cyy/sim2sim_mujoco_example
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cyy
2026-06-19 16:05:38 +08:00
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195
data/go1/xml/go1.xml Normal file
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<mujoco model="go1_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>
<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="1.0" armature="0.01" frictionloss="0.5" />
</default>
=
<asset>
<mesh name="trunk" file="trunk.stl" />
<mesh name="hip" file="hip.stl" />
<mesh name="thigh_mirror" file="thigh_mirror.stl" />
<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>
<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 0.35">
<inertial pos="0.0116053 0.00442221 0.000106692" quat="0.0111438 0.707126 -0.00935374 0.706938" mass="4.801" diaginertia="0.0447997 0.0366257 0.0162187" />
<joint type="free" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="trunk" />
<geom size="0.13 0.04675 0.057" type="box" rgba="0.913725 0.913725 0.847059 1" />
<geom size="0.0005 0.0005 0.0005" pos="-0.01592 -0.06659 -0.00617" type="box" contype="0" conaffinity="0" group="1" rgba="0.8 0 0 0" />
<geom size="0.0005 0.0005 0.0005" pos="-0.01592 -0.06659 -0.00617" type="box" rgba="0.8 0 0 0" />
<site name="imu" pos="0 0 0"/>
<body name="FR_hip" pos="0.1881 -0.04675 0">
<inertial pos="-0.00406411 -0.0193463 4.50733e-06" quat="0.467526 0.531662 -0.466259 0.530431" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
<joint name="FR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
<geom quat="0 1 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
<geom size="0.046 0.02" pos="0 -0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<geom size="0.031 0.02" pos="0 -0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<body name="FR_thigh" pos="0 -0.08 0">
<inertial pos="-0.003468 0.018947 -0.032736" quat="0.999266 0.00067676 -0.0382978 0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
<joint name="FR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh_mirror" />
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
<body name="FR_calf" pos="0 0 -0.213">
<inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-05" />
<joint name="FR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
<geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
<geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
<geom size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
</body>
</body>
</body>
<body name="FL_hip" pos="0.1881 0.04675 0">
<inertial pos="-0.00406411 0.0193463 4.50733e-06" quat="0.531662 0.467526 -0.530431 0.466259" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
<joint name="FL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
<geom size="0.046 0.02" pos="0 0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<geom size="0.031 0.02" pos="0 0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<body name="FL_thigh" pos="0 0.08 0">
<inertial pos="-0.003468 -0.018947 -0.032736" quat="0.999266 -0.00067676 -0.0382978 -0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
<joint name="FL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh" />
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
<body name="FL_calf" pos="0 0 -0.213">
<inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-05" />
<joint name="FL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
<geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
<geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
<geom size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
</body>
</body>
</body>
<body name="RR_hip" pos="-0.1881 -0.04675 0">
<inertial pos="0.00406411 -0.0193463 4.50733e-06" quat="0.530431 0.466259 -0.531662 0.467526" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
<joint name="RR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
<geom quat="0 0 0 -1" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
<geom size="0.046 0.02" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 1" />
<geom size="0.046 0.02" pos="0 -0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<geom size="0.031 0.02" pos="0 -0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<body name="RR_thigh" pos="0 -0.08 0">
<inertial pos="-0.003468 0.018947 -0.032736" quat="0.999266 0.00067676 -0.0382978 0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
<joint name="RR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh_mirror" />
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
<body name="RR_calf" pos="0 0 -0.213">
<inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-05" />
<joint name="RR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
<geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
<geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
<geom size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
</body>
</body>
</body>
<body name="RL_hip" pos="-0.1881 0.04675 0">
<inertial pos="0.00406411 0.0193463 4.50733e-06" quat="0.466259 0.530431 -0.467526 0.531662" mass="0.679292" diaginertia="0.00131334 0.00122648 0.000728484" />
<joint name="RL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.802851 0.802851" />
<geom quat="0 0 1 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="hip" />
<geom size="0.046 0.02" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 1" />
<geom size="0.046 0.02" pos="0 0.045 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<geom size="0.031 0.02" pos="0 0.07 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.913725 0.913725 0.847059 0" />
<body name="RL_thigh" pos="0 0.08 0">
<inertial pos="-0.003468 -0.018947 -0.032736" quat="0.999266 -0.00067676 -0.0382978 -0.000639813" mass="0.898919" diaginertia="0.00542178 0.00514246 0.000998869" />
<joint name="RL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1.0472 4.18879" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="thigh" />
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 0" />
<body name="RL_calf" pos="0 0 -0.213">
<inertial pos="0.00455603 0.0009473 -0.147239" quat="0.762045 0.00970173 0.0180098 0.647201" mass="0.218015" diaginertia="0.00399678 0.00398122 3.99428e-05" />
<joint name="RL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.69653 -0.916298" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="calf" />
<geom size="0.1065 0.008 0.008" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="0 0 0 0" />
<geom size="0.01" pos="0 0 -0.213" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" />
<geom size="0.02" pos="0 0 -0.213" rgba="0 0 0 1" />
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<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"/>
<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>

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data/go1/xml/terrain/plane.xml Normal file
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<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' friction="0.6 0.3 0.3"/>

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data/go1/xml/terrain/rough.xml Normal file
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<!-- 模拟碎地形 -->
<geom name='floor' type='plane' conaffinity='1' condim='3' contype='1' rgba="0.4 0.6 0.3 1" pos='0 0 0' size='0 0 1' friction="0.6 0.3 0.3"/>
<geom name='r1' type='box' size='0.15 0.1 0.03' pos='0.5 0.2 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='r2' type='box' size='0.1 0.15 0.05' pos='0.8 -0.1 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='r3' type='box' size='0.12 0.08 0.04' pos='1.1 0.15 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='r4' type='box' size='0.08 0.12 0.06' pos='1.4 -0.2 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='r5' type='box' size='0.1 0.1 0.035' pos='1.7 0.1 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='r6' type='box' size='0.14 0.09 0.045' pos='2.0 -0.05 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='r7' type='box' size='0.09 0.14 0.055' pos='0.3 0.25 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='r8' type='box' size='0.11 0.07 0.025' pos='0.6 -0.15 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='r9' type='box' size='0.07 0.11 0.05' pos='0.9 0.05 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='r10' type='box' size='0.13 0.08 0.04' pos='1.2 -0.1 0' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>

6
data/go1/xml/terrain/slope.xml Normal file
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<!-- 斜坡地形-->
<geom name='start_platform' type='box' size='10.0 10.0 0.1' pos='0 0 -0.06' rgba="0.5 0.6 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='start_fill' type='box' size='10.0 10.0 0.2' pos='0 0 -0.26' rgba="0.4 0.35 0.3 1" friction="0.8 0.3 0.3"/>
<geom name='slope' type='box' size='2.5 0.3 0.1' pos='6.8 0 0.10' quat='0.258819 0 0 0.965926' rgba="0.5 0.6 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='top_platform' type='box' size='1.0 0.3 0.06' pos='8.8 0 0.16' rgba="0.5 0.6 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='slope_fill' type='box' size='2.5 0.3 0.25' pos='6.8 0 -0.15' rgba="0.4 0.35 0.3 1" friction="0.8 0.3 0.3"/>

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data/go1/xml/terrain/stairs.xml Normal file
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<!-- 楼梯地形 -->
<geom name='step0' type='box' size='0.5 10.4 0.06' pos='0 0 -0.06' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='step1' type='box' size='0.5 10.4 0.06' pos='0.3 0 -0.06' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='step2' type='box' size='0.5 10.4 0.06' pos='0.6 0 0.00' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='step3' type='box' size='0.5 10.4 0.06' pos='0.9 0 0.06' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='step4' type='box' size='0.5 10.4 0.06' pos='1.2 0 0.12' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='step5' type='box' size='0.5 10.4 0.06' pos='1.5 0 0.18' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='step6' type='box' size='0.5 10.4 0.06' pos='1.8 0 0.24' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='step7' type='box' size='0.5 10.4 0.06' pos='2.1 0 0.30' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='step8' type='box' size='0.5 10.4 0.06' pos='2.4 0 0.36' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='step9' type='box' size='0.5 10.4 0.06' pos='2.7 0 0.42' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='platform' type='box' size='0.8 10.4 0.06' pos='3.3 0 0.45' rgba="0.6 0.5 0.4 1" friction="0.8 0.3 0.3"/>
<geom name='fill' type='box' size='2.0 10.4 0.45' pos='1.5 0 -0.45' rgba="0.5 0.4 0.3 1" friction="0.8 0.3 0.3"/>