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April 21, 2023 18:38
unitree a1 from mujoco menagerie modified for brax
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<mujoco model="a1"> | |
<compiler angle="radian" meshdir="assets" texturedir="assets" autolimits="true"/> | |
<!-- brax doesn't support eliptic friction --> | |
<option impratio="100"/> | |
<default> | |
<default class="a1"> | |
<geom friction="0.6" margin="0.001"/> | |
<joint axis="0 1 0" damping="2" armature="0.01" frictionloss="0.2"/> | |
<position kp="100" forcerange="-33.5 33.5"/> | |
<default class="abduction"> | |
<joint axis="1 0 0" damping="1" range="-0.802851 0.802851"/> | |
<position ctrlrange="-0.802851 0.802851"/> | |
</default> | |
<default class="hip"> | |
<joint range="-1.0472 4.18879"/> | |
<position ctrlrange="-1.0472 4.18879"/> | |
</default> | |
<default class="knee"> | |
<joint range="-2.69653 -0.916298"/> | |
<position ctrlrange="-2.69653 -0.916298"/> | |
</default> | |
<default class="visual"> | |
<geom type="mesh" contype="0" conaffinity="0" group="2" material="dark"/> | |
</default> | |
<default class="collision"> | |
<!-- to avoid creating a huge A-matrix, turn off self-collision --> | |
<geom group="3" type="capsule" contype="1" conaffinity="0" /> | |
<default class="hip_left"> | |
<geom size="0.04 0.04" quat="1 1 0 0" type="cylinder" pos="0 0.055 0"/> | |
</default> | |
<default class="hip_right"> | |
<geom size="0.04 0.04" quat="1 1 0 0" type="cylinder" pos="0 -0.055 0"/> | |
</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"> | |
<!-- BRAX: we don't yet support multiple solparams per geom, but will in the future --> | |
<geom type="sphere" size="0.02" pos="0 0 -0.2" priority="1" | |
condim="6" friction="0.8 0.02 0.01"/> | |
</default> | |
</default> | |
</default> | |
</default> | |
<asset> | |
<material name="dark" specular="0" shininess="0.25" rgba="0.2 0.2 0.2 1"/> | |
<texture type="2d" name="trunk_A1" file="trunk_A1.png"/> | |
<material name="carbonfibre" texture="trunk_A1" specular="0" shininess="0.25"/> | |
<mesh class="a1" file="calf.obj"/> | |
<mesh class="a1" file="hip.obj"/> | |
<mesh class="a1" file="thigh.obj"/> | |
<mesh class="a1" file="thigh_mirror.obj"/> | |
<mesh class="a1" file="trunk.obj"/> | |
</asset> | |
<worldbody> | |
<light name="spotlight" mode="targetbodycom" target="trunk" pos="0 -1 2"/> | |
<body name="trunk" pos="0 0 0.43" childclass="a1"> | |
<freejoint/> | |
<inertial mass="4.713" pos="0 0.0041 -0.0005" | |
fullinertia="0.0158533 0.0377999 0.0456542 -3.66e-05 -6.11e-05 -2.75e-05"/> | |
<geom class="visual" mesh="trunk" material="carbonfibre"/> | |
<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="0.005 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"/> | |
<body name="FR_hip" pos="0.183 -0.047 0"> | |
<inertial mass="0.696" pos="-0.003311 -0.000635 3.1e-05" | |
quat="0.507528 0.506268 0.491507 0.494499" | |
diaginertia="0.000807752 0.00055293 0.000468983"/> | |
<joint class="abduction" name="FR_hip_joint"/> | |
<geom class="visual" mesh="hip" quat="0 1 0 0"/> | |
<geom class="hip_right"/> | |
<body name="FR_thigh" pos="0 -0.08505 0"> | |
<inertial mass="1.013" pos="-0.003237 0.022327 -0.027326" | |
quat="0.999125 -0.00256393 -0.0409531 -0.00806091" | |
diaginertia="0.00555739 0.00513936 0.00133944"/> | |
<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 -0.2"> | |
<inertial mass="0.226" pos="0.00472659 0 -0.131975" | |
quat="0.706886 0.017653 0.017653 0.706886" | |
diaginertia="0.00340344 0.00339393 3.54834e-05"/> | |
<joint class="knee" name="FR_calf_joint"/> | |
<geom class="visual" mesh="calf"/> | |
<geom class="calf1"/> | |
<geom class="calf2"/> | |
<geom class="foot"/> | |
</body> | |
</body> | |
</body> | |
<body name="FL_hip" pos="0.183 0.047 0"> | |
<inertial mass="0.696" pos="-0.003311 0.000635 3.1e-05" | |
quat="0.494499 0.491507 0.506268 0.507528" | |
diaginertia="0.000807752 0.00055293 0.000468983"/> | |
<joint class="abduction" name="FL_hip_joint"/> | |
<geom class="visual" mesh="hip"/> | |
<geom class="hip_left"/> | |
<geom class="collision" size="0.04 0.04" pos="0 0.055 0" quat="1 1 0 0" type="cylinder"/> | |
<body name="FL_thigh" pos="0 0.08505 0"> | |
<inertial mass="1.013" pos="-0.003237 -0.022327 -0.027326" | |
quat="0.999125 0.00256393 -0.0409531 0.00806091" | |
diaginertia="0.00555739 0.00513936 0.00133944"/> | |
<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 -0.2"> | |
<inertial mass="0.226" pos="0.00472659 0 -0.131975" | |
quat="0.706886 0.017653 0.017653 0.706886" | |
diaginertia="0.00340344 0.00339393 3.54834e-05"/> | |
<joint class="knee" name="FL_calf_joint"/> | |
<geom class="visual" mesh="calf"/> | |
<geom class="calf1"/> | |
<geom class="calf2"/> | |
<geom class="foot"/> | |
</body> | |
</body> | |
</body> | |
<body name="RR_hip" pos="-0.183 -0.047 0"> | |
<inertial mass="0.696" pos="0.003311 -0.000635 3.1e-05" | |
quat="0.491507 0.494499 0.507528 0.506268" | |
diaginertia="0.000807752 0.00055293 0.000468983"/> | |
<joint class="abduction" name="RR_hip_joint"/> | |
<geom class="visual" quat="0 0 0 -1" mesh="hip"/> | |
<geom class="hip_right"/> | |
<body name="RR_thigh" pos="0 -0.08505 0"> | |
<inertial mass="1.013" pos="-0.003237 0.022327 -0.027326" | |
quat="0.999125 -0.00256393 -0.0409531 -0.00806091" | |
diaginertia="0.00555739 0.00513936 0.00133944"/> | |
<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 -0.2"> | |
<inertial mass="0.226" pos="0.00472659 0 -0.131975" | |
quat="0.706886 0.017653 0.017653 0.706886" | |
diaginertia="0.00340344 0.00339393 3.54834e-05"/> | |
<joint class="knee" name="RR_calf_joint"/> | |
<geom class="visual" mesh="calf"/> | |
<geom class="calf1"/> | |
<geom class="calf2"/> | |
<geom class="foot"/> | |
</body> | |
</body> | |
</body> | |
<body name="RL_hip" pos="-0.183 0.047 0"> | |
<inertial mass="0.696" pos="0.003311 0.000635 3.1e-05" | |
quat="0.506268 0.507528 0.494499 0.491507" | |
diaginertia="0.000807752 0.00055293 0.000468983"/> | |
<joint class="abduction" name="RL_hip_joint"/> | |
<geom class="visual" quat="0 0 1 0" mesh="hip"/> | |
<geom class="hip_left"/> | |
<body name="RL_thigh" pos="0 0.08505 0"> | |
<inertial mass="1.013" pos="-0.003237 -0.022327 -0.027326" | |
quat="0.999125 0.00256393 -0.0409531 0.00806091" | |
diaginertia="0.00555739 0.00513936 0.00133944"/> | |
<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 -0.2"> | |
<inertial mass="0.226" pos="0.00472659 0 -0.131975" | |
quat="0.706886 0.017653 0.017653 0.706886" | |
diaginertia="0.00340344 0.00339393 3.54834e-05"/> | |
<joint class="knee" name="RL_calf_joint"/> | |
<geom class="visual" mesh="calf"/> | |
<geom class="calf1"/> | |
<geom class="calf2"/> | |
<geom class="foot"/> | |
</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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