Behron
3e39a34a7a
More merge conflicts. Taking main changes then will integrate mine.
208 lines
9.5 KiB
XML
208 lines
9.5 KiB
XML
<mujoco model="a1">
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<compiler angle="radian" meshdir="assets" texturedir="assets" autolimits="true"/>
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<option cone="elliptic" impratio="100"/>
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<default>
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<default class="a1">
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<geom friction="0.6" margin="0.001"/>
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<joint axis="0 1 0" damping="2" armature="0.01" frictionloss="0.2"/>
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<position kp="100" forcerange="-33.5 33.5"/>
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<default class="abduction">
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<joint axis="1 0 0" damping="1" range="-0.802851 0.802851"/>
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<position ctrlrange="-0.802851 0.802851"/>
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</default>
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<default class="hip">
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<joint range="-1.0472 4.18879"/>
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<position ctrlrange="-1.0472 4.18879"/>
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</default>
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<default class="knee">
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<joint range="-2.69653 -0.916298"/>
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<position ctrlrange="-2.69653 -0.916298"/>
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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" material="dark"/>
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</default>
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<default class="collision">
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<geom group="3" type="capsule"/>
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<default class="hip_left">
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<geom size="0.04 0.04" quat="1 1 0 0" type="cylinder" pos="0 0.055 0"/>
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</default>
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<default class="hip_right">
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<geom size="0.04 0.04" quat="1 1 0 0" type="cylinder" pos="0 -0.055 0"/>
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</default>
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<default class="thigh1">
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<geom size="0.015" fromto="-0.02 0 0 -0.02 0 -0.16"/>
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</default>
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<default class="thigh2">
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<geom size="0.015" fromto="0 0 0 -0.02 0 -0.1"/>
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</default>
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<default class="thigh3">
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<geom size="0.015" fromto="-0.02 0 -0.16 0 0 -0.2"/>
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</default>
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<default class="calf1">
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<geom size="0.01" fromto="0 0 0 0.02 0 -0.13"/>
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</default>
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<default class="calf2">
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<geom size="0.01" fromto="0.02 0 -0.13 0 0 -0.2"/>
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</default>
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<default class="foot">
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<geom type="sphere" size="0.02" pos="0 0 -0.2" priority="1" solimp="0.015 1 0.02" condim="6"
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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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<asset>
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<material name="dark" specular="0" shininess="0.25" rgba="0.2 0.2 0.2 1"/>
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<texture type="2d" name="trunk_A1" file="trunk_A1.png"/>
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<material name="carbonfibre" texture="trunk_A1" specular="0" shininess="0.25"/>
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<mesh class="a1" file="calf.obj"/>
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<mesh class="a1" file="hip.obj"/>
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<mesh class="a1" file="thigh.obj"/>
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<mesh class="a1" file="thigh_mirror.obj"/>
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<mesh class="a1" file="trunk.obj"/>
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</asset>
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<worldbody>
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<light name="spotlight" mode="targetbodycom" target="trunk" pos="0 -1 2"/>
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<body name="trunk" pos="0 0 0.43" childclass="a1">
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<freejoint/>
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<inertial mass="4.713" pos="0 0.0041 -0.0005"
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fullinertia="0.0158533 0.0377999 0.0456542 -3.66e-05 -6.11e-05 -2.75e-05"/>
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<geom class="visual" mesh="trunk" material="carbonfibre"/>
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<geom class="collision" size="0.125 0.04 0.057" type="box"/>
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<geom class="collision" quat="1 0 1 0" pos="0 -0.04 0" size="0.058 0.125" type="cylinder"/>
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<geom class="collision" quat="1 0 1 0" pos="0 +0.04 0" size="0.058 0.125" type="cylinder"/>
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<geom class="collision" pos="0.25 0 0" size="0.005 0.06 0.05" type="box"/>
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<geom class="collision" pos="0.25 0.06 -0.01" size="0.009 0.035"/>
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<geom class="collision" pos="0.25 -0.06 -0.01" size="0.009 0.035"/>
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<geom class="collision" pos="0.25 0 -0.05" size="0.005 0.06" quat="1 1 0 0"/>
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<geom class="collision" pos="0.255 0 0.0355" size="0.021 0.052" quat="1 1 0 0"/>
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<body name="FR_hip" pos="0.183 -0.047 0">
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<inertial mass="0.696" pos="-0.003311 -0.000635 3.1e-05" quat="0.507528 0.506268 0.491507 0.494499"
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diaginertia="0.000807752 0.00055293 0.000468983"/>
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<joint class="abduction" name="FR_hip_joint"/>
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<geom class="visual" mesh="hip" quat="0 1 0 0"/>
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<geom class="hip_right"/>
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<body name="FR_thigh" pos="0 -0.08505 0">
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<inertial mass="1.013" pos="-0.003237 0.022327 -0.027326" quat="0.999125 -0.00256393 -0.0409531 -0.00806091"
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diaginertia="0.00555739 0.00513936 0.00133944"/>
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<joint class="hip" name="FR_thigh_joint"/>
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<geom class="visual" mesh="thigh_mirror"/>
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<geom class="thigh1"/>
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<geom class="thigh2"/>
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<geom class="thigh3"/>
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<body name="FR_calf" pos="0 0 -0.2">
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<inertial mass="0.226" pos="0.00472659 0 -0.131975" quat="0.706886 0.017653 0.017653 0.706886"
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diaginertia="0.00340344 0.00339393 3.54834e-05"/>
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<joint class="knee" name="FR_calf_joint"/>
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<geom class="visual" mesh="calf"/>
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<geom class="calf1"/>
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<geom class="calf2"/>
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<geom class="foot"/>
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</body>
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</body>
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</body>
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<body name="FL_hip" pos="0.183 0.047 0">
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<inertial mass="0.696" pos="-0.003311 0.000635 3.1e-05" quat="0.494499 0.491507 0.506268 0.507528"
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diaginertia="0.000807752 0.00055293 0.000468983"/>
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<joint class="abduction" name="FL_hip_joint"/>
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<geom class="visual" mesh="hip"/>
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<geom class="hip_left"/>
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<geom class="collision" size="0.04 0.04" pos="0 0.055 0" quat="1 1 0 0" type="cylinder"/>
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<body name="FL_thigh" pos="0 0.08505 0">
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<inertial mass="1.013" pos="-0.003237 -0.022327 -0.027326" quat="0.999125 0.00256393 -0.0409531 0.00806091"
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diaginertia="0.00555739 0.00513936 0.00133944"/>
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<joint class="hip" name="FL_thigh_joint"/>
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<geom class="visual" mesh="thigh"/>
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<geom class="thigh1"/>
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<geom class="thigh2"/>
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<geom class="thigh3"/>
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<body name="FL_calf" pos="0 0 -0.2">
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<inertial mass="0.226" pos="0.00472659 0 -0.131975" quat="0.706886 0.017653 0.017653 0.706886"
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diaginertia="0.00340344 0.00339393 3.54834e-05"/>
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<joint class="knee" name="FL_calf_joint"/>
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<geom class="visual" mesh="calf"/>
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<geom class="calf1"/>
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<geom class="calf2"/>
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<geom class="foot"/>
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</body>
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</body>
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</body>
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<body name="RR_hip" pos="-0.183 -0.047 0">
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<inertial mass="0.696" pos="0.003311 -0.000635 3.1e-05" quat="0.491507 0.494499 0.507528 0.506268"
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diaginertia="0.000807752 0.00055293 0.000468983"/>
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<joint class="abduction" name="RR_hip_joint"/>
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<geom class="visual" quat="0 0 0 -1" mesh="hip"/>
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<geom class="hip_right"/>
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<body name="RR_thigh" pos="0 -0.08505 0">
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<inertial mass="1.013" pos="-0.003237 0.022327 -0.027326" quat="0.999125 -0.00256393 -0.0409531 -0.00806091"
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diaginertia="0.00555739 0.00513936 0.00133944"/>
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<joint class="hip" name="RR_thigh_joint"/>
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<geom class="visual" mesh="thigh_mirror"/>
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<geom class="thigh1"/>
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<geom class="thigh2"/>
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<geom class="thigh3"/>
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<body name="RR_calf" pos="0 0 -0.2">
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<inertial mass="0.226" pos="0.00472659 0 -0.131975" quat="0.706886 0.017653 0.017653 0.706886"
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diaginertia="0.00340344 0.00339393 3.54834e-05"/>
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<joint class="knee" name="RR_calf_joint"/>
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<geom class="visual" mesh="calf"/>
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<geom class="calf1"/>
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<geom class="calf2"/>
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<geom class="foot"/>
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</body>
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</body>
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</body>
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<body name="RL_hip" pos="-0.183 0.047 0">
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<inertial mass="0.696" pos="0.003311 0.000635 3.1e-05" quat="0.506268 0.507528 0.494499 0.491507"
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diaginertia="0.000807752 0.00055293 0.000468983"/>
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<joint class="abduction" name="RL_hip_joint"/>
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<geom class="visual" quat="0 0 1 0" mesh="hip"/>
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<geom class="hip_left"/>
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<body name="RL_thigh" pos="0 0.08505 0">
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<inertial mass="1.013" pos="-0.003237 -0.022327 -0.027326" quat="0.999125 0.00256393 -0.0409531 0.00806091"
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diaginertia="0.00555739 0.00513936 0.00133944"/>
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<joint class="hip" name="RL_thigh_joint"/>
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<geom class="visual" mesh="thigh"/>
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<geom class="thigh1"/>
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<geom class="thigh2"/>
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<geom class="thigh3"/>
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<body name="RL_calf" pos="0 0 -0.2">
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<inertial mass="0.226" pos="0.00472659 0 -0.131975" quat="0.706886 0.017653 0.017653 0.706886"
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diaginertia="0.00340344 0.00339393 3.54834e-05"/>
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<joint class="knee" name="RL_calf_joint"/>
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<geom class="visual" mesh="calf"/>
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<geom class="calf1"/>
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<geom class="calf2"/>
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<geom 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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<actuator>
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<position class="abduction" name="FR_hip" joint="FR_hip_joint"/>
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<position class="hip" name="FR_thigh" joint="FR_thigh_joint"/>
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<position class="knee" name="FR_calf" joint="FR_calf_joint"/>
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<position class="abduction" name="FL_hip" joint="FL_hip_joint"/>
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<position class="hip" name="FL_thigh" joint="FL_thigh_joint"/>
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<position class="knee" name="FL_calf" joint="FL_calf_joint"/>
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<position class="abduction" name="RR_hip" joint="RR_hip_joint"/>
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<position class="hip" name="RR_thigh" joint="RR_thigh_joint"/>
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<position class="knee" name="RR_calf" joint="RR_calf_joint"/>
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<position class="abduction" name="RL_hip" joint="RL_hip_joint"/>
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<position class="hip" name="RL_thigh" joint="RL_thigh_joint"/>
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<position class="knee" name="RL_calf" joint="RL_calf_joint"/>
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</actuator>
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<keyframe>
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<key name="home" qpos="0 0 0.27 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8"
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ctrl="0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8"/>
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</keyframe>
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</mujoco>
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