Robocon/RC_WheelLeg
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[real] 整理 Python Sim2Real v2

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eastzio
2026-07-27 16:45:09 +08:00
parent 55094bf682
commit 3bf6eb0c4c
84 changed files with 13361 additions and 5 deletions
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05_software/real/sim2real_v2/mjcf/meshes/base_link.STL
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05_software/real/sim2real_v2/mjcf/meshes/rl_knee_Link.STL
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05_software/real/sim2real_v2/mjcf/meshes/rl_wheel_Link.STL
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05_software/real/sim2real_v2/mjcf/meshes/rr_hip_abduction_Link.STL
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05_software/real/sim2real_v2/mjcf/meshes/rr_hip_pitch_Link.STL
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05_software/real/sim2real_v2/mjcf/meshes/rr_knee_Link.STL
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05_software/real/sim2real_v2/mjcf/scene.xml
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<mujoco model="wheelleg_scene">
<include file="wheelleg.xml"/>
<option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3"/>
<global azimuth="120" elevation="-20"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge"
rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
</asset>
<worldbody>
<light pos="0 0 3" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" friction="0.8 0.05 0.01"/>
</worldbody>
</mujoco>
05_software/real/sim2real_v2/mjcf/wheelleg.xml
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<mujoco model="wheelleg">
<compiler angle="radian" meshdir="meshes/"/>
<default>
<geom margin="0"/>
</default>
<asset>
<mesh name="base_link" content_type="model/stl" file="base_link.STL"/>
<mesh name="fl_hip_abduction_Link" content_type="model/stl" file="fl_hip_abduction_Link.STL"/>
<mesh name="fl_hip_pitch_Link" content_type="model/stl" file="fl_hip_pitch_Link.STL"/>
<mesh name="fl_knee_Link" content_type="model/stl" file="fl_knee_Link.STL"/>
<mesh name="fl_wheel_Link" content_type="model/stl" file="fl_wheel_Link.STL"/>
<mesh name="fr_hip_abduction_Link" content_type="model/stl" file="fr_hip_abduction_Link.STL"/>
<mesh name="fr_hip_pitch_Link" content_type="model/stl" file="fr_hip_pitch_Link.STL"/>
<mesh name="fr_knee_Link" content_type="model/stl" file="fr_knee_Link.STL"/>
<mesh name="fr_wheel_Link" content_type="model/stl" file="fr_wheel_Link.STL"/>
<mesh name="rl_hip_abduction_Link" content_type="model/stl" file="rl_hip_abduction_Link.STL"/>
<mesh name="rl_hip_pitch_Link" content_type="model/stl" file="rl_hip_pitch_Link.STL"/>
<mesh name="rl_knee_Link" content_type="model/stl" file="rl_knee_Link.STL"/>
<mesh name="rl_wheel_Link" content_type="model/stl" file="rl_wheel_Link.STL"/>
<mesh name="rr_hip_abduction_Link" content_type="model/stl" file="rr_hip_abduction_Link.STL"/>
<mesh name="rr_hip_pitch_Link" content_type="model/stl" file="rr_hip_pitch_Link.STL"/>
<mesh name="rr_knee_Link" content_type="model/stl" file="rr_knee_Link.STL"/>
<mesh name="rr_wheel_Link" content_type="model/stl" file="rr_wheel_Link.STL"/>
</asset>
<worldbody>
<body name="base_link">
<inertial pos="0.1517 0.0002 0.0542" mass="3.5" diaginertia="0.0215 0.0904 0.0985"/>
<joint type="free"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="base_link"/>
<geom size="0.178 0.1175 0.073" pos="0.1518 0 0.054" type="box" rgba="0.75294 0.75294 0.75294 1"/>
<body name="fl_hip_abduction_Link" pos="0.32826 0.066172 0.053981">
<inertial pos="0.0488 -0.0026 0.0007" mass="0.5" diaginertia="0.0003 0.0006 0.0005"/>
<joint name="fl_hip_abduction_joint" pos="0 0 0" axis="1 0 0" range="-0.436 0.611" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fl_hip_abduction_Link"/>
<body name="fl_hip_pitch_Link" pos="0.06389 -0.027344 0.00010727" quat="0.999997 -0.0025023 0 0">
<inertial pos="0.0019 0.1119 -0.048" mass="0.935" diaginertia="0.0062 0.0064 0.001"/>
<joint name="fl_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.58 2.58" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fl_hip_pitch_Link"/>
<geom size="0.046 0.048" pos="0 0.048 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
<geom size="0.0435 0.0115 0.06" pos="0 0.1155 -0.06" type="box" rgba="0.75294 0.75294 0.75294 1"/>
<body name="fl_knee_Link" pos="0 0.1035 -0.25" quat="0.999997 0.0025023 0 0">
<inertial pos="0.0002 0.0242 -0.1539" mass="0.651" fullinertia="0.0042 0.0045 0.0005 0 0 0.0002"/>
<joint name="fl_knee_joint" pos="0 0 0" axis="0 1 0" range="-2.65 2.65" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fl_knee_Link"/>
<geom size="0.0475 0.015" pos="0 0.025 -0.20011" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
<geom size="0.015 0.0125 0.06" pos="0 0.0125 -0.09" type="box" rgba="0.75294 0.75294 0.75294 1"/>
<body name="fl_wheel_Link" pos="0 0.014699 -0.20011">
<inertial pos="-0.0002 0.0407 -0.0001" mass="0.53" diaginertia="0.0017 0.0032 0.0017"/>
<joint name="fl_wheel_joint" pos="0 0 0" axis="0 1 0" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fl_wheel_Link"/>
<geom size="0.1 0.015" pos="0 0.04074 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
</body>
</body>
</body>
</body>
<body name="fr_hip_abduction_Link" pos="0.32826 -0.065853 0.054034">
<inertial pos="0.0488 0.0026 0.0008" mass="0.5" diaginertia="0.0003 0.0006 0.0005"/>
<joint name="fr_hip_abduction_joint" pos="0 0 0" axis="1 0 0" range="-0.611 0.436" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fr_hip_abduction_Link"/>
<body name="fr_hip_pitch_Link" pos="0.06389 0.027311 -0.00036027" quat="0.999976 -0.00686995 0 0">
<inertial pos="-0.0019 -0.1119 -0.048" mass="0.935" diaginertia="0.0062 0.0064 0.001"/>
<joint name="fr_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.58 2.58" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fr_hip_pitch_Link"/>
<geom size="0.046 0.048" pos="0 -0.048 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
<geom size="0.0435 0.0115 0.06" pos="0 -0.1155 -0.06" type="box" rgba="0.75294 0.75294 0.75294 1"/>
<body name="fr_knee_Link" pos="-0.00075079 -0.1035 -0.25" quat="0.999976 0.00686995 0 0">
<inertial pos="-0.0002 -0.0242 -0.1539" mass="0.651" fullinertia="0.0042 0.0045 0.0005 0 0 0.0001"/>
<joint name="fr_knee_joint" pos="0 0 0" axis="0 1 0" range="-2.65 2.65" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fr_knee_Link"/>
<geom size="0.0475 0.015" pos="0 -0.025 -0.1998" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
<geom size="0.015 0.0125 0.06" pos="0 -0.0125 -0.09" type="box" rgba="0.75294 0.75294 0.75294 1"/>
<body name="fr_wheel_Link" pos="0 -0.018447 -0.1998">
<inertial pos="0.0002 -0.0407 -0.0001" mass="0.53" diaginertia="0.0017 0.0032 0.0017"/>
<joint name="fr_wheel_joint" pos="0 0 0" axis="0 1 0" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fr_wheel_Link"/>
<geom size="0.1 0.015" pos="0 -0.040735 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
</body>
</body>
</body>
</body>
<body name="rl_hip_abduction_Link" pos="-0.024743 0.066141 0.054034">
<inertial pos="-0.0488 -0.0026 -0.0008" mass="0.5" diaginertia="0.0003 0.0006 0.0005"/>
<joint name="rl_hip_abduction_joint" pos="0 0 0" axis="1 0 0" range="-0.436 0.611" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rl_hip_abduction_Link"/>
<body name="rl_hip_pitch_Link" pos="-0.06389 -0.027309 0.00045509">
<inertial pos="0.0019 0.1119 -0.048" mass="0.935" diaginertia="0.0062 0.0064 0.001"/>
<joint name="rl_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.58 2.58" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rl_hip_pitch_Link"/>
<geom size="0.046 0.048" pos="0 0.048 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
<geom size="0.0435 0.0115 0.06" pos="0 0.1155 -0.06" type="box" rgba="0.75294 0.75294 0.75294 1"/>
<body name="rl_knee_Link" pos="0 0.099459 -0.25163">
<inertial pos="0.0002 0.0242 -0.1539" mass="0.651" fullinertia="0.0042 0.0045 0.0005 0 0 -0.0003"/>
<joint name="rl_knee_joint" pos="0 0 0" axis="0 1 0" range="-2.65 2.65" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rl_knee_Link"/>
<geom size="0.0475 0.015" pos="0 0.025 -0.20027" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
<geom size="0.015 0.0125 0.06" pos="0 0.0125 -0.09" type="box" rgba="0.75294 0.75294 0.75294 1"/>
<body name="rl_wheel_Link" pos="0 0.012475 -0.20027">
<inertial pos="-0.0002 0.0407 -0.0001" mass="0.53" diaginertia="0.0017 0.0032 0.0017"/>
<joint name="rl_wheel_joint" pos="0 0 0" axis="0 1 0" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rl_wheel_Link"/>
<geom size="0.1 0.015" pos="0 0.040737 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
</body>
</body>
</body>
</body>
<body name="rr_hip_abduction_Link" pos="-0.024743 -0.065884 0.053981">
<inertial pos="-0.0488 0.0026 0.0008" mass="0.5" diaginertia="0.0003 0.0006 0.0005"/>
<joint name="rr_hip_abduction_joint" pos="0 0 0" axis="1 0 0" range="-0.611 0.436" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rr_hip_abduction_Link"/>
<body name="rr_hip_pitch_Link" pos="-0.06389 0.027341 0.00041625">
<inertial pos="-0.002 -0.1111 -0.0498" mass="0.935" diaginertia="0.0062 0.0064 0.001"/>
<joint name="rr_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.58 2.58" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rr_hip_pitch_Link"/>
<geom size="0.046 0.048" pos="0 -0.048 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
<geom size="0.0435 0.0115 0.06" pos="0 -0.1155 -0.06" type="box" rgba="0.75294 0.75294 0.75294 1"/>
<body name="rr_knee_Link" pos="-0.00075079 -0.099408 -0.25165">
<inertial pos="-0.0002 -0.0225 -0.1541" mass="0.651" fullinertia="0.0042 0.0045 0.0005 0 0 -0.0001"/>
<joint name="rr_knee_joint" pos="0 0 0" axis="0 1 0" range="-2.65 2.65" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rr_knee_Link"/>
<geom size="0.0475 0.015" pos="0 -0.025 -0.20027" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
<geom size="0.015 0.0125 0.06" pos="0 -0.0125 -0.09" type="box" rgba="0.75294 0.75294 0.75294 1"/>
<body name="rr_wheel_Link" pos="0 -0.012435 -0.20027">
<inertial pos="0.0002 -0.0407 -0.0005" mass="0.53" diaginertia="0.0017 0.0032 0.0017"/>
<joint name="rr_wheel_joint" pos="0 0 0" axis="0 1 0" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rr_wheel_Link"/>
<geom size="0.1 0.015" pos="0 -0.040737 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
</body>
</body>
</body>
</body>
<body name="imu_link" pos="0.1518 0 0.127">
<inertial pos="0 0 0" mass="0" diaginertia="0 0 0"/>
</body>
</body>
</worldbody>
<actuator>
<general name="fl_hip_abduction_joint" joint="fl_hip_abduction_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
<general name="fl_hip_pitch_joint" joint="fl_hip_pitch_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
<general name="fl_knee_joint" joint="fl_knee_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
<general name="fl_wheel_joint" joint="fl_wheel_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="0.5"/>
<general name="fr_hip_abduction_joint" joint="fr_hip_abduction_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
<general name="fr_hip_pitch_joint" joint="fr_hip_pitch_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
<general name="fr_knee_joint" joint="fr_knee_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
<general name="fr_wheel_joint" joint="fr_wheel_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="0.5"/>
<general name="rl_hip_abduction_joint" joint="rl_hip_abduction_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
<general name="rl_hip_pitch_joint" joint="rl_hip_pitch_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
<general name="rl_knee_joint" joint="rl_knee_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
<general name="rl_wheel_joint" joint="rl_wheel_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="0.5"/>
<general name="rr_hip_abduction_joint" joint="rr_hip_abduction_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
<general name="rr_hip_pitch_joint" joint="rr_hip_pitch_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
<general name="rr_knee_joint" joint="rr_knee_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
<general name="rr_wheel_joint" joint="rr_wheel_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="0.5"/>
</actuator>
</mujoco>