190 lines
8.7 KiB
XML
190 lines
8.7 KiB
XML
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<mujoco model="spot">
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<compiler angle="radian" meshdir="assets"/>
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<option integrator="implicitfast" cone="elliptic" impratio="100"/>
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<visual>
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<global ellipsoidinertia="true"/>
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</visual>
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<asset>
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<material name="BlackAbs" rgba="0.1 0.1 0.1 1"/>
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<material name="wrap" rgba="0.878431 0.666666 0.227450 1"/>
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<mesh file="body_0.obj"/>
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<mesh file="body_1.obj"/>
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<mesh file="front_left_hip.obj"/>
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<mesh file="front_left_upper_leg_0.obj"/>
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<mesh file="front_left_upper_leg_1.obj"/>
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<mesh file="front_left_lower_leg.obj"/>
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<mesh file="front_right_hip.obj"/>
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<mesh file="front_right_upper_leg_0.obj"/>
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<mesh file="front_right_upper_leg_1.obj"/>
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<mesh file="front_right_lower_leg.obj"/>
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<mesh file="rear_left_hip.obj"/>
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<mesh file="rear_left_upper_leg_0.obj"/>
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<mesh file="rear_left_upper_leg_1.obj"/>
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<mesh file="rear_left_lower_leg.obj"/>
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<mesh file="rear_right_hip.obj"/>
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<mesh file="rear_right_upper_leg_0.obj"/>
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<mesh file="rear_right_upper_leg_1.obj"/>
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<mesh file="rear_right_lower_leg.obj"/>
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<mesh file="body_collision.obj"/>
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<mesh file="left_upper_leg_collision.obj"/>
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<mesh file="left_lower_leg_collision.obj"/>
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<mesh file="right_upper_leg_collision.obj"/>
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<mesh file="right_lower_leg_collision.obj"/>
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</asset>
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<default>
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<default class="spot">
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<geom solref="0.004 1"/>
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<joint actuatorfrcrange="-1000 1000"/>
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<position kp="500" kv="40" inheritrange="1"/>
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<default class="visual">
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<geom group="2" type="mesh" contype="0" conaffinity="0"/>
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</default>
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<default class="collision">
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<geom group="3" type="mesh"/>
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<default class="foot">
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<geom type="sphere" size="0.036" pos="0 0 -0.3365" priority="1" condim="6" solimp="0.015 1 0.036"
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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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</default>
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<worldbody>
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<light name="spotlight" mode="targetbodycom" target="body" pos="3 0 4" cutoff="30"/>
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<body name="body" childclass="spot" pos="0 0 .75">
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<light name="tracking" mode="trackcom" pos="0 0 2"/>
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<freejoint name="freejoint"/>
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<inertial pos="0.0063944 -9.81216e-05 0.000911379" mass="32.86" diaginertia="0.13144 0.13144 0.13144"/>
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<geom mesh="body_0" material="BlackAbs" class="visual"/>
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<geom mesh="body_1" material="wrap" class="visual"/>
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<geom mesh="body_collision" class="collision"/>
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<body name="fl_hip" pos="0.29785 0.055 0">
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<inertial pos="-0.00537435 0.0128418 9.87523e-05" quat="1 1 -1 1" mass="1.68"
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diaginertia="0.00226544 0.00211474 0.00181296"/>
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<joint name="fl_hx" axis="1 0 0" range="-0.785398 0.785398"/>
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<geom material="BlackAbs" mesh="front_left_hip" class="visual"/>
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<body name="fl_uleg" pos="0 0.1108 0">
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<inertial pos="0.00514237 -0.00243237 -0.121009" mass="2.34" diaginertia="0.0275596 0.0273549 0.00284815"/>
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<joint name="fl_hy" axis="0 1 0" range="-0.898845 2.29511"/>
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<geom mesh="front_left_upper_leg_0" material="wrap" class="visual"/>
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<geom mesh="front_left_upper_leg_1" material="BlackAbs" class="visual"/>
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<geom mesh="left_upper_leg_collision" class="collision"/>
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<body name="fl_lleg" pos="0.025 0 -0.32">
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<inertial pos="0.00225794 4.6076e-05 -0.180082" quat="1 0 0 1" mass="0.35"
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diaginertia="0.00405032 0.00399902 0.00014934"/>
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<joint name="fl_kn" axis="0 1 0" range="-2.7929 -0.254402"/>
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<geom material="BlackAbs" mesh="front_left_lower_leg" class="visual"/>
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<geom mesh="left_lower_leg_collision" class="collision"/>
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<geom name="FL" class="foot"/>
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</body>
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</body>
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</body>
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<body name="fr_hip" pos="0.29785 -0.055 0">
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<inertial pos="-0.00537435 -0.0128418 -9.87523e-05" quat="1 1 -1 1" mass="1.68"
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diaginertia="0.00226544 0.00211474 0.00181296"/>
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<joint name="fr_hx" axis="1 0 0" range="-0.785398 0.785398"/>
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<geom material="BlackAbs" mesh="front_right_hip" class="visual"/>
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<body name="fr_uleg" pos="0 -0.1108 0">
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<inertial pos="0.00514237 0.00243237 -0.121009" mass="2.34" diaginertia="0.0275596 0.0273549 0.00284815"/>
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<joint name="fr_hy" axis="0 1 0" range="-0.898845 2.24363"/>
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<geom mesh="front_right_upper_leg_0" material="wrap" class="visual"/>
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<geom mesh="front_right_upper_leg_1" material="BlackAbs" class="visual"/>
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<geom mesh="right_upper_leg_collision" class="collision"/>
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<body name="fr_lleg" pos="0.025 0 -0.32">
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<inertial pos="0.00225794 4.6076e-05 -0.180082" quat="1 0 0 1" mass="0.35"
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diaginertia="0.00405032 0.00399902 0.00014934"/>
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<joint name="fr_kn" axis="0 1 0" range="-2.7929 -0.255648"/>
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<geom material="BlackAbs" mesh="front_right_lower_leg" class="visual"/>
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<geom mesh="right_lower_leg_collision" class="collision"/>
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<geom name="FR" class="foot"/>
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</body>
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</body>
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</body>
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<body name="hl_hip" pos="-0.29785 0.055 0">
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<inertial pos="0.00537435 0.0128418 -9.87523e-05" quat="1 1 -1 1" mass="1.68"
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diaginertia="0.00226544 0.00211474 0.00181296"/>
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<joint name="hl_hx" axis="1 0 0" range="-0.785398 0.785398"/>
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<geom material="BlackAbs" mesh="rear_left_hip" class="visual"/>
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<body name="hl_uleg" pos="0 0.1108 0">
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<inertial pos="0.00514237 -0.00243237 -0.121009" mass="2.34" diaginertia="0.0275596 0.0273549 0.00284815"/>
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<joint name="hl_hy" axis="0 1 0" range="-0.898845 2.29511"/>
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<geom mesh="rear_left_upper_leg_0" material="wrap" class="visual"/>
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<geom mesh="rear_left_upper_leg_1" material="BlackAbs" class="visual"/>
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<geom mesh="left_upper_leg_collision" class="collision"/>
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<body name="hl_lleg" pos="0.025 0 -0.32">
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<inertial pos="0.00225794 4.6076e-05 -0.180082" quat="1 0 0 1" mass="0.35"
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diaginertia="0.00405032 0.00399902 0.00014934"/>
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<joint name="hl_kn" axis="0 1 0" range="-2.7929 -0.247067"/>
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<geom material="BlackAbs" mesh="rear_left_lower_leg" class="visual"/>
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<geom mesh="left_lower_leg_collision" class="collision"/>
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<geom name="HL" class="foot"/>
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</body>
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</body>
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</body>
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<body name="hr_hip" pos="-0.29785 -0.055 0">
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<inertial pos="0.00537435 -0.0128418 9.87523e-05" quat="1 1 -1 1" mass="1.68"
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diaginertia="0.00226544 0.00211474 0.00181296"/>
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<joint name="hr_hx" axis="1 0 0" range="-0.785398 0.785398"/>
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<geom material="BlackAbs" mesh="rear_right_hip" class="visual"/>
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<body name="hr_uleg" pos="0 -0.1108 0">
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<inertial pos="0.00514237 0.00243237 -0.121009" mass="2.34" diaginertia="0.0275596 0.0273549 0.00284815"/>
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<joint name="hr_hy" axis="0 1 0" range="-0.898845 2.29511"/>
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<geom mesh="rear_right_upper_leg_0" material="wrap" class="visual"/>
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<geom mesh="rear_right_upper_leg_1" material="BlackAbs" class="visual"/>
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<geom mesh="right_upper_leg_collision" class="collision"/>
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<body name="hr_lleg" pos="0.025 0 -0.32">
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<inertial pos="0.00225794 4.6076e-05 -0.180082" quat="1 0 0 1" mass="0.35"
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diaginertia="0.00405032 0.00399902 0.00014934"/>
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<joint name="hr_kn" axis="0 1 0" range="-2.7929 -0.248282"/>
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<geom material="BlackAbs" mesh="rear_left_lower_leg" class="visual"/>
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<geom mesh="right_lower_leg_collision" class="collision"/>
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<geom name="HR" class="foot"/>
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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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<contact>
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<exclude body1="body" body2="fl_uleg"/>
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<exclude body1="body" body2="fr_uleg"/>
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<exclude body1="body" body2="hl_uleg"/>
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<exclude body1="body" body2="hr_uleg"/>
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</contact>
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<actuator>
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<position class="spot" name="fl_hx" joint="fl_hx"/>
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<position class="spot" name="fl_hy" joint="fl_hy"/>
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<position class="spot" name="fl_kn" joint="fl_kn"/>
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<position class="spot" name="fr_hx" joint="fr_hx"/>
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<position class="spot" name="fr_hy" joint="fr_hy"/>
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<position class="spot" name="fr_kn" joint="fr_kn"/>
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<position class="spot" name="hl_hx" joint="hl_hx"/>
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<position class="spot" name="hl_hy" joint="hl_hy"/>
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<position class="spot" name="hl_kn" joint="hl_kn"/>
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<position class="spot" name="hr_hx" joint="hr_hx"/>
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<position class="spot" name="hr_hy" joint="hr_hy"/>
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<position class="spot" name="hr_kn" joint="hr_kn"/>
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</actuator>
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<keyframe>
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<key name="home" qpos="
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0 0 0.46
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1 0 0 0
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0 1.04 -1.8
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0 1.04 -1.8
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0 1.04 -1.8
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0 1.04 -1.8"
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ctrl="
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0 1.04 -1.8
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0 1.04 -1.8
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0 1.04 -1.8
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0 1.04 -1.8"/>
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</keyframe>
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</mujoco>
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