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LuckyWorld/SourceFiles/mujoco_menagerie-main/unitree_go1/go1.xml

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Move pathfinding adjustments, robot arm setup finished, dynamic camera setup, fixed render targets, state tree and lucky movement setup, etc... TODO::Fix WSS stuff
2025-04-01 14:24:22 -06:00
<mujoco model="go1">
<compiler angle="radian" meshdir="assets" autolimits="true"/>
<option cone="elliptic" impratio="100"/>
<default>
<default class="go1">
<geom friction="0.6" margin="0.001" condim="1"/>
<joint axis="0 1 0" damping="2" armature="0.01" frictionloss="0.2"/>
<position kp="100" forcerange="-23.7 23.7"/>
<default class="abduction">
<joint axis="1 0 0" damping="1" range="-0.863 0.863"/>
<position ctrlrange="-0.863 0.863"/>
</default>
<default class="hip">
<joint range="-0.686 4.501"/>
<position ctrlrange="-0.686 4.501"/>
</default>
<default class="knee">
<joint range="-2.818 -0.888"/>
<position forcerange="-35.55 35.55" ctrlrange="-2.818 -0.888"/>
</default>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2" material="dark"/>
</default>
<default class="collision">
<geom group="3" type="capsule"/>
<default class="hip_left1">
<geom size="0.046 0.02" pos="0 0.045 0" quat="1 1 0 0" type="cylinder"/>
</default>
<default class="hip_left2">
<geom size="0.031 0.02" pos="0 0.065 0" quat="1 1 0 0" type="cylinder"/>
</default>
<default class="hip_left3">
<geom size="0.046 0.02" quat="1 1 0 0" type="cylinder"/>
</default>
<default class="hip_right1">
<geom size="0.046 0.02" pos="0 -0.045 0" quat="1 1 0 0" type="cylinder"/>
</default>
<default class="hip_right2">
<geom size="0.031 0.02" pos="0 -0.065 0" quat="1 1 0 0" type="cylinder"/>
</default>
<default class="hip_right3">
<geom size="0.046 0.02" quat="1 1 0 0" type="cylinder"/>
</default>
<default class="thigh1">
<geom size="0.015" fromto="-0.02 0 0 -0.02 0 -0.16"/>
</default>
<default class="thigh2">
<geom size="0.015" fromto="0 0 0 -0.02 0 -0.1"/>
</default>
<default class="thigh3">
<geom size="0.015" fromto="-0.02 0 -0.16 0 0 -0.2"/>
</default>
<default class="calf1">
<geom size="0.01" fromto="0 0 0 0.02 0 -0.13"/>
</default>
<default class="calf2">
<geom size="0.01" fromto="0.02 0 -0.13 0 0 -0.2"/>
</default>
<default class="foot">
<geom type="sphere" size="0.023" pos="0 0 -0.213" priority="1" solimp="0.015 1 0.023" condim="6"
friction="0.8 0.02 0.01"/>
</default>
</default>
</default>
</default>
<asset>
<material name="dark" rgba="0.2 0.2 0.2 1"/>
<mesh class="go1" file="trunk.stl"/>
<mesh class="go1" file="hip.stl"/>
<mesh class="go1" file="thigh_mirror.stl"/>
<mesh class="go1" file="calf.stl"/>
<mesh class="go1" file="thigh.stl"/>
</asset>
<worldbody>
<light name="spotlight" mode="targetbodycom" target="trunk" pos="0 -1 2"/>
<body name="trunk" pos="0 0 0.445" childclass="go1">
<camera name="tracking" mode="trackcom" pos="0 -1 0.8" xyaxes="1 0 0 0 1 1"/>
<site name="head" pos="0.3 0 0" rgba="1 0 0 1" size="0.02" group="5"/>
<inertial pos="0.0223 0.002 -0.0005" quat="-0.00342088 0.705204 0.000106698 0.708996" mass="5.204"
diaginertia="0.0716565 0.0630105 0.0168101"/>
<freejoint/>
<geom class="visual" mesh="trunk"/>
<geom class="collision" size="0.125 0.04 0.057" type="box"/>
<geom class="collision" quat="1 0 1 0" pos="0 -0.04 0" size="0.058 0.125" type="cylinder"/>
<geom class="collision" quat="1 0 1 0" pos="0 +0.04 0" size="0.058 0.125" type="cylinder"/>
<geom class="collision" pos="0.25 0 0" size="0.005 0.06 0.05" type="box"/>
<geom class="collision" pos="0.25 0.06 -0.01" size="0.009 0.035"/>
<geom class="collision" pos="0.25 -0.06 -0.01" size="0.009 0.035"/>
<geom class="collision" pos="0.25 0 -0.05" size="0.01 0.06" quat="1 1 0 0"/>
<geom class="collision" pos="0.255 0 0.0355" size="0.021 0.052" quat="1 1 0 0"/>
<site name="imu" pos="0 0 0"/>
<body name="FR_hip" pos="0.1881 -0.04675 0">
<inertial pos="-0.0049166 0.00762615 -8.865e-05" quat="0.507341 0.514169 0.495027 0.482891" mass="0.68"
diaginertia="0.000734064 0.000468438 0.000398719"/>
<joint class="abduction" name="FR_hip_joint"/>
<geom class="visual" mesh="hip" quat="1 0 0 0"/>
<geom class="hip_right1"/>
<geom class="hip_right2"/>
<body name="FR_thigh" pos="0 -0.08 0">
<inertial pos="-0.00304722 0.019315 -0.0305004" quat="0.65243 -0.0272313 0.0775126 0.753383" mass="1.009"
diaginertia="0.00478717 0.00460903 0.000709268"/>
<joint class="hip" name="FR_thigh_joint"/>
<geom class="visual" mesh="thigh_mirror"/>
<geom class="thigh1"/>
<geom class="thigh2"/>
<geom class="thigh3"/>
<body name="FR_calf" pos="0 0 -0.213">
<inertial pos="0.00429862 0.000976676 -0.146197" quat="0.691246 0.00357467 0.00511118 0.722592"
mass="0.195862" diaginertia="0.00149767 0.00148468 3.58427e-05"/>
<joint class="knee" name="FR_calf_joint"/>
<geom class="visual" mesh="calf"/>
<geom class="calf1"/>
<geom class="calf2"/>
<geom name="FR" class="foot"/>
<site name="FR" pos="0 0 -0.213" type="sphere" size="0.023" group="5"/>
</body>
</body>
</body>
<body name="FL_hip" pos="0.1881 0.04675 0">
<inertial pos="-0.0049166 -0.00762615 -8.865e-05" quat="0.482891 0.495027 0.514169 0.507341" mass="0.68"
diaginertia="0.000734064 0.000468438 0.000398719"/>
<joint class="abduction" name="FL_hip_joint"/>
<geom class="visual" mesh="hip"/>
<geom class="hip_left1"/>
<geom class="hip_left2"/>
<body name="FL_thigh" pos="0 0.08 0">
<inertial pos="-0.00304722 -0.019315 -0.0305004" quat="0.753383 0.0775126 -0.0272313 0.65243" mass="1.009"
diaginertia="0.00478717 0.00460903 0.000709268"/>
<joint class="hip" name="FL_thigh_joint"/>
<geom class="visual" mesh="thigh"/>
<geom class="thigh1"/>
<geom class="thigh2"/>
<geom class="thigh3"/>
<body name="FL_calf" pos="0 0 -0.213">
<inertial pos="0.00429862 0.000976676 -0.146197" quat="0.691246 0.00357467 0.00511118 0.722592"
mass="0.195862" diaginertia="0.00149767 0.00148468 3.58427e-05"/>
<joint class="knee" name="FL_calf_joint"/>
<geom class="visual" mesh="calf"/>
<geom class="calf1"/>
<geom class="calf2"/>
<geom name="FL" class="foot"/>
<site name="FL" pos="0 0 -0.213" type="sphere" size="0.023" group="5"/>
</body>
</body>
</body>
<body name="RR_hip" pos="-0.1881 -0.04675 0">
<inertial pos="0.0049166 0.00762615 -8.865e-05" quat="0.495027 0.482891 0.507341 0.514169" mass="0.68"
diaginertia="0.000734064 0.000468438 0.000398719"/>
<joint class="abduction" name="RR_hip_joint"/>
<geom class="visual" quat="0 0 0 -1" mesh="hip"/>
<geom class="hip_right1"/>
<geom class="hip_right2"/>
<geom class="hip_right3"/>
<body name="RR_thigh" pos="0 -0.08 0">
<inertial pos="-0.00304722 0.019315 -0.0305004" quat="0.65243 -0.0272313 0.0775126 0.753383" mass="1.009"
diaginertia="0.00478717 0.00460903 0.000709268"/>
<joint class="hip" name="RR_thigh_joint"/>
<geom class="visual" mesh="thigh_mirror"/>
<geom class="thigh1"/>
<geom class="thigh2"/>
<geom class="thigh3"/>
<body name="RR_calf" pos="0 0 -0.213">
<inertial pos="0.00429862 0.000976676 -0.146197" quat="0.691246 0.00357467 0.00511118 0.722592"
mass="0.195862" diaginertia="0.00149767 0.00148468 3.58427e-05"/>
<joint class="knee" name="RR_calf_joint"/>
<geom class="visual" mesh="calf"/>
<geom class="calf1"/>
<geom class="calf2"/>
<geom name="RR" class="foot"/>
<site name="RR" pos="0 0 -0.213" type="sphere" size="0.023" group="5"/>
</body>
</body>
</body>
<body name="RL_hip" pos="-0.1881 0.04675 0">
<inertial pos="0.0049166 -0.00762615 -8.865e-05" quat="0.514169 0.507341 0.482891 0.495027" mass="0.68"
diaginertia="0.000734064 0.000468438 0.000398719"/>
<joint class="abduction" name="RL_hip_joint"/>
<geom class="visual" quat="0 0 1 0" mesh="hip"/>
<geom class="hip_left1"/>
<geom class="hip_left2"/>
<geom class="hip_left3"/>
<body name="RL_thigh" pos="0 0.08 0">
<inertial pos="-0.00304722 -0.019315 -0.0305004" quat="0.753383 0.0775126 -0.0272313 0.65243" mass="1.009"
diaginertia="0.00478717 0.00460903 0.000709268"/>
<joint class="hip" name="RL_thigh_joint"/>
<geom class="visual" mesh="thigh"/>
<geom class="thigh1"/>
<geom class="thigh2"/>
<geom class="thigh3"/>
<body name="RL_calf" pos="0 0 -0.213">
<inertial pos="0.00429862 0.000976676 -0.146197" quat="0.691246 0.00357467 0.00511118 0.722592"
mass="0.195862" diaginertia="0.00149767 0.00148468 3.58427e-05"/>
<joint class="knee" name="RL_calf_joint"/>
<geom class="visual" mesh="calf"/>
<geom class="calf1"/>
<geom class="calf2"/>
<geom name="RL" class="foot"/>
<site name="RL" pos="0 0 -0.213" type="sphere" size="0.023" group="5"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<position class="abduction" name="FR_hip" joint="FR_hip_joint"/>
<position class="hip" name="FR_thigh" joint="FR_thigh_joint"/>
<position class="knee" name="FR_calf" joint="FR_calf_joint"/>
<position class="abduction" name="FL_hip" joint="FL_hip_joint"/>
<position class="hip" name="FL_thigh" joint="FL_thigh_joint"/>
<position class="knee" name="FL_calf" joint="FL_calf_joint"/>
<position class="abduction" name="RR_hip" joint="RR_hip_joint"/>
<position class="hip" name="RR_thigh" joint="RR_thigh_joint"/>
<position class="knee" name="RR_calf" joint="RR_calf_joint"/>
<position class="abduction" name="RL_hip" joint="RL_hip_joint"/>
<position class="hip" name="RL_thigh" joint="RL_thigh_joint"/>
<position class="knee" name="RL_calf" joint="RL_calf_joint"/>
</actuator>
<keyframe>
<key name="home" qpos="0 0 0.27 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8"
ctrl="0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8"/>
</keyframe>
</mujoco>
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