cyy/sim2sim_mujoco_example
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

add go1

Browse Source
This commit is contained in:
Hongbo Zhu
2021-11-10 20:10:35 +08:00
parent d12271b5a1
commit d9a3e31d1a
12 changed files with 960 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
data/a1/urdf/a1.xml → data/a1/xml/a1.xml
View File

@@ -1,7 +1,6 @@
<mujoco model="a1_description">
<compiler angle="radian" meshdir="../meshes/" />
<size njmax="500" nconmax="100" />
<option gravity='0 0 -9.806' iterations='50' solver='Newton' timestep='0.002'/>
<default>
@@ -10,7 +9,7 @@
<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"/>
<joint damping="0.01" armature="0.01" frictionloss="0.2" />
</default>
@@ -28,18 +27,25 @@
<material name="plane" reflectance="0.0" texture="plane" texrepeat="3 3" texuniform="true"/>
</asset>
<visual>
<rgba com="0.502 1.0 0 0.5" contactforce="0.98 0.4 0.4 0.7" contactpoint="1.0 1.0 0.6 0.4"/>
<scale com="0.2" forcewidth="0.035" contactwidth="0.10" contactheight="0.04"/>
</visual>
<worldbody>
<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">
<body name="trunk" pos="0 0 0.3">
<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 type="free" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="trunk" />
<geom size="0.1335 0.097 0.057" type="box" rgba="0.913725 0.913725 0.847059 0" />
<geom size="0.1335 0.066 0.057" type="box" rgba="0.913725 0.913725 0.847059 0" />
<geom size="0.0005 0.0005 0.0005" type="box" contype="0" conaffinity="0" group="1" rgba="0.8 0 0 0" />
<geom size="0.0005 0.0005 0.0005" type="box" rgba="0.8 0 0 0" />
<site name="imu" pos="0 0 0"/>
<body name="FR_hip" pos="0.183 -0.047 0">
<inertial pos="-0.003311 -0.000635 3.1e-05" quat="0.507528 0.506268 0.491507 0.494499" mass="0.696" diaginertia="0.000807752 0.00055293 0.000468983" />
<joint name="FR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
@@ -166,6 +172,15 @@
<jointvel name="RL_thigh_vel" joint="RL_thigh_joint"/>
<jointvel name="RL_calf_vel" joint="RL_calf_joint"/>
<accelerometer name="Body_Acc" site="imu"/>
<gyro name="Body_Gyro" site="imu"/>
<framepos name="Body_Pos" objtype=site objname="imu"/>
<framequat name="Body_Quat" objtype=site objname="imu"/>
</sensor>
</mujoco>