196 lines
12 KiB
XML
196 lines
12 KiB
XML
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<mujoco model="barkour v0">
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<compiler angle="radian" meshdir="assets" texturedir="assets" autolimits="true"/>
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<option timestep="0.001"/>
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<statistic meansize="0.183574"/>
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<default>
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<geom type="mesh"/>
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<joint range="-1.5708 1.5708" armature="0.01090125" damping="0.0239" frictionloss="0.1334"/>
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<default class="abductor">
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<joint range="-1.0472 1.0472"/>
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</default>
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<default class="hip_front">
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<joint range="-1.22173 3.24631"/>
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</default>
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<default class="hip_hind">
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<joint range="-1.98968 2.46091"/>
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</default>
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<default class="knee">
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<joint range="0 2.5132" axis="0 -0.0775009 0.996992"/>
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</default>
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<default class="multi_mode_controlled_actuator">
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<general biastype="affine" gainprm="35 0 0 0 0 0 0 0 0 0" biasprm="0 -35 -0.65 0 0 0 0 0 0 0" ctrlrange="-2 2"/>
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</default>
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<default class="collision">
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<geom group="1"/>
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<default class="upper_right1">
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<geom rgba="0.768627 0.886275 0.952941 1"/>
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</default>
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<default class="upper_right2">
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<geom rgba="0.972549 0.529412 0.00392157 1"/>
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</default>
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<default class="abduction">
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<geom rgba="0.537255 0.854902 0.827451 1"/>
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</default>
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<default class="foot">
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<geom rgba="0.301961 0.301961 0.301961 1" solimp="0.015 1 0.031" friction="0.8 0.02 0.01"/>
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</default>
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</default>
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</default>
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<asset>
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<mesh file="head.stl"/>
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<mesh file="powercable.stl"/>
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<mesh file="handle.stl"/>
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<mesh file="head_mount.stl"/>
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<mesh file="body.stl"/>
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<mesh file="abduction.stl"/>
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<mesh file="upper_right_2.stl"/>
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<mesh file="upper_right_3.stl"/>
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<mesh file="upper_right_1.stl"/>
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<mesh file="lower_leg_1to1.stl"/>
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<mesh file="foot.stl"/>
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<mesh file="upper_left_2.stl"/>
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<mesh file="upper_left_1.stl"/>
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<mesh file="upper_left_3.stl"/>
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</asset>
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<worldbody>
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<site name="origin"/>
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<body name="chassis">
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<freejoint/>
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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="0.0196226 -0.00015133 0.0611588" quat="0.000990813 0.68703 0.000216603 0.726628" mass="4.48878" diaginertia="0.071033 0.0619567 0.0192519"/>
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<geom pos="-0.00448404 -0.000225838 0.0576402" rgba="0.647059 0.647059 0.647059 1" mesh="head"/>
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<geom pos="-0.00448404 -0.000225838 0.0576402" rgba="0.768627 0.886275 0.952941 1" mesh="powercable"/>
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<geom pos="-0.00448404 -0.000225838 0.0576402" rgba="0.917647 0.917647 0.917647 1" mesh="handle"/>
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<geom pos="-0.00448404 -0.000225838 0.0576402" rgba="0.231373 0.380392 0.705882 1" mesh="head_mount"/>
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<geom pos="-0.00448404 -0.000225838 0.0576402" rgba="0.984314 0.517647 0.862745 1" mesh="body"/>
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<body name="abduction_1" pos="0.130533 -0.056 0.0508" quat="1.30945e-06 0.161152 -2.13816e-07 0.98693">
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<inertial pos="-0.0521152 0.00350917 0.0171912" quat="0.387877 0.592262 0.592492 0.384358" mass="0.639437" diaginertia="0.000866008 0.000565866 0.000479767"/>
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<joint class="abductor" name="abduction_front_right" axis="-0.94806 0 0.318092"/>
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<geom class="abduction" pos="-0.0540394 0.0217 0.0181312" mesh="abduction"/>
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<body name="upper_right_asm_1" pos="-0.0540394 0.0217 0.0181312" quat="0.284632 0.284629 -0.647292 0.647289">
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<inertial pos="-0.0253655 -0.0179374 -0.0465027" quat="-0.245689 0.639007 0.153351 0.712594" mass="0.942155" diaginertia="0.00539403 0.00519403 0.000795298"/>
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<joint class="hip_front" name="hip_front_right" axis="0 0 -1"/>
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<geom class="upper_right2" mesh="upper_right_2"/>
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<geom class="upper_right2" mesh="upper_right_3"/>
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<geom class="upper_right1" mesh="upper_right_1"/>
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<body name="lower_leg_1to1_front_right" pos="-0.193523 -0.104637 -0.0792" quat="0.312742 -0.0121371 0.0368314 -0.949046">
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<inertial pos="-0.0577509 -0.0097034 0.0114624" quat="-0.047103 0.705359 -0.0102465 0.70721" mass="0.169623" diaginertia="0.000828741 0.000813964 3.49901e-05"/>
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<joint class="knee" name="knee_front_right"/>
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<geom pos="0.00320019 0.0240604 -0.0141615" rgba="0.32549 0.529412 0.980392 1" mesh="lower_leg_1to1"/>
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<geom class="foot" pos="0.00320019 0.0240604 -0.0141615" mesh="foot"/>
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</body>
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</body>
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</body>
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<body name="abduction_2" pos="0.130533 0.056 0.0508" quat="0.161152 1.09564e-06 0.98693 1.09564e-06">
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<inertial pos="-0.0521152 0.00350917 0.0171912" quat="0.387877 0.592262 0.592492 0.384358" mass="0.639437" diaginertia="0.000866008 0.000565866 0.000479767"/>
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<joint class="abductor" name="abduction_front_left" axis="0.94806 0 -0.318092"/>
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<geom class="abduction" pos="-0.0540394 0.0217 0.0181312" mesh="abduction"/>
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<body name="upper_left_asm_1" pos="-0.0540394 0.0217 0.0181312" quat="0.671818 0.671821 0.220587 -0.220588">
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<inertial pos="0.0306562 0.00629189 -0.0466005" quat="-0.113342 0.751294 0.0555641 0.647784" mass="0.938791" diaginertia="0.00538157 0.00518445 0.000790347"/>
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<joint class="hip_front" name="hip_front_left" axis="0 0 1"/>
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<geom rgba="0.980392 0.713725 0.00392157 1" mesh="upper_left_2"/>
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<geom rgba="0.498039 0.498039 0.498039 1" mesh="upper_left_1"/>
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<geom rgba="1 0.756863 0.054902 1" mesh="upper_left_3"/>
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<body name="lower_leg_1to1_front_left" pos="0.208835 0.0691954 -0.0792" quat="0.0386264 0.995249 0.0893024 0.0034659">
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<inertial pos="-0.0577509 -0.00780463 -0.0129639" quat="-0.047103 0.705359 -0.0102465 0.70721" mass="0.169623" diaginertia="0.000828741 0.000813964 3.49901e-05"/>
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<joint class="knee" name="knee_front_left"/>
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<geom class="foot" pos="0.00320019 0.0259591 -0.0385878" mesh="foot"/>
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<geom pos="0.00320019 0.0259591 -0.0385878" rgba="0.32549 0.529412 0.980392 1" mesh="lower_leg_1to1"/>
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</body>
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</body>
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</body>
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<body name="abduction_3" pos="-0.134667 -0.056 0.0508" quat="1.30945e-06 0.98693 2.13816e-07 -0.161152">
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<inertial pos="-0.0521152 0.00350917 0.0171912" quat="0.387877 0.592262 0.592492 0.384358" mass="0.639437" diaginertia="0.000866008 0.000565866 0.000479767"/>
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<joint class="abductor" name="abduction_hind_right" axis="0.94806 0 -0.318092"/>
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<geom class="abduction" pos="-0.0540394 0.0217 0.0181312" mesh="abduction"/>
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<body name="upper_right_asm_2" pos="-0.0540394 0.0217 0.0181312" quat="0.64729 0.647292 0.28463 -0.284631">
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<inertial pos="-0.0253655 -0.0179374 -0.0465027" quat="-0.245689 0.639007 0.153351 0.712594" mass="0.942155" diaginertia="0.00539403 0.00519403 0.000795298"/>
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<joint class="hip_hind" name="hip_hind_right" axis="0 0 -1"/>
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<geom class="upper_right2" mesh="upper_right_2"/>
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<geom class="upper_right2" mesh="upper_right_3"/>
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<geom class="upper_right1" mesh="upper_right_1"/>
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<body name="lower_leg_1to1_hind_right" pos="-0.193523 -0.104637 -0.0792" quat="0.312742 -0.0121371 0.0368314 -0.949046">
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<inertial pos="-0.0577509 -0.0097034 0.0114624" quat="-0.047103 0.705359 -0.0102465 0.70721" mass="0.169623" diaginertia="0.000828741 0.000813964 3.49901e-05"/>
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<joint class="knee" name="knee_hind_right"/>
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<geom pos="0.00320019 0.0240604 -0.0141615" rgba="0.32549 0.529412 0.980392 1" mesh="lower_leg_1to1"/>
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<geom class="foot" pos="0.00320019 0.0240604 -0.0141615" mesh="foot"/>
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</body>
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</body>
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</body>
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<body name="abduction_4" pos="-0.134667 0.056 0.0508" quat="0.98693 0 -0.161152 0">
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<inertial pos="-0.0521152 0.00350917 0.0171912" quat="0.387877 0.592262 0.592492 0.384358" mass="0.639437" diaginertia="0.000866008 0.000565866 0.000479767"/>
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<joint class="abductor" name="abduction_hind_left" axis="-0.94806 0 0.318092"/>
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<geom class="abduction" pos="-0.0540394 0.0217 0.0181312" mesh="abduction"/>
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<body name="upper_left_asm_2" pos="-0.0540394 0.0217 0.0181312" quat="-0.220587 -0.220588 0.67182 -0.671818">
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<inertial pos="0.0306562 0.00629189 -0.0466005" quat="-0.113342 0.751294 0.0555641 0.647784" mass="0.938791" diaginertia="0.00538157 0.00518445 0.000790347"/>
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<joint class="hip_hind" name="hip_hind_left" axis="0 0 1"/>
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<geom rgba="0.498039 0.498039 0.498039 1" mesh="upper_left_1"/>
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<geom rgba="1 0.756863 0.054902 1" mesh="upper_left_3"/>
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<geom rgba="0.980392 0.713725 0.00392157 1" mesh="upper_left_2"/>
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<body name="lower_leg_1to1_hind_left" pos="0.208835 0.0691954 -0.0792" quat="0.0386264 0.995249 0.0893024 0.0034659">
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<inertial pos="-0.0577509 -0.00780463 -0.0129639" quat="-0.047103 0.705359 -0.0102465 0.70721" mass="0.169623" diaginertia="0.000828741 0.000813964 3.49901e-05"/>
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<joint class="knee" name="knee_hind_left"/>
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<geom class="foot" pos="0.00320019 0.0259591 -0.0385878" mesh="foot"/>
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<geom pos="0.00320019 0.0259591 -0.0385878" rgba="0.32549 0.529412 0.980392 1" mesh="lower_leg_1to1"/>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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<actuator>
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<general name="abduction_front_left" class="multi_mode_controlled_actuator" joint="abduction_front_left"/>
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<general name="hip_front_left" class="multi_mode_controlled_actuator" joint="hip_front_left"/>
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<general name="knee_front_left" class="multi_mode_controlled_actuator" joint="knee_front_left"/>
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<general name="abduction_hind_left" class="multi_mode_controlled_actuator" joint="abduction_hind_left"/>
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<general name="hip_hind_left" class="multi_mode_controlled_actuator" joint="hip_hind_left"/>
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<general name="knee_hind_left" class="multi_mode_controlled_actuator" joint="knee_hind_left"/>
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<general name="abduction_front_right" class="multi_mode_controlled_actuator" joint="abduction_front_right"/>
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<general name="hip_front_right" class="multi_mode_controlled_actuator" joint="hip_front_right"/>
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<general name="knee_front_right" class="multi_mode_controlled_actuator" joint="knee_front_right"/>
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<general name="abduction_hind_right" class="multi_mode_controlled_actuator" joint="abduction_hind_right"/>
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<general name="hip_hind_right" class="multi_mode_controlled_actuator" joint="hip_hind_right"/>
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<general name="knee_hind_right" class="multi_mode_controlled_actuator" joint="knee_hind_right"/>
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</actuator>
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<sensor>
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<jointpos joint="abduction_front_left" name="abduction_front_left_pos"/>
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<jointpos joint="hip_front_left" name="hip_front_left_pos"/>
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<jointpos joint="knee_front_left" name="knee_front_left_pos"/>
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<jointpos joint="abduction_hind_left" name="abduction_hind_left_pos"/>
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<jointpos joint="hip_hind_left" name="hip_hind_left_pos"/>
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<jointpos joint="knee_hind_left" name="knee_hind_left_pos"/>
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<jointpos joint="abduction_front_right" name="abduction_front_right_pos"/>
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<jointpos joint="hip_front_right" name="hip_front_right_pos"/>
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<jointpos joint="knee_front_right" name="knee_front_right_pos"/>
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<jointpos joint="abduction_hind_right" name="abduction_hind_right_pos"/>
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<jointpos joint="hip_hind_right" name="hip_hind_right_pos"/>
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<jointpos joint="knee_hind_right" name="knee_hind_right_pos"/>
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<jointvel joint="abduction_front_left" name="abduction_front_left_vel"/>
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<jointvel joint="hip_front_left" name="hip_front_left_vel"/>
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<jointvel joint="knee_front_left" name="knee_front_left_vel"/>
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<jointvel joint="abduction_hind_left" name="abduction_hind_left_vel"/>
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<jointvel joint="hip_hind_left" name="hip_hind_left_vel"/>
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<jointvel joint="knee_hind_left" name="knee_hind_left_vel"/>
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<jointvel joint="abduction_front_right" name="abduction_front_right_vel"/>
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<jointvel joint="hip_front_right" name="hip_front_right_vel"/>
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<jointvel joint="knee_front_right" name="knee_front_right_vel"/>
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<jointvel joint="abduction_hind_right" name="abduction_hind_right_vel"/>
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<jointvel joint="hip_hind_right" name="hip_hind_right_vel"/>
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<jointvel joint="knee_hind_right" name="knee_hind_right_vel"/>
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<gyro site="origin" name="gyro"/>
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<accelerometer site="origin" name="accelerometer"/>
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<framequat objtype="site" objname="origin" name="orientation"/>
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</sensor>
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<keyframe>
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<key name="standing" qpos="0 0 0.21 1 0 0 0 0 0.5 1.0 0 0.5 1.0 0 0.5 1.0 0 0.5 1.0"
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ctrl="0 0.5 1.0 0 0.5 1.0 0 0.5 1.0 0 0.5 1.0"/>
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</keyframe>
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</mujoco>
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