twoleg / training /assets /twoleg.xml
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twoleg: project snapshot 2026-10-07T05:03Z — gate, loop, env, model, audit trail
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<?xml version='1.0' encoding='utf-8'?>
<mujoco model="twoleg">
<compiler angle="radian" meshdir="../../robot_item" autolimits="true" />
<visual>
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<headlight ambient="0.55 0.55 0.55" diffuse="0.6 0.6 0.6" specular="0.2 0.2 0.2" />
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<mesh name="horn" file="金属舵盘/金属舵盘.STL" scale="0.001 0.001 0.001" />
<mesh name="multi" file="多功能/多功能支架.STL" scale="0.001 0.001 0.001" />
<mesh name="servo" file="舵机/舵机.STL" scale="0.001 0.001 0.001" />
<mesh name="shortU" file="短U/短U支架.STL" scale="0.001 0.001 0.001" />
<material name="bracket" rgba="0.75 0.75 0.78 1" />
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<material name="steel" rgba="0.55 0.56 0.60 1" />
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<mesh name="straight" file="一字/一字支架.STL" scale="0.001 0.001 0.001" />
<mesh name="longU" file="长U/长U支架.STL" scale="0.001 0.001 0.001" />
<mesh name="bearing" file="法兰轴承/法兰轴承.STL" scale="0.001 0.001 0.001" />
<mesh name="foot" file="大脚板/脚板支架.STL" scale="0.001 0.001 0.001" />
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</body>
<geom name="front_shaft" type="cylinder" size="0.004 0.07" pos="0 -0.10 0.25" quat="0.7071068 0.7071068 0 0" rgba="1 0.1 0.1 1" contype="0" conaffinity="0" />
<geom name="front_tip" type="cylinder" size="0.012 0.015" pos="0 -0.19 0.25" quat="0.7071068 0.7071068 0 0" rgba="1 0.1 0.1 1" contype="0" conaffinity="0" />
</body>
</worldbody>
<actuator>
<position name="L_ankle_test" joint="L_ankle_test" kp="40" dampratio="1" ctrlrange="-1.4 1.4" />
<position name="L_knee_test" joint="L_knee_test" kp="40" dampratio="1" ctrlrange="-1.4 1.4" />
<position name="L_hip_test" joint="L_hip_test" kp="40" dampratio="1" ctrlrange="-1.4 1.4" />
<position name="R_ankle_test" joint="R_ankle_test" kp="40" dampratio="1" ctrlrange="-1.4 1.4" />
<position name="R_knee_test" joint="R_knee_test" kp="40" dampratio="1" ctrlrange="-1.4 1.4" />
<position name="R_hip_test" joint="R_hip_test" kp="40" dampratio="1" ctrlrange="-1.4 1.4" />
</actuator>
<sensor>
<gyro name="imu_ang_vel" site="imu" />
<velocimeter name="imu_lin_vel" site="imu" />
<subtreeangmom name="root_angmom" body="torso" />
</sensor>
</mujoco>