cyy/sim2sim_mujoco_example
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edit xml and python script

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Hongbo Zhu
2021-11-02 12:21:40 +08:00
parent 17814158fe
commit 62f3f933c2
8 changed files with 563 additions and 132 deletions
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1
data/a1/urdf/a1.urdf
View File

@@ -10,7 +10,6 @@
meshdir="../meshes/"
balanceinertia="true"
discardvisual="false" />
<option gravity='0 0 -9.8'/>
</mujoco>
<material name="black">

106
data/a1/urdf/a1.xml
View File

@@ -1,7 +1,19 @@
<mujoco model="a1_description">
<compiler angle="radian" meshdir="../meshes/" />
<option gravity="0 0 -9.8" />
<size njmax="500" nconmax="100" />
<option gravity='0 0 -9.806' iterations='50' solver='Newton' timestep='0.002'/>
<default>
<geom contype="1" conaffinity="1" friction="0.6 0.3 0.3" rgba="0.5 0.6 0.7 1" margin="0.001" group="0"/>
<light castshadow="false" diffuse="1 1 1"/>
<motor ctrlrange="-33.5 33.5" ctrllimited="true"/>
<camera fovy="60"/>
<joint damping="0.01" armature="0.01"/>
</default>
<asset>
<mesh name="trunk" file="trunk.stl" />
<mesh name="hip" file="hip.stl" />
@@ -9,11 +21,19 @@
<mesh name="calf" file="calf.stl" />
<mesh name="thigh" file="thigh.stl" />
</asset>
<asset>
<texture type="skybox" builtin="gradient" rgb1="1.0 1.0 1.0" rgb2="1.0 1.0 1.0" width="512" height="512"/>
<texture name="plane" type="2d" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" width="512" height="512" mark="cross" markrgb="0 0 0"/>
<material name="plane" reflectance="0.0" texture="plane" texrepeat="3 3" texuniform="true"/>
</asset>
<worldbody>
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
<geom type="plane" pos="0 0 -0.45" size="10 10 0.1" rgba=".9 0 0 1"/>
<body name="trunk" pos="0 0 0">
<light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
<camera name="track" mode="trackcom" pos="0 -1.3 1.6" xyaxes="1 0 0 0 0.707 0.707"/>
<geom name='floor' type='plane' conaffinity='1' condim='3' contype='1' rgba="0.5 0.9 0.9 0.1" material='plane' pos='0 0 0' size='0 0 1'/>
<body name="trunk" pos="0 0 0.5">
<inertial pos="0.0127283 0.00218554 0.000514891" quat="0.00186575 0.711506 0.000389649 0.702677" mass="4.714" diaginertia="0.0648213 0.0565803 0.0169323" />
<joint name="floating_base" type="free" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="trunk" />
@@ -102,38 +122,50 @@
</body>
</body>
</worldbody>
<actuator>
<!--
<position joint="FR_hip_joint" kp="1000"/>
<position joint="FR_thigh_joint" kp="1000"/>
<position joint="FR_calf_joint" kp="1000"/>
<position joint="FL_hip_joint" kp="1000"/>
<position joint="FL_thigh_joint" kp="1000"/>
<position joint="FL_calf_joint" kp="1000"/>
<position joint="RR_hip_joint" kp="1000"/>
<position joint="RR_thigh_joint" kp="1000"/>
<position joint="RR_calf_joint" kp="1000"/>
<position joint="RL_hip_joint" kp="1000"/>
<position joint="RL_thigh_joint" kp="1000"/>
<position joint="RL_calf_joint" kp="1000"/> -->
<actuator>
<motor name="FR_hip" gear="9.1" joint="FR_hip_joint" forcerange="-33.5 33.5" />
<motor name="FR_thigh" gear="9.1" joint="FR_thigh_joint" forcerange="-33.5 33.5" />
<motor name="FR_calf" gear="9.1" joint="FR_calf_joint" forcerange="-33.5 33.5" />
<motor name="FL_hip" gear="9.1" joint="FL_hip_joint" forcerange="-33.5 33.5" />
<motor name="FL_thigh" gear="9.1" joint="FL_thigh_joint" forcerange="-33.5 33.5" />
<motor name="FL_calf" gear="9.1" joint="FL_calf_joint" forcerange="-33.5 33.5" />
<motor name="RR_hip" gear="9.1" joint="RR_hip_joint" forcerange="-33.5 33.5" />
<motor name="RR_thigh" gear="9.1" joint="RR_thigh_joint" forcerange="-33.5 33.5" />
<motor name="RR_calf" gear="9.1" joint="RR_calf_joint" forcerange="-33.5 33.5" />
<motor name="RL_hip" gear="9.1" joint="RL_hip_joint" forcerange="-33.5 33.5" />
<motor name="RL_thigh" gear="9.1" joint="RL_thigh_joint" forcerange="-33.5 33.5" />
<motor name="RL_calf" gear="9.1" joint="RL_calf_joint" forcerange="-33.5 33.5" />
<motor name="FR_hip" gear="1" joint="FR_hip_joint"/>
<motor name="FR_thigh" gear="1" joint="FR_thigh_joint"/>
<motor name="FR_calf" gear="1" joint="FR_calf_joint"/>
<motor name="FL_hip" gear="1" joint="FL_hip_joint"/>
<motor name="FL_thigh" gear="1" joint="FL_thigh_joint"/>
<motor name="FL_calf" gear="1" joint="FL_calf_joint"/>
<motor name="RR_hip" gear="1" joint="RR_hip_joint"/>
<motor name="RR_thigh" gear="1" joint="RR_thigh_joint"/>
<motor name="RR_calf" gear="1" joint="RR_calf_joint" />
<motor name="RL_hip" gear="1" joint="RL_hip_joint"/>
<motor name="RL_thigh" gear="1" joint="RL_thigh_joint"/>
<motor name="RL_calf" gear="1" joint="RL_calf_joint"/>
</actuator>
<sensor>
<jointpos name="FR_hip_pos" joint="FR_hip_joint"/>
<jointpos name="FR_thigh_pos" joint="FR_thigh_joint"/>
<jointpos name="FR_calf_pos" joint="FR_calf_joint"/>
<jointpos name="FL_hip_pos" joint="FL_hip_joint"/>
<jointpos name="FL_thigh_pos" joint="FL_thigh_joint"/>
<jointpos name="FL_calf_pos" joint="FL_calf_joint"/>
<jointpos name="RR_hip_pos" joint="RR_hip_joint"/>
<jointpos name="RR_thigh_pos" joint="RR_thigh_joint"/>
<jointpos name="RR_calf_pos" joint="RR_calf_joint" />
<jointpos name="RL_hip_pos" joint="RL_hip_joint"/>
<jointpos name="RL_thigh_pos" joint="RL_thigh_joint"/>
<jointpos name="RL_calf_pos" joint="RL_calf_joint"/>
<jointvel name="FR_hip_vel" joint="FR_hip_joint"/>
<jointvel name="FR_thigh_vel" joint="FR_thigh_joint"/>
<jointvel name="FR_calf_vel" joint="FR_calf_joint"/>
<jointvel name="FL_hip_vel" joint="FL_hip_joint"/>
<jointvel name="FL_thigh_vel" joint="FL_thigh_joint"/>
<jointvel name="FL_calf_vel" joint="FL_calf_joint"/>
<jointvel name="RR_hip_vel" joint="RR_hip_joint"/>
<jointvel name="RR_thigh_vel" joint="RR_thigh_joint"/>
<jointvel name="RR_calf_vel" joint="RR_calf_joint" />
<jointvel name="RL_hip_vel" joint="RL_hip_joint"/>
<jointvel name="RL_thigh_vel" joint="RL_thigh_joint"/>
<jointvel name="RL_calf_vel" joint="RL_calf_joint"/>
</sensor>
</mujoco>