184 lines
11 KiB
XML
184 lines
11 KiB
XML
<mujoco model="go2_description">
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<compiler angle="radian" meshdir="assets"/>
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<statistic meansize="0.144785" extent="1.23314" center="0.025392 2.0634e-05 -0.245975"/>
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<default>
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<joint damping="0.001" armature="0.01" frictionloss="0.1"/>
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<default class="visual">
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<geom type="mesh" contype="0" conaffinity="0" group="2"/>
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</default>
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</default>
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<asset>
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<material name="metal" rgba=".9 .95 .95 1" />
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<material name="black" rgba="0 0 0 1" />
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<material name="white" rgba="1 1 1 1" />
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<material name="gray" rgba="0.671705 0.692426 0.774270 1" />
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<mesh file="base_0.obj" />
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<mesh file="base_1.obj" />
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<mesh file="base_2.obj" />
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<mesh file="base_3.obj" />
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<mesh file="base_4.obj" />
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<mesh file="hip_0.obj" />
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<mesh file="hip_1.obj" />
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<mesh file="thigh_0.obj" />
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<mesh file="thigh_1.obj" />
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<mesh file="thigh_mirror_0.obj" />
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<mesh file="thigh_mirror_1.obj" />
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<mesh file="calf_0.obj" />
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<mesh file="calf_1.obj" />
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<mesh file="calf_mirror_0.obj" />
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<mesh file="calf_mirror_1.obj" />
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<mesh file="foot.obj" />
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</asset>
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<worldbody>
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<body name="base" pos="0 0 0.445">
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<!-- <body name="base" pos="-5 2 0.445"> -->
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<!-- <body name="base" pos="-5 2 0.30" quat="0 0 0.706 0.706"> -->
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<!-- <body name="base" pos="-5 2 0.445" quat="0 0 1 0"> -->
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<!-- <body name="base" pos="0 0 0.16" quat="0 0 0.706 0.706"> -->
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<!-- <body name="base" pos="0 0 0.1" quat="0 0 1 0"> -->
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<inertial pos="0.021112 0 -0.005366"
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mass="6.921"
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diaginertia="0.02448 0.098077 0.107" />
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<freejoint name="root"/>
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<geom mesh="base_0" material="black" class="visual" />
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<geom mesh="base_1" material="black" class="visual" />
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<geom mesh="base_2" material="black" class="visual" />
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<geom mesh="base_3" material="white" class="visual" />
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<geom mesh="base_4" material="gray" class="visual" />
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<geom name="base_box" type="box" size="0.1881 0.04675 0.057"/>
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<geom name="base_cyl1" type="cylinder" size="0.05 0.045" pos="0.285 0 0.01"/>
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<geom name="base_sphere1" type="sphere" size="0.047" pos="0.293 0 -0.06"/>
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<body name="FL_hip" pos="0.1934 0.0465 0">
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<inertial pos="-0.0054 0.00194 -0.000105" quat="0.497014 0.499245 0.505462 0.498237" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967"/>
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<joint name="FL_hip_joint" pos="0 0 0" axis="1 0 0" range="-1.0472 1.0472" actuatorfrcrange="-23.7 23.7"/>
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<geom mesh="hip_0" material="metal" class="visual" />
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<geom mesh="hip_1" material="gray" class="visual" />
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<geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="1 1 1 1"/>
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<body name="FL_thigh" pos="0 0.0955 0">
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<inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787"/>
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<joint name="FL_thigh_joint" pos="0 0 0" axis="0 1 0" range="-1.5708 3.4907" actuatorfrcrange="-23.7 23.7"/>
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<geom mesh="thigh_0" material="metal" class="visual" />
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<geom mesh="thigh_1" material="gray" class="visual" />
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<geom size="0.055 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="1 1 1 1"/>
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<body name="FL_calf" pos="0 0 -0.213">
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<inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
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<joint name="FL_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.7227 -0.83776" actuatorfrcrange="-35.55 35.55"/>
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<geom mesh="calf_0" material="gray" class="visual" />
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<geom mesh="calf_1" material="black" class="visual" />
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<geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0" type="cylinder" rgba="1 1 1 1"/>
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<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"/>
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<geom size="0.0155 0.015" pos="0.00801333 0 -0.18745" quat="0.965093 0 0.261909 0" type="cylinder"/>
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<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
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<geom size="0.022" pos="-0.002 0 -0.213" rgba="1 1 1 1"/>
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</body>
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</body>
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</body>
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<body name="FR_hip" pos="0.1934 -0.0465 0">
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<inertial pos="-0.0054 -0.00194 -0.000105" quat="0.498237 0.505462 0.499245 0.497014" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967"/>
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<joint name="FR_hip_joint" pos="0 0 0" axis="1 0 0" range="-1.0472 1.0472" actuatorfrcrange="-23.7 23.7"/>
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<geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 1 0 0" />
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<geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0" />
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<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="1 1 1 1"/>
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<body name="FR_thigh" pos="0 -0.0955 0">
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<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787"/>
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<joint name="FR_thigh_joint" pos="0 0 0" axis="0 1 0" range="-1.5708 3.4907" actuatorfrcrange="-23.7 23.7"/>
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<geom mesh="thigh_mirror_0" material="metal" class="visual" />
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<geom mesh="thigh_mirror_1" material="gray" class="visual" />
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<geom size="0.055 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="1 1 1 1"/>
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<body name="FR_calf" pos="0 0 -0.213">
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<inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
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<joint name="FR_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.7227 -0.83776" actuatorfrcrange="-35.55 35.55"/>
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<geom mesh="calf_mirror_0" material="gray" class="visual" />
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<geom mesh="calf_mirror_1" material="black" class="visual" />
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<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" rgba="1 1 1 1"/>
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<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"/>
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<geom size="0.0155 0.015" pos="0.00801333 0 -0.18745" quat="0.965093 0 0.261909 0" type="cylinder"/>
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<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
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<geom size="0.022" pos="-0.002 0 -0.213" rgba="1 1 1 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="-0.1934 0.0465 0">
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<inertial pos="0.0054 0.00194 -0.000105" quat="0.505462 0.498237 0.497014 0.499245" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967"/>
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<joint name="RL_hip_joint" pos="0 0 0" axis="1 0 0" range="-1.0472 1.0472" actuatorfrcrange="-23.7 23.7"/>
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<geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 0 1 0" />
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<geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0" />
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<geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="1 1 1 1"/>
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<body name="RL_thigh" pos="0 0.0955 0">
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<inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787"/>
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<joint name="RL_thigh_joint" pos="0 0 0" axis="0 1 0" range="-0.5236 4.5379" actuatorfrcrange="-23.7 23.7"/>
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<geom mesh="thigh_0" material="metal" class="visual" />
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<geom mesh="thigh_1" material="gray" class="visual" />
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<geom size="0.055 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="1 1 1 1"/>
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<body name="RL_calf" pos="0 0 -0.213">
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<inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
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<joint name="RL_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.7227 -0.83776" actuatorfrcrange="-35.55 35.55"/>
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<geom mesh="calf_0" material="gray" class="visual" />
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<geom mesh="calf_1" material="black" class="visual" />
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<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" rgba="1 1 1 1"/>
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<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"/>
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<geom size="0.0155 0.015" pos="0.00801333 0 -0.18745" quat="0.965093 0 0.261909 0" type="cylinder"/>
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<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
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<geom size="0.022" pos="-0.002 0 -0.213" rgba="1 1 1 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="-0.1934 -0.0465 0">
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<inertial pos="0.0054 -0.00194 -0.000105" quat="0.499245 0.497014 0.498237 0.505462" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967"/>
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<joint name="RR_hip_joint" pos="0 0 0" axis="1 0 0" range="-1.0472 1.0472" actuatorfrcrange="-23.7 23.7"/>
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<geom mesh="hip_0" material="metal" class="visual"
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quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" />
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<geom mesh="hip_1" material="gray" class="visual"
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quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" />
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<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="1 1 1 1"/>
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<body name="RR_thigh" pos="0 -0.0955 0">
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<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787"/>
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<joint name="RR_thigh_joint" pos="0 0 0" axis="0 1 0" range="-0.5236 4.5379" actuatorfrcrange="-23.7 23.7"/>
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<geom mesh="thigh_mirror_0" material="metal" class="visual" />
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<geom mesh="thigh_mirror_1" material="gray" class="visual" />
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<geom size="0.055 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="1 1 1 1"/>
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<body name="RR_calf" pos="0 0 -0.213">
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<inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
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<joint name="RR_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.7227 -0.83776" actuatorfrcrange="-35.55 35.55"/>
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<geom mesh="calf_mirror_0" material="gray" class="visual" />
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<geom mesh="calf_mirror_1" material="black" class="visual" />
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<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" rgba="1 1 1 1"/>
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<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"/>
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<geom size="0.0155 0.015" pos="0.00801333 0 -0.18745" quat="0.965093 0 0.261909 0" type="cylinder"/>
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<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
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<geom size="0.022" pos="-0.002 0 -0.213" rgba="1 1 1 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="FL_hip" joint="FL_hip_joint"/>
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<motor name="FL_thigh" joint="FL_thigh_joint"/>
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<motor name="FL_calf" joint="FL_calf_joint"/>
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<motor name="FR_hip" joint="FR_hip_joint"/>
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<motor name="FR_thigh" joint="FR_thigh_joint"/>
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<motor name="FR_calf" joint="FR_calf_joint"/>
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<motor name="RL_hip" joint="RL_hip_joint"/>
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<motor name="RL_thigh" joint="RL_thigh_joint"/>
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<motor name="RL_calf" joint="RL_calf_joint"/>
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<motor name="RR_hip" joint="RR_hip_joint"/>
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<motor name="RR_thigh" joint="RR_thigh_joint"/>
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<motor name="RR_calf" joint="RR_calf_joint"/>
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</actuator>
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</mujoco>
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