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aatb-chaatb-ch
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add go2 fullcollision mjx and rough environment
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8 files changed

+376
-11
lines changed

8 files changed

+376
-11
lines changed

‎mujoco_playground/_src/locomotion/__init__.py‎

Lines changed: 5 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -68,6 +68,9 @@
6868
"Go2JoystickFlatTerrain": functools.partial(
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go2_joystick.Joystick, task="flat_terrain"
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),
71+
"Go2JoystickRoughTerrain": functools.partial(
72+
go2_joystick.Joystick, task="rough_terrain"
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),
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"H1InplaceGaitTracking": h1_inplace_gait_tracking.InplaceGaitTracking,
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"H1JoystickGaitTracking": h1_joystick_gait_tracking.JoystickGaitTracking,
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"Op3Joystick": op3_joystick.Joystick,
@@ -102,6 +105,7 @@
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"Go1Handstand": go1_handstand.default_config,
103106
"Go1Footstand": go1_handstand.default_config,
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"Go2JoystickFlatTerrain": go2_joystick.default_config,
108+
"Go2JoystickRoughTerrain": go2_joystick.default_config,
105109
"H1InplaceGaitTracking": h1_inplace_gait_tracking.default_config,
106110
"H1JoystickGaitTracking": h1_joystick_gait_tracking.default_config,
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"Op3Joystick": op3_joystick.default_config,
@@ -127,6 +131,7 @@
127131
"Go1Handstand": go1_randomize.domain_randomize,
128132
"Go1Footstand": go1_randomize.domain_randomize,
129133
"Go2JoystickFlatTerrain": go2_randomize.domain_randomize,
134+
"Go2JoystickRoughTerrain": go2_randomize.domain_randomize,
130135
"T1JoystickFlatTerrain": t1_randomize.domain_randomize,
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"T1JoystickRoughTerrain": t1_randomize.domain_randomize,
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}

‎mujoco_playground/_src/locomotion/go2/go2_constants.py‎

Lines changed: 11 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -19,17 +19,22 @@
1919
from mujoco_playground._src import mjx_env
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ROOT_PATH = mjx_env.ROOT_PATH / "locomotion" / "go2"
22-
FLAT_TERRAIN_XML = (
23-
ROOT_PATH / "xmls" / "scene_mjx_flat_terrain.xml"
22+
FEET_ONLY_FLAT_TERRAIN_XML = (
23+
ROOT_PATH / "xmls" / "scene_mjx_feetonly_flat_terrain.xml"
2424
)
25-
ROUGH_TERRAIN_XML = (
26-
ROOT_PATH / "xmls" / "scene_mjx_rough_terrain.xml"
25+
FEET_ONLY_ROUGH_TERRAIN_XML = (
26+
ROOT_PATH / "xmls" / "scene_mjx_feetonly_rough_terrain.xml"
2727
)
28+
FULL_FLAT_TERRAIN_XML = ROOT_PATH / "xmls" / "scene_mjx_flat_terrain.xml"
29+
FULL_COLLISIONS_FLAT_TERRAIN_XML = (
30+
ROOT_PATH / "xmls" / "scene_mjx_fullcollisions_flat_terrain.xml"
31+
)
32+
2833

2934
def task_to_xml(task_name: str) -> epath.Path:
3035
return {
31-
"flat_terrain": FLAT_TERRAIN_XML,
32-
"rough_terrain": ROUGH_TERRAIN_XML,
36+
"flat_terrain": FEET_ONLY_FLAT_TERRAIN_XML,
37+
"rough_terrain": FEET_ONLY_ROUGH_TERRAIN_XML,
3338
}[task_name]
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‎mujoco_playground/_src/locomotion/go2/xmls/go2_mjx_fullcollisions.xml‎

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Original file line numberDiff line numberDiff line change
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1+
<mujoco model="go2">
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<compiler angle="radian" meshdir="../../../../../mujoco_menagerie/unitree_go2/assets" autolimits="true"/>
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4+
<option iterations="1" ls_iterations="5" timestep="0.004" integrator="Euler">
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<flag eulerdamp="disable"/>
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</option>
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<custom>
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<numeric data="30" name="max_contact_points"/>
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<numeric data="12" name="max_geom_pairs"/>
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</custom>
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<default>
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<default class="go2">
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<geom condim="1"/>
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<joint axis="0 1 0" damping="2" armature="0.01"/>
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<general forcerange="-24 24" biastype="affine" gainprm="50 0 0" biasprm="0 -50 -0.5"/>
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<default class="abduction">
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<joint axis="1 0 0" range="-1.0472 1.0472"/>
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<general ctrlrange="-0.9472 0.9472"/>
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</default>
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<default class="hip">
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<joint range="-1.5708 3.4907"/>
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<general ctrlrange="-1.4 2.5"/>
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</default>
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<default class="knee">
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<joint range="-2.7227 -0.83776"/>
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<general ctrlrange="-2.6227 -0.84776"/>
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</default>
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<default class="visual">
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<geom type="mesh" contype="0" conaffinity="0" group="2"/>
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</default>
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<default class="go2foot">
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<site pos="0 0 -0.213" type="sphere" size="0.023" group="5"/>
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<geom rgba="0.231373 0.380392 0.705882 1"/>
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</default>
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<default class="collision">
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<geom group="3"/>
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<default class="foot">
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<geom type="sphere" size="0.0175" pos="-0.002 0 -0.213" solimp="0.9 .95 0.023" condim="3"/>
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</default>
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</default>
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</default>
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</default>
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<asset>
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<material name="metal" rgba=".9 .95 .95 1"/>
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<material name="black" rgba="0 0 0 1"/>
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<material name="white" rgba="1 1 1 1"/>
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<material name="gray" rgba="0.671705 0.692426 0.774270 1"/>
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<mesh file="base_0.obj"/>
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<mesh file="base_1.obj"/>
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<mesh file="base_2.obj"/>
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<mesh file="base_3.obj"/>
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<mesh file="base_4.obj"/>
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<mesh file="hip_0.obj"/>
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<mesh file="hip_1.obj"/>
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<mesh file="thigh_0.obj"/>
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<mesh file="thigh_1.obj"/>
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<mesh file="thigh_mirror_0.obj"/>
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<mesh file="thigh_mirror_1.obj"/>
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<mesh file="calf_0.obj"/>
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<mesh file="calf_1.obj"/>
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<mesh file="calf_mirror_0.obj"/>
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<mesh file="calf_mirror_1.obj"/>
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<mesh file="foot.obj"/>
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</asset>
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<worldbody>
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<body name="base" pos="0 0 0.445" childclass="go2">
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<camera name="track" pos="0.846 -1.465 0.916" xyaxes="0.866 0.500 0.000 -0.171 0.296 0.940" mode="trackcom"/>
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<inertial pos="0.021112 0 -0.005366" quat="-0.000543471 0.713435 -0.00173769 0.700719" mass="6.921"
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diaginertia="0.107027 0.0980771 0.0244531"/>
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<freejoint/>
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<geom mesh="base_0" material="black" class="visual"/>
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<geom mesh="base_1" material="black" class="visual"/>
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<geom mesh="base_2" material="black" class="visual"/>
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<geom mesh="base_3" material="white" class="visual"/>
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<geom mesh="base_4" material="gray" class="visual"/>
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<geom size="0.057 0.04675 0.057" class="collision"/>
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<geom size="0.05 0.045" pos="0.285 0 0.01" class="collision"/>
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<geom size="0.047" pos="0.293 0 -0.06" class="collision"/>
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<site name="imu" pos="-0.02557 0 0.04232"/>
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<body name="FL_hip" pos="0.1934 0.0465 0">
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<inertial pos="-0.0054 0.00194 -0.000105" quat="0.497014 0.499245 0.505462 0.498237" mass="0.678"
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diaginertia="0.00088403 0.000596003 0.000479967"/>
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<joint name="FL_hip_joint" class="abduction"/>
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<geom mesh="hip_0" material="metal" class="visual"/>
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<geom mesh="hip_1" material="gray" class="visual"/>
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<geom size="0.046 0.02" pos="0 0.08 0" quat="1 1 0 0" class="collision"/>
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<body name="FL_thigh" pos="0 0.0955 0">
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<inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152"
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diaginertia="0.00594973 0.00584149 0.000878787"/>
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<joint name="FL_thigh_joint" class="hip"/>
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<geom mesh="thigh_0" material="metal" class="visual"/>
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<geom mesh="thigh_1" material="gray" class="visual"/>
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<geom size="0.017 0.01225 0.017" pos="-0.015 0 -0.1955" quat="0.707107 0 0.707107 0" class="collision"/>
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<body name="FL_calf" pos="0 0 -0.213">
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<inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508"
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mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
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<joint name="FL_calf_joint" class="knee"/>
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<geom mesh="calf_0" material="gray" class="visual"/>
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<geom mesh="calf_1" material="black" class="visual"/>
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<geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0" class="collision"/>
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<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" class="collision"/>
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<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
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<geom name="FL" class="foot"/>
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<site name="FL" class="go2foot"/>
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</body>
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</body>
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</body>
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<body name="FR_hip" pos="0.1934 -0.0465 0">
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<inertial pos="-0.0054 -0.00194 -0.000105" quat="0.498237 0.505462 0.499245 0.497014" mass="0.678"
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diaginertia="0.00088403 0.000596003 0.000479967"/>
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<joint name="FR_hip_joint" class="abduction"/>
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<geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 1 0 0"/>
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<geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0"/>
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<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" class="collision"/>
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<body name="FR_thigh" pos="0 -0.0955 0">
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<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152"
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diaginertia="0.00594973 0.00584149 0.000878787"/>
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<joint name="FR_thigh_joint" class="hip"/>
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<geom mesh="thigh_mirror_0" material="metal" class="visual"/>
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<geom mesh="thigh_mirror_1" material="gray" class="visual"/>
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<geom size="0.017 0.01225 0.017" pos="-0.015 0 -0.1955" quat="0.707107 0 0.707107 0" class="collision"/>
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<body name="FR_calf" pos="0 0 -0.213">
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<inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672"
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mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
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<joint name="FR_calf_joint" class="knee"/>
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<geom mesh="calf_mirror_0" material="gray" class="visual"/>
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<geom mesh="calf_mirror_1" material="black" class="visual"/>
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<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" class="collision"/>
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<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" class="collision"/>
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<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
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<geom name="FR" class="foot"/>
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<site name="FR" class="go2foot"/>
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</body>
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</body>
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</body>
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<body name="RL_hip" pos="-0.1934 0.0465 0">
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<inertial pos="0.0054 0.00194 -0.000105" quat="0.505462 0.498237 0.497014 0.499245" mass="0.678"
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diaginertia="0.00088403 0.000596003 0.000479967"/>
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<joint name="RL_hip_joint" class="abduction"/>
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<geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 0 1 0"/>
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<geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0"/>
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<geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" class="collision"/>
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<body name="RL_thigh" pos="0 0.0955 0">
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<inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152"
151+
diaginertia="0.00594973 0.00584149 0.000878787"/>
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<joint name="RL_thigh_joint" class="hip"/>
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<geom mesh="thigh_0" material="metal" class="visual"/>
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<geom mesh="thigh_1" material="gray" class="visual"/>
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<geom size="0.017 0.01225 0.017" pos="-0.015 0 -0.1955" quat="0.707107 0 0.707107 0" class="collision"/>
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<body name="RL_calf" pos="0 0 -0.213">
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<inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508"
158+
mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
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<joint name="RL_calf_joint" class="knee"/>
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<geom mesh="calf_0" material="gray" class="visual"/>
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<geom mesh="calf_1" material="black" class="visual"/>
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<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" class="collision"/>
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<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" class="collision"/>
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<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
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<geom name="RL" class="foot"/>
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<site name="RL" class="go2foot"/>
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</body>
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</body>
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</body>
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<body name="RR_hip" pos="-0.1934 -0.0465 0">
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<inertial pos="0.0054 -0.00194 -0.000105" quat="0.499245 0.497014 0.498237 0.505462" mass="0.678"
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diaginertia="0.00088403 0.000596003 0.000479967"/>
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<joint name="RR_hip_joint" class="abduction"/>
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<geom mesh="hip_0" material="metal" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1"/>
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<geom mesh="hip_1" material="gray" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1"/>
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<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" class="collision"/>
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<body name="RR_thigh" pos="0 -0.0955 0">
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<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152"
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diaginertia="0.00594973 0.00584149 0.000878787"/>
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<joint name="RR_thigh_joint" class="hip"/>
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<geom mesh="thigh_mirror_0" material="metal" class="visual"/>
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<geom mesh="thigh_mirror_1" material="gray" class="visual"/>
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<geom size="0.017 0.01225 0.017" pos="-0.015 0 -0.1955" quat="0.707107 0 0.707107 0" class="collision"/>
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<body name="RR_calf" pos="0 0 -0.213">
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<inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672"
186+
mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
187+
<joint name="RR_calf_joint" class="knee"/>
188+
<geom mesh="calf_mirror_0" material="gray" class="visual"/>
189+
<geom mesh="calf_mirror_1" material="black" class="visual"/>
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<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" class="collision"/>
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<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" class="collision"/>
192+
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black"/>
193+
<geom name="RR" class="foot"/>
194+
<site name="RR" class="go2foot"/>
195+
</body>
196+
</body>
197+
</body>
198+
</body>
199+
</worldbody>
200+
201+
<actuator>
202+
<general class="abduction" name="FL_hip" joint="FL_hip_joint"/>
203+
<general class="hip" name="FL_thigh" joint="FL_thigh_joint"/>
204+
<general class="knee" name="FL_calf" joint="FL_calf_joint"/>
205+
<general class="abduction" name="FR_hip" joint="FR_hip_joint"/>
206+
<general class="hip" name="FR_thigh" joint="FR_thigh_joint"/>
207+
<general class="knee" name="FR_calf" joint="FR_calf_joint"/>
208+
<general class="abduction" name="RL_hip" joint="RL_hip_joint"/>
209+
<general class="hip" name="RL_thigh" joint="RL_thigh_joint"/>
210+
<general class="knee" name="RL_calf" joint="RL_calf_joint"/>
211+
<general class="abduction" name="RR_hip" joint="RR_hip_joint"/>
212+
<general class="hip" name="RR_thigh" joint="RR_thigh_joint"/>
213+
<general class="knee" name="RR_calf" joint="RR_calf_joint"/>
214+
</actuator>
215+
216+
<sensor>
217+
<jointpos joint="FL_hip_joint" name="abduction_front_left_pos"/>
218+
<jointpos joint="FL_thigh_joint" name="hip_front_left_pos"/>
219+
<jointpos joint="FL_calf_joint" name="knee_front_left_pos"/>
220+
<jointpos joint="RL_hip_joint" name="abduction_hind_left_pos"/>
221+
<jointpos joint="RL_thigh_joint" name="hip_hind_left_pos"/>
222+
<jointpos joint="RL_calf_joint" name="knee_hind_left_pos"/>
223+
<jointpos joint="FR_hip_joint" name="abduction_front_right_pos"/>
224+
<jointpos joint="FR_thigh_joint" name="hip_front_right_pos"/>
225+
<jointpos joint="FR_calf_joint" name="knee_front_right_pos"/>
226+
<jointpos joint="RR_hip_joint" name="abduction_hind_right_pos"/>
227+
<jointpos joint="RR_thigh_joint" name="hip_hind_right_pos"/>
228+
<jointpos joint="RR_calf_joint" name="knee_hind_right_pos"/>
229+
<jointvel joint="FL_hip_joint" name="abduction_front_left_vel"/>
230+
<jointvel joint="FL_thigh_joint" name="hip_front_left_vel"/>
231+
<jointvel joint="FL_calf_joint" name="knee_front_left_vel"/>
232+
<jointvel joint="RL_hip_joint" name="abduction_hind_left_vel"/>
233+
<jointvel joint="RL_thigh_joint" name="hip_hind_left_vel"/>
234+
<jointvel joint="RL_calf_joint" name="knee_hind_left_vel"/>
235+
<jointvel joint="FR_hip_joint" name="abduction_front_right_vel"/>
236+
<jointvel joint="FR_thigh_joint" name="hip_front_right_vel"/>
237+
<jointvel joint="FR_calf_joint" name="knee_front_right_vel"/>
238+
<jointvel joint="RR_hip_joint" name="abduction_hind_right_vel"/>
239+
<jointvel joint="RR_thigh_joint" name="hip_hind_right_vel"/>
240+
<jointvel joint="RR_calf_joint" name="knee_hind_right_vel"/>
241+
242+
<gyro site="imu" name="gyro"/>
243+
<accelerometer site="imu" name="accelerometer"/>
244+
<velocimeter site="imu" name="local_linvel"/>
245+
<framezaxis objtype="site" objname="imu" name="upvector"/>
246+
<framequat objtype="site" objname="imu" name="orientation"/>
247+
<framepos objtype="site" objname="imu" name="global_position"/>
248+
<framelinvel objtype="site" objname="imu" name="global_linvel"/>
249+
<frameangvel objtype="site" objname="imu" name="global_angvel"/>
250+
251+
<framelinvel objtype="site" objname="FR" name="FR_global_linvel"/>
252+
<framelinvel objtype="site" objname="FL" name="FL_global_linvel"/>
253+
<framelinvel objtype="site" objname="RR" name="RR_global_linvel"/>
254+
<framelinvel objtype="site" objname="RL" name="RL_global_linvel"/>
255+
256+
<framepos objtype="site" objname="FR" name="FR_pos" reftype="site" refname="imu"/>
257+
<framepos objtype="site" objname="FL" name="FL_pos" reftype="site" refname="imu"/>
258+
<framepos objtype="site" objname="RR" name="RR_pos" reftype="site" refname="imu"/>
259+
<framepos objtype="site" objname="RL" name="RL_pos" reftype="site" refname="imu"/>
260+
</sensor>
261+
</mujoco>

‎mujoco_playground/_src/locomotion/go2/xmls/scene_mjx_feetonly_flat_terrain.xml‎

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Original file line numberDiff line numberDiff line change
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1+
<mujoco model="go2 feet only flat terrain scene">
2+
<include file="go2_mjx_feetonly.xml"/>
3+
4+
<statistic center="0 0 0.1" extent="0.8" meansize="0.04"/>
5+
6+
<visual>
7+
<headlight diffuse=".8 .8 .8" ambient=".2 .2 .2" specular="1 1 1"/>
8+
<rgba force="1 0 0 1"/>
9+
<global azimuth="120" elevation="-20"/>
10+
<map force="0.01"/>
11+
<scale forcewidth="0.3" contactwidth="0.5" contactheight="0.2"/>
12+
<quality shadowsize="8192"/>
13+
</visual>
14+
15+
<asset>
16+
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="800" height="800"/>
17+
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" markrgb="0 0 0"
18+
width="300" height="300"/>
19+
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0"/>
20+
</asset>
21+
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<worldbody>
23+
<geom name="floor" size="0 0 0.01" type="plane" material="groundplane" priority="1" friction="0.6" condim="3" contype="1" conaffinity="0"/>
24+
</worldbody>
25+
26+
<keyframe>
27+
<key name="home" qpos="
28+
0 0 0.278
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1 0 0 0
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0.1 0.9 -1.8
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-0.1 0.9 -1.8
32+
0.1 0.9 -1.8
33+
-0.1 0.9 -1.8"
34+
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"/>
35+
<key name="home_higher" qpos="0 0 0.31 1 0 0 0 0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63"
36+
ctrl="0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63 0 0.82 -1.63"/>
37+
<key name="pre_recovery"
38+
qpos="-0.0318481 -0.000215369 0.0579031 1 -2.70738e-05 6.06169e-05 0.000231261 -0.352275 1.18554 -2.80738 0.360892 1.1806 -2.80281 -0.381197 1.16812 -2.79123 0.391054 1.1622 -2.78576"
39+
ctrl="-0.352275 1.18554 -2.80738 0.360892 1.1806 -2.80281 -0.381197 1.16812 -2.79123 0.391054 1.1622 -2.78576"/>
40+
<key name="footstand"
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qpos="0 0 0.54 0.8 0 -0.8 0 0 0.82 -1.6 0 0.82 -1.68 0 1.82 -1.16 0.0 1.82 -1.16"
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ctrl="0 0.82 -1.6 0 0.82 -1.68 0 1.82 -1.16 0.0 1.82 -1.16"/>
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<key name="handstand"
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qpos="0 0 0.54 0.8 0 0.8 0 0 -0.686 -1.16 0 -0.686 -1.16 0 1.7 -1.853 0 1.7 -1.853"
45+
ctrl="0 -0.686 -1.16 0 -0.686 -1.16 0 1.7 -1.853 0 1.7 -1.853"/>
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</keyframe>
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</mujoco>

‎mujoco_playground/_src/locomotion/go2/xmls/scene_mjx_rough_terrain.xml‎ renamed to ‎mujoco_playground/_src/locomotion/go2/xmls/scene_mjx_feetonly_rough_terrain.xml‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
1-
<mujoco model="go2 rough terrain scene">
2-
<include file="go2_mjx.xml"/>
1+
<mujoco model="go2 feetonly rough terrain scene">
2+
<include file="go2_mjx_feetonly.xml"/>
33

44
<statistic center="0 0 0.1" extent="0.8" meansize="0.04"/>
55

‎mujoco_playground/_src/locomotion/go2/xmls/scene_mjx_flat_terrain.xml‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
1-
<mujoco model="go2 flat terrain scene">
2-
<include file="go2_mjx_feetonly.xml"/>
1+
<mujoco model="go2 scene">
2+
<include file="go2_mjx.xml"/>
33

44
<statistic center="0 0 0.1" extent="0.8" meansize="0.04"/>
55

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