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| <joint name="FL_calf_joint" class="knee" /> |
| <geom mesh="calf_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom mesh="calf_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom name="FL" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| </body> |
| </body> |
| </body> |
| <body name="FR_hip" pos="0.1934 -0.0465 0"> |
| <inertial pos="-0.0054 -0.00194 -0.000105" quat="0.498237 0.505462 0.499245 0.497014" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" /> |
| <joint name="FR_hip_joint" class="abduction" /> |
| <geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 1 0 0" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <body name="FR_thigh" pos="0 -0.0955 0"> |
| <inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" /> |
| <joint name="FR_thigh_joint" class="front_hip" /> |
| <geom mesh="thigh_mirror_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom mesh="thigh_mirror_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <body name="FR_calf" pos="0 0 -0.213"> |
| <inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" /> |
| <joint name="FR_calf_joint" class="knee" /> |
| <geom mesh="calf_mirror_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom mesh="calf_mirror_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom name="FR" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| </body> |
| </body> |
| </body> |
| <body name="RL_hip" pos="-0.1934 0.0465 0"> |
| <inertial pos="0.0054 0.00194 -0.000105" quat="0.505462 0.498237 0.497014 0.499245" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" /> |
| <joint name="RL_hip_joint" class="abduction" /> |
| <geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 0 1 0" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <body name="RL_thigh" pos="0 0.0955 0"> |
| <inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" /> |
| <joint name="RL_thigh_joint" class="back_hip" /> |
| <geom mesh="thigh_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom mesh="thigh_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <body name="RL_calf" pos="0 0 -0.213"> |
| <inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" /> |
| <joint name="RL_calf_joint" class="knee" /> |
| <geom mesh="calf_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom mesh="calf_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom name="RL" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| </body> |
| </body> |
| </body> |
| <body name="RR_hip" pos="-0.1934 -0.0465 0"> |
| <inertial pos="0.0054 -0.00194 -0.000105" quat="0.499245 0.497014 0.498237 0.505462" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" /> |
| <joint name="RR_hip_joint" class="abduction" /> |
| <geom mesh="hip_0" material="metal" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom mesh="hip_1" material="gray" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <body name="RR_thigh" pos="0 -0.0955 0"> |
| <inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" /> |
| <joint name="RR_thigh_joint" class="back_hip" /> |
| <geom mesh="thigh_mirror_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom mesh="thigh_mirror_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <body name="RR_calf" pos="0 0 -0.213"> |
| <inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" /> |
| <joint name="RR_calf_joint" class="knee" /> |
| <geom mesh="calf_mirror_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom mesh="calf_mirror_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <geom name="RR" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| </body> |
| </body> |
| </body> |
| </body> |
| </worldbody> |
| <keyframe> |
| <key name="m2_init" qpos="-5 0.8 0.29 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8" qvel="0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000" /> |
| </keyframe> |
| <default> |
| <default class="go2"> |
| <geom friction="0.6" margin="0.001" condim="1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <joint axis="0 1 0" damping="2" armature="0.01" frictionloss="0.2" /> |
| <motor ctrlrange="-23.7 23.7" /> |
| <default class="abduction"> |
| <joint axis="1 0 0" range="-1.0472 1.0472" /> |
| </default> |
| <default class="hip"> |
| <default class="front_hip"> |
| <joint range="-1.5708 3.4907" /> |
| </default> |
| <default class="back_hip"> |
| <joint range="-0.5236 4.5379" /> |
| </default> |
| </default> |
| <default class="knee"> |
| <joint range="-2.7227 -0.83776" /> |
| <motor ctrlrange="-45.43 45.43" /> |
| </default> |
| <default class="visual"> |
| <geom type="mesh" contype="0" conaffinity="0" group="2" /> |
| </default> |
| <default class="collision"> |
| <geom group="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" /> |
| <default class="foot"> |
| <geom size="0.022" pos="-0.002 0 -0.213" priority="1" solimp="0.99 0.999 0.001 0.5 2" condim="6" friction="0.8 0.02 0.01" solref="0.002 1" /> |
| </default> |
| </default> |
| </default> |
| </default> |
| <actuator> |
| <motor class="abduction" name="FL_hip" joint="FL_hip_joint" /> |
| <motor class="hip" name="FL_thigh" joint="FL_thigh_joint" /> |
| <motor class="knee" name="FL_calf" joint="FL_calf_joint" /> |
| <motor class="abduction" name="FR_hip" joint="FR_hip_joint" /> |
| <motor class="hip" name="FR_thigh" joint="FR_thigh_joint" /> |
| <motor class="knee" name="FR_calf" joint="FR_calf_joint" /> |
| <motor class="abduction" name="RL_hip" joint="RL_hip_joint" /> |
| <motor class="hip" name="RL_thigh" joint="RL_thigh_joint" /> |
| <motor class="knee" name="RL_calf" joint="RL_calf_joint" /> |
| <motor class="abduction" name="RR_hip" joint="RR_hip_joint" /> |
| <motor class="hip" name="RR_thigh" joint="RR_thigh_joint" /> |
| <motor class="knee" name="RR_calf" joint="RR_calf_joint" /> |
| <motor name="base_force_x_ctrl" joint="go2_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-170 170" /> |
| <motor name="base_force_y_ctrl" joint="go2_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-170 170" /> |
| <motor name="base_force_z_ctrl" joint="go2_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-150 150" /> |
| <motor name="base_roll_ctrl" joint="go2_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-90 90" /> |
| <motor name="base_pitch_ctrl" joint="go2_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-90 90" /> |
| <motor name="base_yaw_ctrl" joint="go2_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-90 90" /> |
| </actuator> |
| </mujoco> |
