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Merged
paul-nechifor merged 11 commits into from
Aug 12, 2025
Merged

MuJoCo Simulation #539

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f4cec38
add mujoco simulation for unitree go1
paul-nechifor Aug 6, 2025
ff5b707
move code to appropriate places
paul-nechifor Aug 10, 2025
daf6ba8
CI code cleanup
paul-nechifor Aug 11, 2025
009a6ea
remove old dependencies
paul-nechifor Aug 11, 2025
039ad95
treat unknown as safe if configured
paul-nechifor Aug 11, 2025
d4edfb0
configure inflate radius
paul-nechifor Aug 11, 2025
9b4e71f
clean up on exit
paul-nechifor Aug 11, 2025
1db62af
CI code cleanup
paul-nechifor Aug 11, 2025
09c2349
move simulation dependencies to optional sim
paul-nechifor Aug 12, 2025
2f75923
only import mujoco if it is being used
paul-nechifor Aug 12, 2025
1054873
CI code cleanup
paul-nechifor Aug 12, 2025
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3 changes: 3 additions & 0 deletions assets/policies/go1_policy.onnx
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304 changes: 304 additions & 0 deletions assets/robots/go1/robot.xml
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<mujoco model="go1 feet only rough terrain scene">
<compiler angle="radian" meshdir="../../../../../mujoco_menagerie/unitree_go1/assets"
autolimits="true" />

<option iterations="1" ls_iterations="5" timestep="0.004" integrator="Euler">
<flag eulerdamp="disable" />
</option>

<custom>
<numeric data="30" name="max_contact_points" />
<numeric data="12" name="max_geom_pairs" />
</custom>

<default>
<default class="go1">
<geom condim="1" />
<joint axis="0 1 0" armature="0.005" damping="0.5" />
<position forcerange="-23.7 23.7" inheritrange="1" kp="35" />
<default class="abduction">
<joint axis="1 0 0" range="-0.863 0.863" frictionloss="0.3" />
</default>
<default class="hip">
<joint range="-0.686 4.501" frictionloss="0.3" />
</default>
<default class="knee">
<joint range="-2.818 -0.888" frictionloss="1.0" />
<position forcerange="-35.55 35.55" />
</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" solimp="0.9 .95 0.023" condim="3" />
</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="3 0 4" />
<body name="trunk" pos="0 0 0.445" childclass="go1">

<camera name="track" pos="0.846 -1.3 0.316" xyaxes="0.866 0.500 0.000 -0.171 0.296 0.940"
mode="trackcom" />
<camera name="top" pos="-1 0 1" xyaxes="0 -1 0 0.7 0 0.7" mode="trackcom" />
<camera name="side" pos="0 -1 .3" xyaxes="1 0 0 0 1 2" mode="trackcom" />
<camera name="back" pos="-1 0 .3" xyaxes="0 -1 0 1 0 2" mode="trackcom" />
<camera name="head_camera" pos="0.29 0 0.01" xyaxes="0 -1 0 0 0 1" mode="fixed" />
<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" 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" />
<site name="imu" pos="-0.01592 -0.06659 -0.00617" group="5" />
<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 name="fr_hip" class="hip_right1" />
<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 name="fr_thigh1" class="thigh1" />
<geom name="fr_thigh2" class="thigh2" />
<geom name="fr_thigh3" 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 name="fr_calf1" class="calf1" />
<geom name="fr_calf2" 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 name="fl_hip" class="hip_left1" />
<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 name="fl_thigh1" class="thigh1" />
<geom name="fl_thigh2" class="thigh2" />
<geom name="fl_thigh3" 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 name="fl_calf1" class="calf1" />
<geom name="fl_calf2" 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 name="rr_hip" class="hip_right1" />
<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 name="rr_thigh1" class="thigh1" />
<geom name="rr_thigh2" class="thigh2" />
<geom name="rr_thigh3" 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 name="rr_calf1" class="calf1" />
<geom name="rr_calf2" 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 name="rl_hip" class="hip_left1" />
<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 name="rl_thigh1" class="thigh1" />
<geom name="rl_thigh2" class="thigh2" />
<geom name="rl_thigh3" 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 name="rl_calf1" class="calf1" />
<geom name="rl_calf2" 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>

<sensor>
<gyro site="imu" name="gyro" />
<velocimeter site="imu" name="local_linvel" />
<accelerometer site="imu" name="accelerometer" />
<framepos objtype="site" objname="imu" name="position" />
<framezaxis objtype="site" objname="imu" name="upvector" />
<framexaxis objtype="site" objname="imu" name="forwardvector" />
<framelinvel objtype="site" objname="imu" name="global_linvel" />
<frameangvel objtype="site" objname="imu" name="global_angvel" />
<framequat objtype="site" objname="imu" name="orientation" />
<framelinvel objtype="site" objname="FR" name="FR_global_linvel" />
<framelinvel objtype="site" objname="FL" name="FL_global_linvel" />
<framelinvel objtype="site" objname="RR" name="RR_global_linvel" />
<framelinvel objtype="site" objname="RL" name="RL_global_linvel" />
<framepos objtype="site" objname="FR" name="FR_pos" reftype="site" refname="imu" />
<framepos objtype="site" objname="FL" name="FL_pos" reftype="site" refname="imu" />
<framepos objtype="site" objname="RR" name="RR_pos" reftype="site" refname="imu" />
<framepos objtype="site" objname="RL" name="RL_pos" reftype="site" refname="imu" />
<framepos objtype="site" objname="head" name="head_pos" />

</sensor>

<statistic center="0 0 0.1" extent="0.8" meansize="0.04" />

<visual>
<rgba force="1 0 0 1" />
<global azimuth="120" elevation="-20" />
<map force="0.01" />
<scale forcewidth="0.3" contactwidth="0.5" contactheight="0.2" />
<quality shadowsize="8192" />
</visual>

<asset>
<!-- https://polyhaven.com/a/rock_face -->
<texture type="2d" name="groundplane" file="assets/rocky_texture.png" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5"
reflectance=".8" />
<hfield name="hfield" file="assets/hfield.png" size="10 10 .05 0.1" />
<texture name="skybox" type="skybox" builtin="gradient"
rgb1="0.4 0.6 0.8" rgb2="0.0 0.0 0.0"
width="512" height="512"/>
</asset>

<worldbody>
<geom name="floor" type="hfield" hfield="hfield" material="groundplane" contype="1"
conaffinity="0" priority="1"
friction="1.0" />
<geom name="box" type="box" size="2 2 2" pos="5 0 2" />
<body name="obstacle_cube" pos="1.0 1.6 0.8">
<geom name="cube_geom" type="box" size="1 1 1"
rgba="0.8 0.2 0.2 1.0" mass="1.0"/>
</body>
</worldbody>

<keyframe>
<key name="home"
qpos="
0 0 0.35
1 0 0 0
0.1 0.9 -1.8
-0.1 0.9 -1.8
0.1 0.9 -1.8
-0.1 0.9 -1.8"
ctrl="0.1 0.9 -1.8 -0.1 0.9 -1.8 0.1 0.9 -1.8 -0.1 0.9 -1.8" />
<key name="home_higher"
qpos="0 0 0.35 1 0 0 0 0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63"
ctrl="0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63" />
</keyframe>
</mujoco>
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