        <geom mesh="calf_0" material="gray" class="visual" />
+        <geom mesh="calf_1" material="black" class="visual" />
+        <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" rgba="1 1 1 1"/>
+        <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"/>
+        <geom size="0.0155 0.015" pos="0.00801333 0 -0.18745" quat="0.965093 0 0.261909 0" type="cylinder"/>
+        <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
+        <geom size="0.022" pos="-0.002 0 -0.213" rgba="1 1 1 1"/>
+        </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" pos="0 0 0" axis="1 0 0" range="-1.0472 1.0472" actuatorfrcrange="-23.7 23.7"/>
+        <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 size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="1 1 1 1"/>
+        <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" pos="0 0 0" axis="0 1 0" range="-0.5236 4.5379" actuatorfrcrange="-23.7 23.7"/>
+        <geom mesh="thigh_mirror_0" material="metal" class="visual" />
+        <geom mesh="thigh_mirror_1" material="gray" class="visual" />
+        <geom size="0.055 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="1 1 1 1"/>
+        <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" pos="0 0 0" axis="0 1 0" range="-2.7227 -0.83776" actuatorfrcrange="-35.55 35.55"/>
+        <geom mesh="calf_mirror_0" material="gray" class="visual" />
+        <geom mesh="calf_mirror_1" material="black" class="visual" />
+        <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" rgba="1 1 1 1"/>
+        <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"/>
+        <geom size="0.0155 0.015" pos="0.00801333 0 -0.18745" quat="0.965093 0 0.261909 0" type="cylinder"/>
+        <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
+        <geom size="0.022" pos="-0.002 0 -0.213" rgba="1 1 1 1"/>
+        </body>
+        </body>
+      </body>
+
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor name="FL_hip"   joint="FL_hip_joint"/>
+    <motor name="FL_thigh" joint="FL_thigh_joint"/>
+    <motor name="FL_calf"  joint="FL_calf_joint"/>
+    <motor name="FR_hip"   joint="FR_hip_joint"/>
+    <motor name="FR_thigh" joint="FR_thigh_joint"/>
+    <motor name="FR_calf"  joint="FR_calf_joint"/>
+    <motor name="RL_hip"   joint="RL_hip_joint"/>
+    <motor name="RL_thigh" joint="RL_thigh_joint"/>
+    <motor name="RL_calf"  joint="RL_calf_joint"/>
+    <motor name="RR_hip"   joint="RR_hip_joint"/>
+    <motor name="RR_thigh" joint="RR_thigh_joint"/>
+    <motor name="RR_calf"  joint="RR_calf_joint"/>
+  </actuator>
+
+</mujoco>

resources/go2/urdf/go2.urdf

@@ -0,0 +1,761 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="go2">
+  <link name="base">
+    <inertial>
+      <origin xyz="0.021112 0 -0.005366" rpy="0 0 0" />
+      <mass value="6.921" />
+      <inertia ixx="0.02448" ixy="0.00012166" ixz="0.0014849" iyy="0.098077" iyz="-3.12E-05" izz="0.107" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://go2/meshes/base.dae" />
+      </geometry>
+      <material name="深色橡胶_001-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material><material name="白色logo_001-effect"><color rgba="1 1 1 1" /></material><material name="黑色贴纸_007-effect"><color rgba="0.009018 0.009018 0.009018 1" /></material><material name="黑色金属_007-effect"><color rgba="0.01341 0.01341 0.01341 1" /></material><material name="黑色塑料_003-effect"><color rgba="0.023455 0.023455 0.023455 1" /></material></visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <box size="0.3762 0.0935 0.114" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="Head_upper">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06" />
+    </inertial>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.09" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="Head_upper_joint" type="fixed" dont_collapse="true">
+    <origin xyz="0.285 0 0.01" rpy="0 0 0" />
+    <parent link="base" />
+    <child link="Head_upper" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="Head_lower">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.001" />
+      <inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06" />
+    </inertial>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.047" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="Head_lower_joint" type="fixed" dont_collapse="true">
+    <origin xyz="0.008 0 -0.07" rpy="0 0 0" />
+    <parent link="Head_upper" />
+    <child link="Head_lower" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="FL_hip">
+    <inertial>
+      <origin xyz="-0.0054 0.00194 -0.000105" rpy="0 0 0" />
+      <mass value="0.678" />
+      <inertia ixx="0.00048" ixy="-3.01E-06" ixz="1.11E-06" iyy="0.000884" iyz="-1.42E-06" izz="0.000596" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://go2/meshes/hip.dae" />
+      </geometry>
+      <material name="深色橡胶_001-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material><material name="Material-effect"><color rgba="0.9 0.95 0.95 1" /></material></visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0" />
+      <geometry>
+        <cylinder length="0.04" radius="0.046" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FL_hip_joint" type="revolute">
+    <origin xyz="0.1934 0.0465 0" rpy="0 0 0" />
+    <parent link="base" />
+    <child link="FL_hip" />
+    <axis xyz="1 0 0" />
+    <limit lower="-1.0472" upper="1.0472" effort="23.7" velocity="30.1" />
+  </joint>
+  <link name="FL_hip_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
+      <mass value="0.089" />
+      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647" />
+    </inertial>
+  </link>
+  <joint name="FL_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.11215 0.04675 0" />
+    <parent link="base" />
+    <child link="FL_hip_rotor" />
+  </joint>
+  <link name="FL_thigh">
+    <inertial>
+      <origin xyz="-0.00374 -0.0223 -0.0327" rpy="0 0 0" />
+      <mass value="1.152" />
+      <inertia ixx="0.00584" ixy="8.72E-05" ixz="-0.000289" iyy="0.0058" iyz="0.000808" izz="0.00103" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://go2/meshes/thigh.dae" />
+      </geometry>
+      <material name="深色橡胶_003-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material><material name="Material_009-effect"><color rgba="0.9 0.95 0.95 1" /></material></visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
+      <geometry>
+        <box size="0.213 0.0245 0.034" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FL_thigh_joint" type="revolute">
+    <origin xyz="0 0.0955 0" rpy="0 0 0" />
+    <parent link="FL_hip" />
+    <child link="FL_thigh" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.5708" upper="3.4907" effort="23.7" velocity="30.1" />
+  </joint>
+  <link name="FL_thigh_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
+      <mass value="0.089" />
+      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647" />
+    </inertial>
+  </link>
+  <joint name="FL_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.00015 0" />
+    <parent link="FL_hip" />
+    <child link="FL_thigh_rotor" />
+  </joint>
+  <link name="FL_calf">
+    <inertial>
+      <origin xyz="0.00548 -0.000975 -0.115" rpy="0 0 0" />
+      <mass value="0.154" />
+      <inertia ixx="0.00108" ixy="3.4E-07" ixz="1.72E-05" iyy="0.0011" iyz="8.28E-06" izz="3.29E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://go2/meshes/calf.dae" />
+      </geometry>
+      <material name="黑色足端_005-effect"><color rgba="0 0 0 1" /></material><material name="深色橡胶_005-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material></visual>
+    <collision>
+      <origin rpy="0 -0.21 0" xyz="0.008 0 -0.06" />
+      <geometry>
+        <cylinder length="0.12" radius="0.012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FL_calf_joint" type="revolute">
+    <origin xyz="0 0 -0.213" rpy="0 0 0" />
+    <parent link="FL_thigh" />
+    <child link="FL_calf" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.7227" upper="-0.83776" effort="45.43" velocity="15.70" />
+  </joint>
+  <link name="FL_calflower">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <cylinder length="0.065" radius="0.011" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FL_calflower_joint" type="fixed">
+    <origin xyz="0.020 0 -0.148" rpy="0 0.05 0" />
+    <parent link="FL_calf" />
+    <child link="FL_calflower" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="FL_calflower1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <cylinder length="0.03" radius="0.0155" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FL_calflower1_joint" type="fixed">
+    <origin xyz="-0.01 0 -0.04" rpy="0 0.48 0" />
+    <parent link="FL_calflower" />
+    <child link="FL_calflower1" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="FL_calf_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
+      <mass value="0.089" />
+      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647" />
+    </inertial>
+  </link>
+  <joint name="FL_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.03235 0" />
+    <parent link="FL_thigh" />
+    <child link="FL_calf_rotor" />
+  </joint>
+  <link name="FL_foot">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.04" />
+      <inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://go2/meshes/foot.dae" />
+      </geometry>
+      <material name="黑色足端_007-effect"><color rgba="0 0 0 1" /></material></visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.002 0 0" />
+      <geometry>
+        <sphere radius="0.022" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FL_foot_joint" type="fixed" dont_collapse="true">
+    <origin xyz="0 0 -0.213" rpy="0 0 0" />
+    <parent link="FL_calf" />
+    <child link="FL_foot" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="FR_hip">
+    <inertial>
+      <origin xyz="-0.0054 -0.00194 -0.000105" rpy="0 0 0" />
+      <mass value="0.678" />
+      <inertia ixx="0.00048" ixy="3.01E-06" ixz="1.11E-06" iyy="0.000884" iyz="1.42E-06" izz="0.000596" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="3.1415 0 0" />
+      <geometry>
+        <mesh filename="package://go2/meshes/hip.dae" />
+      </geometry>
+      <material name="深色橡胶_001-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material><material name="Material-effect"><color rgba="0.9 0.95 0.95 1" /></material></visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0" />
+      <geometry>
+        <cylinder length="0.04" radius="0.046" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FR_hip_joint" type="revolute">
+    <origin xyz="0.1934 -0.0465 0" rpy="0 0 0" />
+    <parent link="base" />
+    <child link="FR_hip" />
+    <axis xyz="1 0 0" />
+    <limit lower="-1.0472" upper="1.0472" effort="23.7" velocity="30.1" />
+  </joint>
+  <link name="FR_hip_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
+      <mass value="0.089" />
+      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647" />
+    </inertial>
+  </link>
+  <joint name="FR_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.11215 -0.04675 0" />
+    <parent link="base" />
+    <child link="FR_hip_rotor" />
+  </joint>
+  <link name="FR_thigh">
+    <inertial>
+      <origin xyz="-0.00374 0.0223 -0.0327" rpy="0 0 0" />
+      <mass value="1.152" />
+      <inertia ixx="0.00584" ixy="-8.72E-05" ixz="-0.000289" iyy="0.0058" iyz="-0.000808" izz="0.00103" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://go2/meshes/thigh_mirror.dae" />
+      </geometry>
+      <material name="深色橡胶_012-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material><material name="Material_011-effect"><color rgba="0.9 0.95 0.95 1" /></material></visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
+      <geometry>
+        <box size="0.213 0.0245 0.034" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FR_thigh_joint" type="revolute">
+    <origin xyz="0 -0.0955 0" rpy="0 0 0" />
+    <parent link="FR_hip" />
+    <child link="FR_thigh" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.5708" upper="3.4907" effort="23.7" velocity="30.1" />
+  </joint>
+  <link name="FR_thigh_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
+      <mass value="0.089" />
+      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647" />
+    </inertial>
+  </link>
+  <joint name="FR_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.00015 0" />
+    <parent link="FR_hip" />
+    <child link="FR_thigh_rotor" />
+  </joint>
+  <link name="FR_calf">
+    <inertial>
+      <origin xyz="0.00548 0.000975 -0.115" rpy="0 0 0" />
+      <mass value="0.154" />
+      <inertia ixx="0.00108" ixy="-3.4E-07" ixz="1.72E-05" iyy="0.0011" iyz="-8.28E-06" izz="3.29E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://go2/meshes/calf_mirror.dae" />
+      </geometry>
+      <material name="黑色足端_006-effect"><color rgba="0 0 0 1" /></material><material name="深色橡胶_007-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material></visual>
+    <collision>
+      <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
+      <geometry>
+        <cylinder length="0.12" radius="0.013" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FR_calf_joint" type="revolute">
+    <origin xyz="0 0 -0.213" rpy="0 0 0" />
+    <parent link="FR_thigh" />
+    <child link="FR_calf" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.7227" upper="-0.83776" effort="45.43" velocity="15.70" />
+  </joint>
+  <link name="FR_calflower">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <cylinder length="0.065" radius="0.011" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FR_calflower_joint" type="fixed">
+    <origin xyz="0.020 0 -0.148" rpy="0 0.05 0" />
+    <parent link="FR_calf" />
+    <child link="FR_calflower" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="FR_calflower1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <cylinder length="0.03" radius="0.0155" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FR_calflower1_joint" type="fixed">
+    <origin xyz="-0.01 0 -0.04" rpy="0 0.48 0" />
+    <parent link="FR_calflower" />
+    <child link="FR_calflower1" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="FR_calf_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
+      <mass value="0.089" />
+      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647" />
+    </inertial>
+  </link>
+  <joint name="FR_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.03235 0" />
+    <parent link="FR_thigh" />
+    <child link="FR_calf_rotor" />
+  </joint>
+  <link name="FR_foot">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.04" />
+      <inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://go2/meshes/foot.dae" />
+      </geometry>
+      <material name="黑色足端_007-effect"><color rgba="0 0 0 1" /></material></visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.002 0 0" />
+      <geometry>
+        <sphere radius="0.022" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FR_foot_joint" type="fixed" dont_collapse="true">
+    <origin xyz="0 0 -0.213" rpy="0 0 0" />
+    <parent link="FR_calf" />
+    <child link="FR_foot" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="RL_hip">
+    <inertial>
+      <origin xyz="0.0054 0.00194 -0.000105" rpy="0 0 0" />
+      <mass value="0.678" />
+      <inertia ixx="0.00048" ixy="3.01E-06" ixz="-1.11E-06" iyy="0.000884" iyz="-1.42E-06" izz="0.000596" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 3.1415 0" />
+      <geometry>
+        <mesh filename="package://go2/meshes/hip.dae" />
+      </geometry>
+      <material name="深色橡胶_001-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material><material name="Material-effect"><color rgba="0.9 0.95 0.95 1" /></material></visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0" />
+      <geometry>
+        <cylinder length="0.04" radius="0.046" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RL_hip_joint" type="revolute">
+    <origin xyz="-0.1934 0.0465 0" rpy="0 0 0" />
+    <parent link="base" />
+    <child link="RL_hip" />
+    <axis xyz="1 0 0" />
+    <limit lower="-1.0472" upper="1.0472" effort="23.7" velocity="30.1" />
+  </joint>
+  <link name="RL_hip_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
+      <mass value="0.089" />
+      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647" />
+    </inertial>
+  </link>
+  <joint name="RL_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.11215 0.04675 0" />
+    <parent link="base" />
+    <child link="RL_hip_rotor" />
+  </joint>
+  <link name="RL_thigh">
+    <inertial>
+      <origin xyz="-0.00374 -0.0223 -0.0327" rpy="0 0 0" />
+      <mass value="1.152" />
+      <inertia ixx="0.00584" ixy="8.72E-05" ixz="-0.000289" iyy="0.0058" iyz="0.000808" izz="0.00103" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://go2/meshes/thigh.dae" />
+      </geometry>
+      <material name="深色橡胶_003-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material><material name="Material_009-effect"><color rgba="0.9 0.95 0.95 1" /></material></visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
+      <geometry>
+        <box size="0.213 0.0245 0.034" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RL_thigh_joint" type="revolute">
+    <origin xyz="0 0.0955 0" rpy="0 0 0" />
+    <parent link="RL_hip" />
+    <child link="RL_thigh" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.5236" upper="4.5379" effort="23.7" velocity="30.1" />
+  </joint>
+  <link name="RL_thigh_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
+      <mass value="0.089" />
+      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647" />
+    </inertial>
+  </link>
+  <joint name="RL_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.00015 0" />
+    <parent link="RL_hip" />
+    <child link="RL_thigh_rotor" />
+  </joint>
+  <link name="RL_calf">
+    <inertial>
+      <origin xyz="0.00548 -0.000975 -0.115" rpy="0 0 0" />
+      <mass value="0.154" />
+      <inertia ixx="0.00108" ixy="3.4E-07" ixz="1.72E-05" iyy="0.0011" iyz="8.28E-06" izz="3.29E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://go2/meshes/calf.dae" />
+      </geometry>
+      <material name="黑色足端_005-effect"><color rgba="0 0 0 1" /></material><material name="深色橡胶_005-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material></visual>
+    <collision>
+      <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
+      <geometry>
+        <cylinder length="0.12" radius="0.013" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RL_calf_joint" type="revolute">
+    <origin xyz="0 0 -0.213" rpy="0 0 0" />
+    <parent link="RL_thigh" />
+    <child link="RL_calf" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.7227" upper="-0.83776" effort="45.43" velocity="15.70" />
+  </joint>
+  <link name="RL_calflower">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <cylinder length="0.065" radius="0.011" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RL_calflower_joint" type="fixed">
+    <origin xyz="0.020 0 -0.148" rpy="0 0.05 0" />
+    <parent link="RL_calf" />
+    <child link="RL_calflower" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="RL_calflower1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <cylinder length="0.03" radius="0.0155" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RL_calflower1_joint" type="fixed">
+    <origin xyz="-0.01 0 -0.04" rpy="0 0.48 0" />
+    <parent link="RL_calflower" />
+    <child link="RL_calflower1" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="RL_calf_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
+      <mass value="0.089" />
+      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647" />
+    </inertial>
+  </link>
+  <joint name="RL_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.03235 0" />
+    <parent link="RL_thigh" />
+    <child link="RL_calf_rotor" />
+  </joint>
+  <link name="RL_foot">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.04" />
+      <inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://go2/meshes/foot.dae" />
+      </geometry>
+      <material name="黑色足端_007-effect"><color rgba="0 0 0 1" /></material></visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.002 0 0" />
+      <geometry>
+        <sphere radius="0.022" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RL_foot_joint" type="fixed" dont_collapse="true">
+    <origin xyz="0 0 -0.213" rpy="0 0 0" />
+    <parent link="RL_calf" />
+    <child link="RL_foot" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="RR_hip">
+    <inertial>
+      <origin xyz="0.0054 -0.00194 -0.000105" rpy="0 0 0" />
+      <mass value="0.678" />
+      <inertia ixx="0.00048" ixy="-3.01E-06" ixz="-1.11E-06" iyy="0.000884" iyz="1.42E-06" izz="0.000596" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="3.1415 3.1415 0" />
+      <geometry>
+        <mesh filename="package://go2/meshes/hip.dae" />
+      </geometry>
+      <material name="深色橡胶_001-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material><material name="Material-effect"><color rgba="0.9 0.95 0.95 1" /></material></visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0" />
+      <geometry>
+        <cylinder length="0.04" radius="0.046" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RR_hip_joint" type="revolute">
+    <origin xyz="-0.1934 -0.0465 0" rpy="0 0 0" />
+    <parent link="base" />
+    <child link="RR_hip" />
+    <axis xyz="1 0 0" />
+    <limit lower="-1.0472" upper="1.0472" effort="23.7" velocity="30.1" />
+  </joint>
+  <link name="RR_hip_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
+      <mass value="0.089" />
+      <inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647" />
+    </inertial>
+  </link>
+  <joint name="RR_hip_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.11215 -0.04675 0" />
+    <parent link="base" />
+    <child link="RR_hip_rotor" />
+  </joint>
+  <link name="RR_thigh">
+    <inertial>
+      <origin xyz="-0.00374 0.0223 -0.0327" rpy="0 0 0" />
+      <mass value="1.152" />
+      <inertia ixx="0.00584" ixy="-8.72E-05" ixz="-0.000289" iyy="0.0058" iyz="-0.000808" izz="0.00103" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://go2/meshes/thigh_mirror.dae" />
+      </geometry>
+      <material name="深色橡胶_012-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material><material name="Material_011-effect"><color rgba="0.9 0.95 0.95 1" /></material></visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
+      <geometry>
+        <box size="0.213 0.0245 0.034" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RR_thigh_joint" type="revolute">
+    <origin xyz="0 -0.0955 0" rpy="0 0 0" />
+    <parent link="RR_hip" />
+    <child link="RR_thigh" />
+    <axis xyz="0 1 0" />
+    <limit lower="-0.5236" upper="4.5379" effort="23.7" velocity="30.1" />
+  </joint>
+  <link name="RR_thigh_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
+      <mass value="0.089" />
+      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647" />
+    </inertial>
+  </link>
+  <joint name="RR_thigh_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.00015 0" />
+    <parent link="RR_hip" />
+    <child link="RR_thigh_rotor" />
+  </joint>
+  <link name="RR_calf">
+    <inertial>
+      <origin xyz="0.00548 0.000975 -0.115" rpy="0 0 0" />
+      <mass value="0.154" />
+      <inertia ixx="0.00108" ixy="-3.4E-07" ixz="1.72E-05" iyy="0.0011" iyz="-8.28E-06" izz="3.29E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://go2/meshes/calf_mirror.dae" />
+      </geometry>
+      <material name="黑色足端_006-effect"><color rgba="0 0 0 1" /></material><material name="深色橡胶_007-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material></visual>
+    <collision>
+      <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
+      <geometry>
+        <cylinder length="0.12" radius="0.013" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RR_calf_joint" type="revolute">
+    <origin xyz="0 0 -0.213" rpy="0 0 0" />
+    <parent link="RR_thigh" />
+    <child link="RR_calf" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.7227" upper="-0.83776" effort="45.43" velocity="15.70" />
+  </joint>
+  <link name="RR_calflower">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <cylinder length="0.065" radius="0.011" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RR_calflower_joint" type="fixed">
+    <origin xyz="0.020 0 -0.148" rpy="0 0.05 0" />
+    <parent link="RR_calf" />
+    <child link="RR_calflower" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="RR_calflower1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <cylinder length="0.03" radius="0.0155" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RR_calflower1_joint" type="fixed">
+    <origin xyz="-0.01 0 -0.04" rpy="0 0.48 0" />
+    <parent link="RR_calflower" />
+    <child link="RR_calflower1" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="RR_calf_rotor">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
+      <mass value="0.089" />
+      <inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647" />
+    </inertial>
+  </link>
+  <joint name="RR_calf_rotor_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.03235 0" />
+    <parent link="RR_thigh" />
+    <child link="RR_calf_rotor" />
+  </joint>
+  <link name="RR_foot">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.04" />
+      <inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://go2/meshes/foot.dae" />
+      </geometry>
+      <material name="黑色足端_007-effect"><color rgba="0 0 0 1" /></material></visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.002 0 0" />
+      <geometry>
+        <sphere radius="0.022" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RR_foot_joint" type="fixed" dont_collapse="true">
+    <origin xyz="0 0 -0.213" rpy="0 0 0" />
+    <parent link="RR_calf" />
+    <child link="RR_foot" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="imu">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0" />
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+    </inertial>
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <origin xyz="-0.02557 0 0.04232" rpy="0 0 0" />
+    <parent link="base" />
+    <child link="imu" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="radar">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0" />
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+    </inertial>
+  </link>
+  <joint name="radar_joint" type="fixed">
+    <origin xyz="0.28945 0 -0.046825" rpy="0 2.8782 0" />
+    <parent link="base" />
+    <child link="radar" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="front_camera_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.32715 -0.00003 0.04297" />
+      <parent link="base" />
+      <child link="front_camera" />
+  </joint>
+  <link name="front_camera">
+  </link>
+</robot>

source/robot_lab/robot_lab/assets/__init__.py

@@ -19,7 +19,7 @@ import toml
 ISAACLAB_ASSETS_EXT_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../"))
 """Path to the extension source directory."""
 
-ISAACLAB_ASSETS_DATA_DIR = os.path.join(ISAACLAB_ASSETS_EXT_DIR, "data")
+ISAACLAB_ASSETS_DATA_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../../resources"))
 """Path to the extension data directory."""
 
 ISAACLAB_ASSETS_METADATA = toml.load(os.path.join(ISAACLAB_ASSETS_EXT_DIR, "config", "extension.toml"))

source/robot_lab/robot_lab/assets/unitree.py

@@ -20,7 +20,7 @@ UNITREE_GO2_CFG = ArticulationCfg(
         fix_base=False,
         merge_fixed_joints=True,
         replace_cylinders_with_capsules=True,
-        asset_path=f"{ISAACLAB_ASSETS_DATA_DIR}/Robots/unitree/go2_description/urdf/go2_description.urdf",
+        asset_path=f"{ISAACLAB_ASSETS_DATA_DIR}/go2/urdf/go2.urdf",
         activate_contact_sensors=True,
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             disable_gravity=False,