cyy/sim2sim_mujoco_example
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add go1

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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
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2
data/aliengo/urdf/aliengo.urdf
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@@ -49,7 +49,7 @@
</joint>
</xacro:if> -->
<link name="world"/>
<joint name="" type="floating">
<joint name="floating_base" type="floating">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="trunk"/>

22
data/aliengo/urdf/aliengo.xml → data/aliengo/xml/aliengo.xml
View File

@@ -9,7 +9,7 @@
<light castshadow="false" diffuse="1 1 1"/>
<motor ctrlrange="-44.4 44.4" ctrllimited="true"/>
<camera fovy="60"/>
<joint damping="0.01" armature="0.01"/>
<joint damping="0.01" armature="0.01" frictionloss="0.2" />
</default>
@@ -27,18 +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 0.4">
<inertial pos="0.00846406 0.00404455 -0.000762916" quat="-3.12625e-05 0.708321 0.00247254 0.705886" mass="9.042" diaginertia="0.174706 0.161175 0.033357" />
<joint type="free" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="trunk" />
<geom size="0.3235 0.075 0.056" type="box" rgba="0.2 0.2 0.2 0" />
<geom size="0.18 0.075 0.056" type="box" rgba="0.2 0.2 0.2 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="0.2399 -0.051 0">
<inertial pos="-0.022191 -0.015144 -1.5e-05" quat="0.0135493 0.706835 -0.0117635 0.707151" mass="1.993" diaginertia="0.00558695 0.00491009 0.00290132" />
<joint name="FR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-1.22173 1.22173" />
@@ -121,6 +128,7 @@
</body>
</body>
</worldbody>
<actuator>
<motor name="FR_hip" gear="1" joint="FR_hip_joint"/>
@@ -165,5 +173,13 @@
<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>