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/laikago/urdf/laikago.urdf
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@@ -41,7 +41,7 @@
</material>
<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"/>

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

@@ -9,7 +9,7 @@
<light castshadow="false" diffuse="1 1 1"/>
<motor ctrlrange="-40.0 40.0" ctrllimited="true"/>
<camera fovy="60"/>
<joint damping="0.01" armature="0.01"/>
<joint damping="0.01" armature="0.01" frictionloss="0.2" />
</default>
@@ -21,6 +21,11 @@
<mesh name="thigh" file="thigh.stl" />
</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>
<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"/>
@@ -31,11 +36,13 @@
<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 0.55">
<body name="trunk" pos="0 0 0.4">
<inertial pos="0.002284 -4.1e-05 0.025165" quat="-0.00605949 0.710803 -0.00734309 0.703327" mass="13.733" diaginertia="0.254491 0.250684 0.0733281" />
<joint type="free" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="trunk" />
<geom size="0.2808 0.086 0.09375" pos="0 0 0.01675" type="box" rgba="0.2 0.2 0.2 0" />
<site name="imu" pos="0 0 0"/>
<body name="FR_hip" pos="0.21935 -0.0875 0">
<inertial pos="-0.001568 0.008134 0.000864" quat="0.629953 0.350191 0.35823 0.593462" mass="1.096" diaginertia="0.000983491 0.000885646 0.000800926" />
<joint name="FR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-1.0472 0.872665" />
@@ -51,6 +58,7 @@
<joint name="FR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
<geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
<geom size="0.027 0.014" pos="0 0 -0.25" quat="0.707107 0.707107 0 0" rgba="0.913725 0.913725 0.847059 0" />
</body>
</body>
</body>
@@ -69,6 +77,7 @@
<joint name="FL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
<geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
<geom size="0.027 0.014" pos="0 0 -0.25" quat="0.707107 0.707107 0 0" rgba="0.913725 0.913725 0.847059 0" />
</body>
</body>
</body>
@@ -87,6 +96,7 @@
<joint name="RR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
<geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
<geom size="0.027 0.014" pos="0 0 -0.25" quat="0.707107 0.707107 0 0" rgba="0.913725 0.913725 0.847059 0" />
</body>
</body>
</body>
@@ -105,6 +115,7 @@
<joint name="RL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
<geom size="0.125 0.008 0.008" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
<geom size="0.027 0.014" pos="0 0 -0.25" quat="0.707107 0.707107 0 0" rgba="0.913725 0.913725 0.847059 0" />
</body>
</body>
</body>
@@ -154,6 +165,14 @@
<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>