Make Go2 actuator order match joint order. Fixes #148.

PiperOrigin-RevId: 727650732 Change-Id: Id14e930c04e9e0405fa468db6ba4fc0b3a527163
google-deepmind · Feb 17, 2025 · 9da3f77 · 9da3f77
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Showing 3 changed files with 20 additions and 13 deletions.
diff --git a/unitree_go2/README.md b/unitree_go2/README.md
@@ -1,6 +1,13 @@
 # Unitree Go2 Description (MJCF)
 
-Requires MuJoCo 2.2.2 or later.
+> [!IMPORTANT]
+> Requires MuJoCo 2.2.2 or later.
+
+## Changelog
+
+- 16/02/2025: Make actuator order match joint order.
+- 01/06/2024: Fix foot solimp.
+- 23/10/2023: Initial release.
 
 ## Overview
 

diff --git a/unitree_go2/go2.xml b/unitree_go2/go2.xml
@@ -186,18 +186,18 @@
   </worldbody>
 
   <actuator>
-    <motor class="abduction" name="FR_hip" joint="FR_hip_joint"/>
-    <motor class="hip" name="FR_thigh" joint="FR_thigh_joint"/>
-    <motor class="knee" name="FR_calf" joint="FR_calf_joint"/>
     <motor class="abduction" name="FL_hip" joint="FL_hip_joint"/>
     <motor class="hip" name="FL_thigh" joint="FL_thigh_joint"/>
     <motor class="knee" name="FL_calf" joint="FL_calf_joint"/>
-    <motor class="abduction" name="RR_hip" joint="RR_hip_joint"/>
-    <motor class="hip" name="RR_thigh" joint="RR_thigh_joint"/>
-    <motor class="knee" name="RR_calf" joint="RR_calf_joint"/>
+    <motor class="abduction" name="FR_hip" joint="FR_hip_joint"/>
+    <motor class="hip" name="FR_thigh" joint="FR_thigh_joint"/>
+    <motor class="knee" name="FR_calf" joint="FR_calf_joint"/>
     <motor class="abduction" name="RL_hip" joint="RL_hip_joint"/>
     <motor class="hip" name="RL_thigh" joint="RL_thigh_joint"/>
     <motor class="knee" name="RL_calf" joint="RL_calf_joint"/>
+    <motor class="abduction" name="RR_hip" joint="RR_hip_joint"/>
+    <motor class="hip" name="RR_thigh" joint="RR_thigh_joint"/>
+    <motor class="knee" name="RR_calf" joint="RR_calf_joint"/>
   </actuator>
 
   <keyframe>

diff --git a/unitree_go2/go2_mjx.xml b/unitree_go2/go2_mjx.xml
@@ -195,18 +195,18 @@
   </worldbody>
 
   <actuator>
-    <general class="abduction" name="FR_hip" joint="FR_hip_joint"/>
-    <general class="hip" name="FR_thigh" joint="FR_thigh_joint"/>
-    <general class="knee" name="FR_calf" joint="FR_calf_joint"/>
     <general class="abduction" name="FL_hip" joint="FL_hip_joint"/>
     <general class="hip" name="FL_thigh" joint="FL_thigh_joint"/>
     <general class="knee" name="FL_calf" joint="FL_calf_joint"/>
-    <general class="abduction" name="RR_hip" joint="RR_hip_joint"/>
-    <general class="hip" name="RR_thigh" joint="RR_thigh_joint"/>
-    <general class="knee" name="RR_calf" joint="RR_calf_joint"/>
+    <general class="abduction" name="FR_hip" joint="FR_hip_joint"/>
+    <general class="hip" name="FR_thigh" joint="FR_thigh_joint"/>
+    <general class="knee" name="FR_calf" joint="FR_calf_joint"/>
     <general class="abduction" name="RL_hip" joint="RL_hip_joint"/>
     <general class="hip" name="RL_thigh" joint="RL_thigh_joint"/>
     <general class="knee" name="RL_calf" joint="RL_calf_joint"/>
+    <general class="abduction" name="RR_hip" joint="RR_hip_joint"/>
+    <general class="hip" name="RR_thigh" joint="RR_thigh_joint"/>
+    <general class="knee" name="RR_calf" joint="RR_calf_joint"/>
   </actuator>
 
   <sensor>