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huangweifeng
2026-10-22 09:23:54 +08:00
commit 63f557a39f
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M20_description/fire_ant_mjcf/mjcf/fire_ant.xml
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<mujoco model="fire_ant">
<compiler angle="radian" autolimits="true" balanceinertia="true"/>
<option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast">
<flag multiccd="enable"/>
</option>
<default>
<geom density="0" condim="3" solref="0.005 1" solimp="0.95 0.99 0.001"
friction="0.6 0.005 0.0001" contype="1" conaffinity="1"/>
<joint damping="0" armature="0" frictionloss="0"/>
<default class="wheel">
<!-- Wheel-ground friction is intentionally independent from the other links. -->
<geom type="cylinder" size="0.096 0.0415" quat="0.70710678 0.70710678 0 0"
friction="1.0 0.005 0.0001" rgba="0.08 0.08 0.08 1"/>
<joint axis="0 -1 0" armature="0.00243216" frictionloss="1.0"/>
</default>
</default>
<asset>
<texture name="floor_tex" type="2d" builtin="checker" rgb1="0.22 0.27 0.31"
rgb2="0.12 0.15 0.18" width="512" height="512"/>
<material name="floor_mat" texture="floor_tex" texrepeat="2 2" texuniform="true"/>
</asset>
<worldbody>
<light directional="true" pos="-2 -1 4" dir="0.5 0.2 -1"/>
<geom name="floor" type="plane" size="30 8 0.1" material="floor_mat"
friction="1.0 0.005 0.0001" rgba="0.55 0.6 0.65 1"/>
<body name="base_link" pos="0 0 0.306">
<freejoint name="floating_base"/>
<inertial pos="0.00355106 0.00165076 -0.00346462" mass="15.882"
diaginertia="0.0880787 0.533816 0.563915"/>
<site name="base_site" pos="0 0 0" size="0.005"/>
<site name="imu_site" pos="0 0 0" size="0.005"/>
<geom name="base_collision" type="box" size="0.30 0.16 0.06" rgba="0.35 0.43 0.50 1"/>
<geom name="base_left_rail" type="cylinder" size="0.055 0.30" pos="0 0.13 0"
quat="0.70710678 0 0.70710678 0" rgba="0.22 0.28 0.34 1"/>
<geom name="base_right_rail" type="cylinder" size="0.055 0.30" pos="0 -0.13 0"
quat="0.70710678 0 0.70710678 0" rgba="0.22 0.28 0.34 1"/>
<body name="fl_knee" pos="0.30 0.14 0">
<inertial pos="0.00341917 0.00269124 -0.18126550" mass="0.612"
diaginertia="0.005202 0.005202 0.0007344"/>
<joint name="fl_knee_joint" axis="0 -1 0" range="-2.792 2.809"
actuatorfrcrange="-75 75"/>
<geom name="fl_knee_collision" type="box" size="0.025 0.012 0.10"
pos="0.012 -0.012 -0.10" rgba="0.82 0.31 0.16 1"/>
<geom name="fl_motor_collision" type="cylinder" size="0.04 0.045"
pos="0 0.018 -0.21" quat="0.70710678 0.70710678 0 0" rgba="0.65 0.20 0.10 1"/>
<body name="fl_wheel" pos="0 0.11 -0.21">
<inertial pos="0 0 0" mass="1.34" diaginertia="0.003856632 0.006174720 0.003856632"/>
<joint name="fl_wheel_joint" class="wheel" actuatorfrcrange="-28.68 28.68"/>
<geom name="fl_wheel_collision" class="wheel"/>
</body>
</body>
<body name="fr_knee" pos="0.30 -0.14 0">
<inertial pos="0.00354945 -0.00247884 -0.18008924" mass="0.612"
diaginertia="0.005202 0.005202 0.0007344"/>
<joint name="fr_knee_joint" axis="0 -1 0" range="-2.792 2.809"
actuatorfrcrange="-75 75"/>
<geom name="fr_knee_collision" type="box" size="0.025 0.012 0.10"
pos="0.012 0.012 -0.10" rgba="0.82 0.31 0.16 1"/>
<geom name="fr_motor_collision" type="cylinder" size="0.04 0.045"
pos="0 -0.018 -0.21" quat="0.70710678 0.70710678 0 0" rgba="0.65 0.20 0.10 1"/>
<body name="fr_wheel" pos="0 -0.11 -0.21">
<inertial pos="0 0 0" mass="1.34" diaginertia="0.003856632 0.006174720 0.003856632"/>
<joint name="fr_wheel_joint" class="wheel" actuatorfrcrange="-28.68 28.68"/>
<geom name="fr_wheel_collision" class="wheel"/>
</body>
</body>
<body name="hl_knee" pos="-0.30 0.14 0">
<inertial pos="-0.00354945 0.00247885 -0.18008926" mass="0.612"
diaginertia="0.005202 0.005202 0.0007344"/>
<joint name="hl_knee_joint" axis="0 -1 0" range="-2.809 2.792"
actuatorfrcrange="-75 75"/>
<geom name="hl_knee_collision" type="box" size="0.025 0.012 0.10"
pos="-0.012 0.012 -0.10" rgba="0.82 0.31 0.16 1"/>
<geom name="hl_motor_collision" type="cylinder" size="0.04 0.045"
pos="0 0.018 -0.21" quat="0.70710678 0.70710678 0 0" rgba="0.65 0.20 0.10 1"/>
<body name="hl_wheel" pos="0 0.11 -0.21">
<inertial pos="0 0 0" mass="1.34" diaginertia="0.003856632 0.006174720 0.003856632"/>
<joint name="hl_wheel_joint" class="wheel" actuatorfrcrange="-28.68 28.68"/>
<geom name="hl_wheel_collision" class="wheel"/>
</body>
</body>
<body name="hr_knee" pos="-0.30 -0.14 0">
<inertial pos="-0.00341053 -0.00270202 -0.18128749" mass="0.612"
diaginertia="0.005202 0.005202 0.0007344"/>
<joint name="hr_knee_joint" axis="0 -1 0" range="-2.809 2.792"
actuatorfrcrange="-75 75"/>
<geom name="hr_knee_collision" type="box" size="0.025 0.012 0.10"
pos="-0.012 0.012 -0.10" rgba="0.82 0.31 0.16 1"/>
<geom name="hr_motor_collision" type="cylinder" size="0.04 0.045"
pos="0 -0.018 -0.21" quat="0.70710678 0.70710678 0 0" rgba="0.65 0.20 0.10 1"/>
<body name="hr_wheel" pos="0 -0.11 -0.21">
<inertial pos="0 0 0" mass="1.34" diaginertia="0.003856632 0.006174720 0.003856632"/>
<joint name="hr_wheel_joint" class="wheel" actuatorfrcrange="-28.68 28.68"/>
<geom name="hr_wheel_collision" class="wheel"/>
</body>
</body>
</body>
</worldbody>
<!-- Robot/DDS order: FL knee/wheel, FR knee/wheel, HL knee/wheel, HR knee/wheel. -->
<actuator>
<motor name="fl_knee_motor" joint="fl_knee_joint" gear="1" ctrlrange="-75 75"/>
<motor name="fl_wheel_motor" joint="fl_wheel_joint" gear="1" ctrlrange="-28.68 28.68"/>
<motor name="fr_knee_motor" joint="fr_knee_joint" gear="1" ctrlrange="-75 75"/>
<motor name="fr_wheel_motor" joint="fr_wheel_joint" gear="1" ctrlrange="-28.68 28.68"/>
<motor name="hl_knee_motor" joint="hl_knee_joint" gear="1" ctrlrange="-75 75"/>
<motor name="hl_wheel_motor" joint="hl_wheel_joint" gear="1" ctrlrange="-28.68 28.68"/>
<motor name="hr_knee_motor" joint="hr_knee_joint" gear="1" ctrlrange="-75 75"/>
<motor name="hr_wheel_motor" joint="hr_wheel_joint" gear="1" ctrlrange="-28.68 28.68"/>
</actuator>
<contact>
<exclude body1="base_link" body2="fl_knee"/>
<exclude body1="fl_knee" body2="fl_wheel"/>
<exclude body1="base_link" body2="fr_knee"/>
<exclude body1="fr_knee" body2="fr_wheel"/>
<exclude body1="base_link" body2="hl_knee"/>
<exclude body1="hl_knee" body2="hl_wheel"/>
<exclude body1="base_link" body2="hr_knee"/>
<exclude body1="hr_knee" body2="hr_wheel"/>
</contact>
<sensor>
<framequat name="base_quat" objtype="site" objname="base_site"/>
<accelerometer name="base_acc" site="imu_site"/>
<gyro name="base_gyro" site="imu_site"/>
</sensor>
<keyframe>
<key name="home" qpos="0 0 0.306 1 0 0 0 0.5 0 0.5 0 -0.5 0 -0.5 0"/>
</keyframe>
</mujoco>
M20_description/fire_ant_mjcf/mjcf/fire_ant_rough.xml
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<mujoco model="fire_ant_rough">
<include file="fire_ant.xml"/>
<worldbody>
<!-- A deterministic mixed obstacle course for Stage-2 sim2sim checks. -->
<geom name="step_08cm" type="box" pos="1.30 0 0.04" size="0.18 1.0 0.04"
friction="1.0 0.005 0.0001" solref="0.005 1" rgba="0.42 0.48 0.55 1"/>
<geom name="step_12cm" type="box" pos="1.66 0 0.06" size="0.18 1.0 0.06"
friction="1.0 0.005 0.0001" solref="0.005 1" rgba="0.46 0.52 0.59 1"/>
<geom name="step_16cm" type="box" pos="2.02 0 0.08" size="0.18 1.0 0.08"
friction="1.0 0.005 0.0001" solref="0.005 1" rgba="0.50 0.56 0.63 1"/>
<geom name="top_platform" type="box" pos="2.72 0 0.08" size="0.52 1.0 0.08"
friction="1.0 0.005 0.0001" solref="0.005 1" rgba="0.54 0.60 0.67 1"/>
<geom name="descending_step_10cm" type="box" pos="3.42 0 0.05" size="0.18 1.0 0.05"
friction="1.0 0.005 0.0001" solref="0.005 1" rgba="0.46 0.52 0.59 1"/>
<geom name="isolated_box" type="box" pos="4.30 0 0.07" size="0.16 0.55 0.07"
friction="1.0 0.005 0.0001" solref="0.005 1" rgba="0.73 0.42 0.20 1"/>
</worldbody>
</mujoco>