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+        <geom size="0.07 0.025" pos="0 0.12 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.7 0.7 0.7 1" class="collision"/>
+        <body name="RL_thigh" pos="0 0.11973 0">
+          <inertial pos="-0.00418663 -0.0366068 -0.0432737" quat="0.884916 0.0880602 -0.00896728 0.457262" mass="7.4554" diaginertia="0.085057 0.0842843 0.0112538"/>
+          <joint name="RL_thigh_joint" pos="0 0 0" axis="0 1 0" range="-0.94 4.69"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="RL_thigh"/>
+          <geom size="0.125 0.014 0.02" pos="-0.03 0 -0.2" quat="0.707388 0 0.706825 0" type="box" rgba="0.7 0.7 0.7 1" class="collision"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.65 0.68 0.65 1" mesh="RL_thigh_protect"/>
+          <body name="RL_calf" pos="0 -8.6984e-05 -0.35">
+            <inertial pos="0.0096848 1.25758e-05 -0.158987" quat="0.70753 -0.00625821 -0.00634277 0.706627" mass="0.679123" diaginertia="0.0162494 0.0161173 0.000398115"/>
+            <joint name="RL_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.82 -0.43"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="RL_calf"/>
+            <geom size="0.05 0.01225 0.009" pos="-0.002 0 -0.03" quat="0.825336 0 0.564642 0" type="box" rgba="0.7 0.7 0.7 1" class="collision"/>
+            <geom size="0.05 0.01225 0.009" pos="0.022 0 -0.1" quat="0.780707 0 0.624897 0" type="box" rgba="0.7 0.7 0.7 1" class="collision"/>
+            <geom size="0.075 0.01225 0.0075" pos="0.036 0 -0.225" quat="0.721382 0 0.692537 0" type="box" rgba="0.7 0.7 0.7 1" class="collision"/>
+            <geom size="0.025 0.014 0.0175" pos="0.023 0 -0.31" quat="0.540302 0 0.841471 0" type="box" rgba="0.7 0.7 0.7 1" class="collision"/>
+            <geom pos="0 8.6986e-05 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.15 0.15 0.15 1" mesh="RL_foot" friction="0.4 0.005 0.0001"/>
+            <geom size="0.032" pos="0 8.6986e-05 -0.35" quat="0.707388 0.706825 0 0" type="sphere" rgba="0.15 0.15 0.15 1" class="collision" friction="0.4 0.005 0.0001"/>
+          </body>
+        </body>
+      </body>
+      <body name="RR_hip" pos="-0.3285 -0.072 0">
+        <inertial pos="0.00829923 -0.00825992 0.000235465" quat="0.524846 0.53164 0.469132 0.470967" mass="2.5294" diaginertia="0.0048658 0.00378576 0.00284106"/>
+        <joint name="RR_hip_joint" pos="0 0 0" axis="1 0 0" range="-0.87 0.87"/>
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="RR_hip"/>
+        <geom size="0.07 0.025" pos="0 -0.12 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.7 0.7 0.7 1" class="collision"/>
+        <body name="RR_thigh" pos="0 -0.11973 0">
+          <inertial pos="-0.00418663 0.0366068 -0.0432737" quat="0.457262 -0.00896728 0.0880602 0.884916" mass="7.4554" diaginertia="0.085057 0.0842843 0.0112538"/>
+          <joint name="RR_thigh_joint" pos="0 0 0" axis="0 1 0" range="-0.94 4.69"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="RR_thigh"/>
+          <geom size="0.125 0.014 0.02" pos="-0.03 0 -0.2" quat="0.707388 0 0.706825 0" type="box" rgba="0.7 0.7 0.7 1" class="collision"/>
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.65 0.68 0.65 1" mesh="RR_thigh_protect"/>
+          <body name="RR_calf" pos="0 8.6986e-05 -0.35">
+            <inertial pos="0.0096848 -1.25756e-05 -0.158987" quat="0.706627 -0.00634277 -0.00625821 0.70753" mass="0.679123" diaginertia="0.0162494 0.0161173 0.000398115"/>
+            <joint name="RR_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.82 -0.43"/>
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="RR_calf"/>
+            <geom size="0.05 0.01225 0.009" pos="-0.002 0 -0.03" quat="0.825336 0 0.564642 0" type="box" rgba="0.7 0.7 0.7 1" class="collision"/>
+            <geom size="0.05 0.01225 0.009" pos="0.022 0 -0.1" quat="0.780707 0 0.624897 0" type="box" rgba="0.7 0.7 0.7 1" class="collision"/>
+            <geom size="0.075 0.01225 0.0075" pos="0.036 0 -0.225" quat="0.721382 0 0.692537 0" type="box" rgba="0.7 0.7 0.7 1" class="collision"/>
+            <geom size="0.025 0.014 0.0175" pos="0.023 0 -0.31" quat="0.540302 0 0.841471 0" type="box" rgba="0.7 0.7 0.7 1" class="collision"/>
+            <geom pos="0 -8.6984e-05 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.15 0.15 0.15 1" mesh="RR_foot" friction="0.4 0.005 0.0001"/>
+            <geom size="0.032" pos="0 8.6986e-05 -0.35" quat="0.707388 0.706825 0 0" type="sphere" rgba="0.15 0.15 0.15 1" class="collision" friction="0.4 0.005 0.0001"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor class="b2" ctrlrange="-200 200"  name="FR_hip" joint="FR_hip_joint"/>
+    <motor class="b2" ctrlrange="-200 200"  name="FR_thigh" joint="FR_thigh_joint"/>
+    <motor class="b2" ctrlrange="-300 300"  name="FR_calf" joint="FR_calf_joint"/>
+    <motor class="b2" ctrlrange="-200 200"  name="FL_hip" joint="FL_hip_joint"/>
+    <motor class="b2" ctrlrange="-200 200"  name="FL_thigh" joint="FL_thigh_joint"/>
+    <motor class="b2" ctrlrange="-300 300" name="FL_calf" joint="FL_calf_joint"/>
+    <motor class="b2" ctrlrange="-200 200"  name="RR_hip" joint="RR_hip_joint"/>
+    <motor class="b2" ctrlrange="-200 200"  name="RR_thigh" joint="RR_thigh_joint"/>
+    <motor class="b2" ctrlrange="-300 300" name="RR_calf" joint="RR_calf_joint"/>
+    <motor class="b2" ctrlrange="-200 200"  name="RL_hip" joint="RL_hip_joint"/>
+    <motor class="b2" ctrlrange="-200 200"  name="RL_thigh" joint="RL_thigh_joint"/>
+    <motor class="b2" ctrlrange="-300 300" name="RL_calf" joint="RL_calf_joint"/>
+  </actuator>
+
+  <sensor>
+    <jointpos name="FR_hip_pos" joint="FR_hip_joint" />
+    <jointpos name="FR_thigh_pos" joint="FR_thigh_joint" />
+    <jointpos name="FR_calf_pos" joint="FR_calf_joint" />
+    <jointpos name="FL_hip_pos" joint="FL_hip_joint" />
+    <jointpos name="FL_thigh_pos" joint="FL_thigh_joint" />
+    <jointpos name="FL_calf_pos" joint="FL_calf_joint" />
+    <jointpos name="RR_hip_pos" joint="RR_hip_joint" />
+    <jointpos name="RR_thigh_pos" joint="RR_thigh_joint" />
+    <jointpos name="RR_calf_pos" joint="RR_calf_joint" />
+    <jointpos name="RL_hip_pos" joint="RL_hip_joint" />
+    <jointpos name="RL_thigh_pos" joint="RL_thigh_joint" />
+    <jointpos name="RL_calf_pos" joint="RL_calf_joint" />
+
+    <jointvel name="FR_hip_vel" joint="FR_hip_joint" />
+    <jointvel name="FR_thigh_vel" joint="FR_thigh_joint" />
+    <jointvel name="FR_calf_vel" joint="FR_calf_joint" />
+    <jointvel name="FL_hip_vel" joint="FL_hip_joint" />
+    <jointvel name="FL_thigh_vel" joint="FL_thigh_joint" />
+    <jointvel name="FL_calf_vel" joint="FL_calf_joint" />
+    <jointvel name="RR_hip_vel" joint="RR_hip_joint" />
+    <jointvel name="RR_thigh_vel" joint="RR_thigh_joint" />
+    <jointvel name="RR_calf_vel" joint="RR_calf_joint" />
+    <jointvel name="RL_hip_vel" joint="RL_hip_joint" />
+    <jointvel name="RL_thigh_vel" joint="RL_thigh_joint" />
+    <jointvel name="RL_calf_vel" joint="RL_calf_joint" />
+
+    <jointactuatorfrc name="FR_hip_torque" joint="FR_hip_joint" noise="0.01" />
+    <jointactuatorfrc name="FR_thigh_torque" joint="FR_thigh_joint" noise="0.01" />
+    <jointactuatorfrc name="FR_calf_torque" joint="FR_calf_joint" noise="0.01" />
+    <jointactuatorfrc name="FL_hip_torque" joint="FL_hip_joint" noise="0.01" />
+    <jointactuatorfrc name="FL_thigh_torque" joint="FL_thigh_joint" noise="0.01" />
+    <jointactuatorfrc name="FL_calf_torque" joint="FL_calf_joint" noise="0.01" />
+    <jointactuatorfrc name="RR_hip_torque" joint="RR_hip_joint" noise="0.01" />
+    <jointactuatorfrc name="RR_thigh_torque" joint="RR_thigh_joint" noise="0.01" />
+    <jointactuatorfrc name="RR_calf_torque" joint="RR_calf_joint" noise="0.01" />
+    <jointactuatorfrc name="RL_hip_torque" joint="RL_hip_joint" noise="0.01" />
+    <jointactuatorfrc name="RL_thigh_torque" joint="RL_thigh_joint" noise="0.01" />
+    <jointactuatorfrc name="RL_calf_torque" joint="RL_calf_joint" noise="0.01" />
+
+    <framequat name="imu_quat" objtype="site" objname="imu" />
+    <gyro name="imu_gyro" site="imu" />
+    <accelerometer name="imu_acc" site="imu" />
+    
+    <framepos name="frame_pos" objtype="site" objname="imu" />
+    <framelinvel name="frame_vel" objtype="site" objname="imu" />
+  </sensor>
+
+  <keyframe>
+    <key name="home" qpos="0 0 0.5 1 0 0 0 0 1.28 -2.84 0 1.28 -2.84 0 1.28 -2.84 0 1.28 -2.84"
+      ctrl="0 1.28 -2.84 0 1.28 -2.84 0 1.28 -2.84 0 1.28 -2.84"/>
+  </keyframe>
+
+</mujoco>

TextOpDeploy/src/unitree_mujoco/unitree_robots/b2/scene.xml

@@ -0,0 +1,36 @@
+<mujoco model="b2 scene">
+  <include file="b2.xml"/>
+
+  <statistic center="0 0 0.1" extent="0.8"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="-130" 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 1.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+
+    <geom pos="-1 0 0.0" type="box"  size="0.5 2 0.4" quat="1.0 0 0 0"/>
+
+    <geom pos="0.8 0 0.04" type="box"  size="0.1 2 0.04" quat="1.0 0 0 0"/>
+    <geom pos="1.2 0 0.04" type="box"  size="0.1 2 0.04" quat="1.0 0 0 0"/>
+    <geom pos="1.6 0 0.04" type="box"  size="0.1 2 0.04" quat="1.0 0 0 0"/>
+
+    <geom pos="2.3 0 0.02" type="box"  size="0.2 2 0.15" quat="1.0 0 0 0"/>
+    <geom pos="2.6 0 0.02" type="box"  size="0.22 2 0.3" quat="1.0 0 0 0"/>
+    <geom pos="2.8 0 0.02" type="box"  size="0.23 2 0.45" quat="1.0 0 0 0"/>
+    <geom pos="3 0 0.02" type="box"  size="0.24 2 0.6" quat="1.0 0 0 0"/>
+    <geom pos="3.2 0 0.02" type="box"  size="0.25 2 0.75" quat="1.0 0 0 0"/>
+    <geom pos="3.4 0 0.02" type="box"  size="0.26 2 0.9" quat="1.0 0 0 0"/>
+  </worldbody>
+</mujoco>

TextOpDeploy/src/unitree_mujoco/unitree_robots/b2/scene_terrain.xml

@@ -0,0 +1,22 @@
+<mujoco model="b2 scene">
+  <include file="b2.xml" />
+
+  <statistic center="0 0 0.1" extent="0.8" />
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
+    <rgba haze="0.15 0.25 0.35 1" />
+    <global azimuth="-130" 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" />
+  <hfield name="perlin_hfield" size="1.0 0.75 0.2 0.2" file="../height_field.png" /><hfield name="image_hfield" size="1.0 1.0 0.02 0.1" file="../unitree_hfield.png" /></asset>
+
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
+  <geom pos="1.5 0.0 0.1" type="box" size="0.5 0.75 0.1" quat="1.0 0.0 0.0 0.0" /><geom pos="1.5 0.0 0.25" type="cylinder" size="0.5 0.25 0.25" quat="1.0 0.0 0.0 0.0" /><geom pos="2.0 2.0 0.5" type="box" size="1.5 0.75 0.05" quat="0.968912421710645 0.0 -0.24740395925452296 0.0" /><geom pos="1.2 4.0 0.075" type="box" size="0.1 0.75 0.075" quat="1.0 0.0 0.0 0.0" /><geom pos="1.4 4.0 0.22499999999999998" type="box" size="0.1 0.75 0.075" quat="1.0 0.0 0.0 0.0" /><geom pos="1.6 4.0 0.375" type="box" size="0.1 0.75 0.075" quat="1.0 0.0 0.0 0.0" /><geom pos="1.8 4.0 0.525" type="box" size="0.1 0.75 0.075" quat="1.0 0.0 0.0 0.0" /><geom pos="2.0 4.0 0.675" type="box" size="0.1 0.75 0.075" quat="1.0 0.0 0.0 0.0" /><geom pos="2.2 4.0 0.8250000000000001" type="box" size="0.1 0.75 0.075" quat="1.0 0.0 0.0 0.0" /><geom pos="2.4 4.0 0.9750000000000001" type="box" size="0.1 0.75 0.075" quat="1.0 0.0 0.0 0.0" /><geom pos="2.5999999999999996 4.0 1.125" type="box" size="0.1 0.75 0.075" quat="1.0 0.0 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TextOpDeploy/src/unitree_mujoco/unitree_robots/b2w/assets/FL_calf.STL

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